Navigation control method, robot, system, program product and storage medium

Abstract

The invention discloses a navigation control method, a robot, a system, a program product and a storage medium, and relates to the field of robot control, a second RTK positioning module and a second RTK antenna are arranged in a charging bin, and communication between the charging bin and the robot is established, so that the charging bin can obtain the pose of the charging bin in real time and send the pose of the charging bin to the robot in real time; therefore, the robot can plan a back-to-warehouse charging path in real time according to the pose of the robot and the pose of the charging warehouