Robot system, robot and robot warehouse returning charging navigation control method

Abstract

The invention discloses a robot system, a robot and a robot back-to-bin charging navigation control method, and relates to the field of robot control, a longitudinal first magnetic strip and a transverse second magnetic strip are arranged at the bottom of a charging bin, a magnetic navigation sensor is installed at the bottom of the robot, the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is perpendicular to the first magnetic strip. The second magnetic strip is used for positioning the power supply end of the charging bin, so that in the process that the robot returns to the bin to be charged, the transverse offset of the robot relative to the first magnetic strip is determined through the magnetic induction intensity, detected by the magnetic navigation sensor, of the first magnetic strip, and the robot eliminates the transverse offset by adjusting the moving track; and the second magnetic strip, namely the power supply end of the charging bin, is accurately moved along the first magnetic strip. Compared with a visual navigation method, the whole process does not need complex image processing, the control logic is simple, the magnetic navigation sensor is high in anti-interference capacity and is not influenced by weather, light and shielding, and the control precision is effectively improved compared with an RTK navigation method.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot system, a robot, and a navigation control method for returning the robot to a warehouse for charging. Background Art

[0002] After working for a period of time, the robot will inevitably run out of power. At this time, the robot needs to automatically return to the warehouse for charging. The robot generally adopts contact (electrode contact) or non-contact (wireless coil) charging methods. Regardless of the method used, the robot needs to align with the charging device in the charging warehouse so that the error between the robot and the charging device is small enough to successfully charge.

[0003] At present, the commonly used robot navigation methods are RTK (Real Time Kinematic) navigation and visual navigation. Among them, the RTK navigation method has poor control accuracy, and the RTK signal is easily affected by occlusion, which is not suitable for robot return to warehouse charging navigation. Although the visual navigation method has high control accuracy, it is easily interfered by strong light and dark light, and additional equipment is required to ensure that the visual sensor works in a suitable light range, which makes the control logic very complicated. Therefore, there is an urgent need for a robot return to warehouse charging navigation method with simple control and high control accuracy. Summary of the invention

[0004] In view of the above problems, the present application provides a robot system, a robot and a navigation control method for returning the robot to a warehouse for charging, which has simple control logic and high control accuracy. The specific scheme is as follows:

[0005] A first aspect of the present application provides a robot system, comprising: a robot and a charging bin;

[0006] A first longitudinal magnetic strip and a second transverse magnetic strip are provided at the bottom of the charging compartment, the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is used to locate the power supply end of the charging compartment;

[0007] A magnetic navigation sensor is installed at the bottom of the robot, and the magnetic navigation sensor is aligned with the center of the robot;

[0008] When the robot returns to the warehouse for charging, the robot determines the lateral offset of the robot relative to the first magnetic stripe according to the magnetic induction intensity of the first magnetic stripe detected by the magnetic navigation sensor, and adjusts the moving trajectory according to the lateral offset to make the robot move along the first magnetic stripe until the magnetic navigation sensor detects the second magnetic stripe and the robot stops moving.

[0009] In a possible implementation, the first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, and the length of the second magnetic stripe is not less than the width of all channels in the magnetic navigation sensor.

[0010] A second aspect of the present application provides a robot, comprising: a robot body and a controller, a magnetic navigation sensor and a charging terminal on the robot body;

[0011] The magnetic navigation sensor is installed at the bottom of the robot body and aligned with the center of the robot body;

[0012] The controller in the robot is communicatively connected with the magnetic navigation sensor and the charging terminal respectively;

[0013] During the process of the robot returning to the warehouse for charging, the controller determines the lateral offset of the robot relative to the first magnetic stripe according to the magnetic induction intensity of the first magnetic stripe after acquiring the magnetic induction intensity of the first magnetic stripe detected by the magnetic navigation sensor, controls the robot to move along the first magnetic stripe according to the lateral offset, and controls the robot to stop moving after acquiring the magnetic induction intensity of the second magnetic stripe detected by the magnetic navigation sensor;

[0014] Among them, the first longitudinal magnetic stripe and the second transverse magnetic stripe are arranged at the bottom of the charging compartment, the first magnetic stripe is perpendicular to the second magnetic stripe, and the second magnetic stripe is used to locate the power supply end of the charging compartment.

[0015] In a possible implementation, the robot body further includes a navigation device;

[0016] The controller responds to a return-to-warehouse charging instruction, controls the robot to move from a current position to the charging warehouse by interacting with the navigation device, and controls the magnetic navigation sensor to start when the robot moves to a preset position.

[0017] In a possible implementation, when the robot moves to a preset position, if the charging end faces away from the charging bin, the controller is further configured to control the robot to move in the reverse direction.

[0018] In a possible implementation, the controller is further configured to turn off the magnetic navigation sensor after controlling the robot to stop moving.

[0019] A third aspect of the present application provides a navigation control method for returning a robot to a warehouse for charging, using a controller in a robot according to the second aspect or any implementation of the second aspect, the navigation control method for returning a robot to a warehouse for charging comprising:

[0020] When the robot returns to the warehouse for charging, the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor is obtained;

[0021] Determining a lateral displacement of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip;

[0022] controlling the robot to move along the first magnetic strip according to the lateral offset;

[0023] After acquiring the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor, controlling the robot to stop moving;

[0024] Among them, the first longitudinal magnetic stripe and the second transverse magnetic stripe are arranged at the bottom of the charging compartment, the first magnetic stripe is perpendicular to the second magnetic stripe, and the second magnetic stripe is used to locate the power supply end of the charging compartment.

[0025] In a possible implementation, determining the lateral displacement of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip includes:

[0026] According to the magnetic induction intensity of the first magnetic strip detected by each channel in the magnetic navigation sensor, determining the channel with the maximum magnetic induction intensity as the target channel;

[0027] The directional distance between the target channel and the center point of each channel is determined as the lateral offset.

[0028] In a possible implementation, controlling the robot to move along the first magnetic strip according to the lateral offset includes:

[0029] Inputting the lateral offset into a pre-built PID feedback control model to obtain an angular velocity output by the PID feedback control model;

[0030] Calculate the left wheel speed and the right wheel speed of the robot respectively according to the angular velocity, the linear velocity of the robot and the wheelbase between the left and right wheels;

[0031] The movement of the robot is controlled according to the left wheel speed and the right wheel speed.

[0032] In a possible implementation, the first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, the length of the second magnetic stripe is not less than the width of all channels in the magnetic navigation sensor, and after acquiring the magnetic induction intensity of the second magnetic stripe detected by the magnetic navigation sensor, controlling the robot to stop moving includes:

[0033] If each channel in the magnetic navigation sensor detects the magnetic induction intensity of the second magnetic strip, the robot is controlled to stop moving.

[0034] By means of the above technical scheme, the present application provides a robot system, a robot, and a navigation control method for returning the robot to a warehouse for charging, wherein a longitudinal first magnetic strip and a transverse second magnetic strip are arranged at the bottom of the charging warehouse, and a magnetic navigation sensor is installed at the bottom of the robot, wherein the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is used to locate the power supply end of the charging warehouse, so that when the robot returns to the warehouse for charging, the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor is used to determine the lateral offset of the robot relative to the first magnetic strip, so that the robot eliminates the lateral offset by adjusting the moving trajectory, and accurately moves along the first magnetic strip to the second magnetic strip, i.e., the power supply end of the charging warehouse. Compared with the visual navigation method, the whole process does not require complex image processing and the control logic is simple, and the magnetic navigation sensor has strong anti-interference ability and is not affected by weather, light, and occlusion, which effectively improves the control accuracy compared with the RTK navigation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0036] Figure 1 A schematic diagram of a top view of a robot system provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a top view of another robot system provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a top view of another robot system provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a top view of a robot provided in an embodiment of the present application;

[0040] Figure 5 A flowchart of a robot return-to-warehouse charging navigation control method provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of a robot deviating from a first magnetic strip provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of another robot deviating from the first magnetic strip provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of a robot moving to a second magnetic strip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0045] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0046] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0047] An embodiment of the present application provides a robot system. The robot system provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0048] See also Figure 1 , Figure 1 This is a schematic diagram of a top view of the structure of a robot system provided in an embodiment of the present application. The robot system provided in this embodiment includes: a charging compartment 100 and a robot 200.

[0049] The charging compartment 100 includes two magnetic strips and a power supply terminal 103 . The two magnetic strips are arranged at the bottom of the charging compartment 100 to guide the robot 200 to move accurately to the charging terminal 103 .

[0050] A first longitudinal magnetic stripe 101 and a second transverse magnetic stripe 102 are arranged at the bottom of the charging compartment 100. The first magnetic stripe 101 is perpendicular to the second magnetic stripe 102. Figure 1 The first magnetic stripe 101 and the second magnetic stripe 102 are used as an example to illustrate the T-shaped magnetic stripe. In practical applications, the first magnetic stripe 101 and the second magnetic stripe 102 can also be used as follows: Figure 2 or Figure 3 The inverted L-shaped magnetic strip shown is not specifically limited in this application.

[0051] The second magnetic strip 102 is used to locate the power supply terminal 103. The power supply terminal 103 is above the second magnetic strip 102. When the robot 200 moves to the second magnetic strip 102, it moves to the power supply terminal 103. When the robot 200 moves along the first magnetic strip 101, it moves toward the power supply terminal 103. In other words, the first magnetic strip 101 is used to guide the robot 200 to move longitudinally to avoid lateral deviation of the robot, and the second magnetic strip 102 is used as a basis for whether the robot moves to the charging terminal 103 to avoid longitudinal errors of the robot.

[0052] The robot 200 may be any robot, such as a photovoltaic cleaning robot, etc. A magnetic navigation sensor 201 is installed at the bottom of the robot 200, and the magnetic navigation sensor 201 is aligned with the center of the robot 200. Exemplarily, the magnetic sensor 201 is located below the charging terminal 202.

[0053] The position of the power supply terminal 103 in the charging bin 100 and the position of the first magnetic strip 101 are pre-calibrated according to the relative position of the charging terminal 202 on the robot 200, so that when the robot 200 moves along the first magnetic strip 101 to the second magnetic strip 102, the charging terminal 202 on the robot 200 is aligned with the power supply terminal 103 in the charging bin 100.

[0054] The output of the magnetic navigation sensor 201 is the magnetic induction intensity detected by each channel. If the first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, in order to enable each channel of the magnetic navigation sensor 201 to detect the magnetic induction intensity of the second magnetic stripe 102, the length of the second magnetic stripe 102 is not less than the width of all channels in the magnetic navigation sensor. If the first magnetic stripe and the second magnetic stripe form an inverted L-shaped magnetic stripe, the length of the second magnetic stripe 102 is less than the width of all channels in the magnetic navigation sensor.

[0055] The power supply end 103 of the charging compartment 100 and the charging end 202 of the robot 200 may be contact-type (such as electrode contact) or non-contact-type (such as wireless coil).

[0056] When the robot 200 returns to the warehouse for charging, the lateral offset of the robot 200 relative to the first magnetic stripe 101 is determined based on the magnetic induction intensity of the first magnetic stripe 101 detected by the magnetic navigation sensor 201, and the moving trajectory is adjusted based on the lateral offset so that the robot 200 moves along the first magnetic stripe 101. When the magnetic navigation sensor 201 detects the second magnetic stripe 102, the robot 200 stops moving and can start charging.

[0057] Taking the alignment of the charging end 202 of the robot 200 with the center of the robot 200 as an example, when the robot 200 returns to the warehouse for charging, the lateral offset of the robot 200 relative to the first magnetic stripe 101 is determined according to the magnetic induction intensity of the first magnetic stripe 101 detected by the magnetic navigation sensor 201, and the moving trajectory is adjusted according to the lateral offset to make the robot 200 move along the first magnetic stripe 101, that is, when the center of the magnetic navigation sensor 201 is aligned with the first magnetic stripe 101, the center of the charging end 202 is also aligned with the first magnetic stripe 101, and the first magnetic stripe 101 points to the center of the power supply end 103 in the charging warehouse, then the center of the charging end 202 in the lateral direction is also aligned with the center of the power supply end 103, so when the magnetic navigation sensor 201 detects the second magnetic stripe 102, the charging end 202 is also aligned with the power supply end 103 in the longitudinal direction, and the robot 200 stops moving and can start charging.

[0058] This embodiment provides a robot system, in which a longitudinal first magnetic strip and a transverse second magnetic strip are arranged at the bottom of the charging bin and a magnetic navigation sensor is installed at the bottom of the robot, wherein the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is used to locate the power supply end of the charging bin, so that when the robot returns to the bin for charging, the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor is used to determine the lateral offset of the robot relative to the first magnetic strip, so that the robot eliminates the lateral offset by adjusting the moving trajectory and accurately moves along the first magnetic strip to the second magnetic strip, i.e., the power supply end of the charging bin. Compared with the visual navigation method, the whole process does not require complex image processing and the control logic is simple, and the magnetic navigation sensor has strong anti-interference ability and is not affected by weather, light, and occlusion, which effectively improves the control accuracy compared with the RTK navigation method.

[0059] The present application also provides a robot, see Figure 4 , Figure 4 This is a schematic diagram of a top view structure of a robot provided in this embodiment. The robot provided in this embodiment includes: a robot body 204 and a magnetic navigation sensor 201, a charging terminal 202 and a controller 203 on the robot body 204.

[0060] The magnetic navigation sensor 201 is installed at the bottom of the robot body 204 and is aligned with the center of the robot body 204 .

[0061] The controller 203 is respectively connected to the magnetic navigation sensor 201 and the charging end 202 for communication, and is used to control the start and stop of the magnetic navigation sensor 201 and to obtain the magnetic induction intensity detected by the magnetic navigation sensor 201 when the magnetic navigation sensor 201 is started.

[0062] During the process of the robot returning to the warehouse for charging, after obtaining the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor, the controller determines the lateral offset of the robot relative to the first magnetic strip based on the magnetic induction intensity of the first magnetic strip, controls the robot to move along the first magnetic strip based on the lateral offset, and controls the robot to stop moving after obtaining the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor.

[0063] It should be noted that in some application scenarios, the robot may be far away from the charging warehouse when it needs to return to the warehouse for charging. If the robot only relies on magnetic navigation, a large number of magnetic strips need to be laid on the ground, which is not applicable when the robot has a large range of activities.

[0064] In order to solve this technical problem, navigation equipment can also be installed on the robot body, such as equipment required for RTK navigation and equipment required for SLAM navigation. If the environment outside the charging warehouse is an outdoor environment, RTK navigation can be used. If the environment is an indoor environment outside the charging warehouse, SLAM (Simultaneous Localization and Mapping) navigation can be used. Then, magnetic navigation can be switched to inside the charging warehouse. This can meet both the universality requirements of navigation outside the charging warehouse and the accuracy requirements of navigation inside the charging warehouse.

[0065] Specifically, the controller responds to the return-to-warehouse charging instruction and controls the robot to move from the current position to the charging warehouse by interacting with the navigation device. The return-to-warehouse charging instruction can be triggered by the user or automatically triggered according to the remaining power of the robot. For example, the return-to-warehouse charging instruction is automatically triggered when the remaining power of the robot is less than a threshold.

[0066] The controller may control the movement of the robot by interacting with the navigation device, which may be any existing navigation technology. Different navigation devices correspond to different navigation technologies, which will not be described here.

[0067] Furthermore, the magnetic navigation sensor may be in the activated state all the time. In order to reduce the power consumption of the magnetic navigation sensor, the magnetic navigation sensor may be activated when magnetic navigation is needed, and the magnetic navigation sensor may be in the deactivated state at other times.

[0068] For example, during the movement of the robot, the controller can obtain the position of the robot in real time, and when the robot moves to a preset position, the controller controls the magnetic navigation sensor to start. The preset position can be the entry point of the charging warehouse, or a preset area outside the charging warehouse.

[0069] Correspondingly, the controller can also turn off the magnetic navigation sensor when magnetic navigation is not needed. Since the magnetic navigation sensor detects the second magnetic strip, it indicates that the robot has moved to the charging position and magnetic navigation is no longer needed when the robot stops running. Therefore, the controller can also turn off the magnetic navigation sensor after controlling the robot to stop moving to reduce unnecessary power consumption of the magnetic navigation sensor.

[0070] In addition, in a possible implementation, the charging end of the robot is installed in the forward direction of the robot, that is, the charging end is installed on the front of the robot, facing the charging bin. When the controller needs to switch to magnetic navigation, it can continue to move forward according to the magnetic navigation.

[0071] In another possible implementation, the charging end of the robot is installed in the backward direction of the robot, that is, the charging end is installed on the back of the robot, facing away from the charging bin. Then, when the controller needs to switch to magnetic navigation, it needs to control the robot to move in the opposite direction and move backward to the power supply end of the charging bin. Exemplarily, when the robot moves to the preset position, if the charging end faces away from the charging bin, the controller controls the robot to move in the opposite direction, that is, to turn 180 degrees and move backward to the power supply end of the charging bin.

[0072] The present application also provides a navigation control method for returning a robot to a warehouse for charging, which is applied to the control of the robot in the above-mentioned embodiment. The navigation control method for returning a robot to a warehouse for charging provided by the present application is described in detail below in conjunction with the accompanying drawings.

[0073] Reference Figure 5 , Figure 5 A flowchart of a robot return-to-warehouse charging navigation control method provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, a robot return-to-warehouse charging navigation control method provided in an embodiment of the present application may include steps 301 to 304, and these steps are described in detail below.

[0074] 301: When the robot returns to the warehouse for charging, obtain the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor;

[0075] The magnetic navigation sensor has n channels, and the magnetic induction intensity of the first magnetic strip detected by the n channels is obtained.

[0076] 302: Determine a lateral offset of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip;

[0077] Since the distance between each channel and the first magnetic stripe in the magnetic navigation sensor is different, the magnetic induction intensity of the first magnetic stripe detected by each channel is also different. The channel with the maximum magnetic induction intensity is the channel where the first magnetic stripe is located. On this basis, the lateral offset of the robot relative to the first magnetic stripe can be determined according to the channel where the first magnetic stripe is currently located.

[0078] 303: Control the robot to move along the first magnetic strip according to the lateral offset;

[0079] Specifically, the movement of the robot is controlled for the purpose of eliminating the lateral offset.

[0080] 304: After obtaining the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor, control the robot to stop moving.

[0081] When the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor is obtained, it means that the robot has moved to the second magnetic strip, that is, the position of the power supply end in the charging compartment, and the robot can be controlled to stop moving.

[0082] Each step in the above embodiment is described in detail below.

[0083] In a possible implementation, the specific implementation of step 302 in the above embodiment includes the following steps 3021-3022:

[0084] 3021: Determine, according to the magnetic induction intensities of the first magnetic strip detected by each channel in the magnetic navigation sensor, a channel having a maximum magnetic induction intensity detected as a target channel;

[0085] 3022: Determine the directed distance between the target channel and the center point of each channel as the lateral offset.

[0086] If the magnetic navigation sensor includes n channels, and the n channels are numbered 1-n from left to right, the calculation formula for the lateral offset is:

[0087] Lateral offset = (target channel number - (n-1) / 2) × m.

[0088] Where m is the distance between channels, and (n-1) / 2 represents the center point of each channel. If the lateral offset is positive, it means that the robot has shifted to the right, and if the lateral offset is negative, it means that the robot has shifted to the left.

[0089] For example, if the target channel is numbered 10 and the distance between channels is 5 mm, the lateral offset of the robot is (10 - 7.5) × 5 = 12.5 mm. The robot has shifted to the right and needs to move to the left. The control accuracy of the robot can reach less than 1 cm.

[0090] See also Figure 6 and Figure 7 , which are two possible scenarios where the robot deviates from the first magnetic strip, and the robot is deviated to the left and needs to move to the right.

[0091] In a possible implementation, the specific implementation of step 303 in the above embodiment includes the following steps 3031-3033:

[0092] 3031: Input the lateral offset into the pre-built PID feedback control model to obtain the angular velocity output by the PID feedback control model;

[0093] The input of the PID feedback control model is the lateral offset, and the output is the angular velocity of the robot.

[0094] The formula of the PID feedback control model is as follows:

[0095] = + +

[0096] in, is the proportionality coefficient, is the integration coefficient, It is the differential coefficient. These three coefficients need to be debugged continuously during the debugging process until a suitable coefficient is debugged; is the angular velocity of the robot, dt is the period, is the error, that is, the lateral offset. The purpose of PID feedback control is to eliminate the lateral offset.

[0097] In addition, the period dt may be consistent with the sampling period of the magnetic navigation sensor, or may be inconsistent with the sampling period of the magnetic navigation sensor. For example, the period dt may be in the range of [t, 2t], where t is the sampling period of the magnetic navigation sensor.

[0098] 3032: Calculate the left wheel speed and the right wheel speed of the robot according to the angular velocity, the linear velocity of the robot and the wheelbase between the left and right wheels;

[0099] The calculation formulas for the robot's left and right wheel speeds are as follows:

[0100] right_velocity = vx + 0.5 × wheel_track × w;

[0101] left_velocity = vx -0.5 × wheel_track × w;

[0102] Among them, right_velocity is the speed of the right wheel, vx is the linear speed of the robot, wheel_track is the wheelbase, w is the angular velocity, and left_velocity is the speed of the left wheel.

[0103] 3033: Control the robot movement according to the left wheel speed and the right wheel speed.

[0104] As the above steps 3031-3033 are repeatedly executed, the lateral offset of the robot relative to the first magnetic strip will become smaller and smaller, and finally approach 0, achieving dynamic balance, so that the robot moves along the first magnetic strip.

[0105] If the first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, and the length of the second magnetic stripe is not less than the width of all channels in the magnetic navigation sensor, when the robot moves along the first magnetic stripe, it will continue to approach the second magnetic stripe. When each channel in the magnetic navigation sensor detects the magnetic induction intensity of the second magnetic stripe, the robot has moved to the second magnetic stripe, i.e., the power supply end of the charging compartment. Figure 8 As shown, the relative positions of the robot and the T-shaped magnetic strip after the robot moves to the second magnetic strip.

[0106] If the first magnetic stripe and the second magnetic stripe form an inverted L-shaped magnetic stripe, and the length of the second magnetic stripe is less than the width of all channels in the magnetic navigation sensor, then when the preset channel in the magnetic navigation sensor detects the magnetic induction intensity of the second magnetic stripe, the robot has moved to the second magnetic stripe, i.e., the power supply end of the charging compartment. The position of the preset channel in the magnetic navigation sensor corresponds to the position of the second magnetic stripe.

[0107] The above introduces a robot return to warehouse charging navigation control method provided in an embodiment of the present application. The following will introduce a device for executing the above robot return to warehouse charging navigation control method.

[0108] An embodiment of the present application provides a robot return to warehouse charging navigation control device, comprising:

[0109] An acquisition unit, used for acquiring the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor when the robot returns to the warehouse for charging;

[0110] a determining unit, configured to determine a lateral displacement of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip;

[0111] a first control unit, configured to control the robot to move along the first magnetic strip according to the lateral offset;

[0112] A second control unit, configured to control the robot to stop moving after obtaining the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor;

[0113] Among them, the first longitudinal magnetic stripe and the second transverse magnetic stripe are arranged at the bottom of the charging compartment, the first magnetic stripe is perpendicular to the second magnetic stripe, and the second magnetic stripe is used to locate the power supply end of the charging compartment.

[0114] In a possible implementation, the determination unit is specifically used to determine that the channel with the maximum magnetic induction intensity detected is the target channel based on the magnetic induction intensity of the first magnetic strip detected by each channel in the magnetic navigation sensor; and determine the directed distance between the target channel and the center point of each channel as the lateral offset.

[0115] In a possible implementation, the first control unit is specifically used to input the lateral offset into a pre-built PID feedback control model to obtain the angular velocity output by the PID feedback control model; calculate the left wheel speed and the right wheel speed of the robot according to the angular velocity, the linear speed of the robot, and the wheelbase between the left and right wheels; and control the movement of the robot according to the left wheel speed and the right wheel speed.

[0116] In a possible implementation, the first magnetic strip and the second magnetic strip form a T-shaped magnetic strip, the length of the second magnetic strip is not less than the width of all channels in the magnetic navigation sensor, and the second control unit is specifically used to control the robot to stop moving if each channel in the magnetic navigation sensor detects the magnetic induction intensity of the second magnetic strip.

[0117] This embodiment discloses a navigation control device for a robot returning to a warehouse for charging, in which a longitudinal first magnetic strip and a transverse second magnetic strip are arranged at the bottom of the charging warehouse, and a magnetic navigation sensor is installed at the bottom of the robot, wherein the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is used to locate the power supply end of the charging warehouse, so that when the robot returns to the warehouse for charging, the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor is used to determine the lateral offset of the robot relative to the first magnetic strip, so that the robot eliminates the lateral offset by adjusting the moving trajectory, and accurately moves along the first magnetic strip to the second magnetic strip, i.e., the power supply end of the charging warehouse. Compared with the visual navigation method, the whole process does not require complex image processing and the control logic is simple, and the magnetic navigation sensor has strong anti-interference ability and is not affected by weather, light, and occlusion, which effectively improves the control accuracy compared with the RTK navigation method.

[0118] The present application also provides a controller, comprising at least one processor and a memory connected to the processor, wherein:

[0119] The memory is used to store computer programs;

[0120] The processor is used to execute the computer program so that the controller can implement any one of the robot return to warehouse charging navigation control methods provided in the embodiments of the present application.

[0121] Also provided in an embodiment of the present application is a computer program product, including computer-readable instructions. When the computer-readable instructions are executed on a controller, the controller implements any one of the robot return-to-warehouse charging navigation control methods provided in the embodiments of the present application.

[0122] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by a controller, the controller can implement any one of the robot return-to-warehouse charging navigation control methods provided in the embodiment of the present application.

[0123] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0124] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0125] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0126] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A robot system, characterized in that: include: Robot and charging station; A first longitudinal magnetic strip and a second transverse magnetic strip are provided at the bottom of the charging compartment, the first magnetic strip is perpendicular to the second magnetic strip, and the second magnetic strip is used to locate the power supply end of the charging compartment; A magnetic navigation sensor is installed at the bottom of the robot, and the magnetic navigation sensor is aligned with the center of the robot; When the robot returns to the warehouse for charging, the robot determines the lateral offset of the robot relative to the first magnetic stripe according to the magnetic induction intensity of the first magnetic stripe detected by the magnetic navigation sensor, and adjusts the moving trajectory according to the lateral offset to make the robot move along the first magnetic stripe until the magnetic navigation sensor detects the second magnetic stripe and the robot stops moving.

2. The robot system according to claim 1, characterized in that: The first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, and the length of the second magnetic stripe is not less than the width of all channels in the magnetic navigation sensor.

3. A robot, characterized in that: include: A robot body and a controller, a magnetic navigation sensor and a charging terminal on the robot body; The magnetic navigation sensor is installed at the bottom of the robot body and aligned with the center of the robot body; The controller in the robot is communicatively connected with the magnetic navigation sensor and the charging terminal respectively; During the process of the robot returning to the warehouse for charging, the controller determines the lateral offset of the robot relative to the first magnetic stripe according to the magnetic induction intensity of the first magnetic stripe after acquiring the magnetic induction intensity of the first magnetic stripe detected by the magnetic navigation sensor, controls the robot to move along the first magnetic stripe according to the lateral offset, and controls the robot to stop moving after acquiring the magnetic induction intensity of the second magnetic stripe detected by the magnetic navigation sensor; Among them, the first longitudinal magnetic stripe and the second transverse magnetic stripe are arranged at the bottom of the charging compartment, the first magnetic stripe is perpendicular to the second magnetic stripe, and the second magnetic stripe is used to locate the power supply end of the charging compartment.

4. The robot according to claim 3, characterized in that: The robot body also includes a navigation device; The controller responds to a return-to-warehouse charging instruction, controls the robot to move from a current position to the charging warehouse by interacting with the navigation device, and controls the magnetic navigation sensor to start when the robot moves to a preset position.

5. The robot according to claim 4, characterized in that: When the robot moves to a preset position, if the charging end faces away from the charging bin, the controller is further used to control the robot to move in the reverse direction.

6. The robot according to claim 4, characterized in that: The controller is also used to turn off the magnetic navigation sensor after controlling the robot to stop moving.

7. A robot return to warehouse charging navigation control method, characterized in that: A controller used in a robot according to any one of claims 3 to 6, wherein the robot return to the warehouse for charging navigation control method comprises: When the robot returns to the warehouse for charging, the magnetic induction intensity of the first magnetic strip detected by the magnetic navigation sensor is obtained; Determining a lateral displacement of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip; controlling the robot to move along the first magnetic strip according to the lateral offset; After acquiring the magnetic induction intensity of the second magnetic strip detected by the magnetic navigation sensor, controlling the robot to stop moving; Among them, the first longitudinal magnetic stripe and the second transverse magnetic stripe are arranged at the bottom of the charging compartment, the first magnetic stripe is perpendicular to the second magnetic stripe, and the second magnetic stripe is used to locate the power supply end of the charging compartment.

8. The robot return to warehouse charging navigation control method according to claim 7, characterized in that: The step of determining the lateral displacement of the robot relative to the first magnetic strip according to the magnetic induction intensity of the first magnetic strip comprises: According to the magnetic induction intensity of the first magnetic strip detected by each channel in the magnetic navigation sensor, determining the channel with the maximum magnetic induction intensity as the target channel; The directional distance between the target channel and the center point of each channel is determined as the lateral offset.

9. The robot return to warehouse charging navigation control method according to claim 7, characterized in that: The step of controlling the robot to move along the first magnetic strip according to the lateral offset comprises: Inputting the lateral offset into a pre-built PID feedback control model to obtain an angular velocity output by the PID feedback control model; Calculate the left wheel speed and the right wheel speed of the robot respectively according to the angular velocity, the linear velocity of the robot and the wheelbase between the left and right wheels; The movement of the robot is controlled according to the left wheel speed and the right wheel speed.

10. The robot return to warehouse charging navigation control method according to claim 7, characterized in that: The first magnetic stripe and the second magnetic stripe form a T-shaped magnetic stripe, the length of the second magnetic stripe is not less than the width of all channels in the magnetic navigation sensor, and after obtaining the magnetic induction intensity of the second magnetic stripe detected by the magnetic navigation sensor, controlling the robot to stop moving includes: If each channel in the magnetic navigation sensor detects the magnetic induction intensity of the second magnetic strip, the robot is controlled to stop moving.

Images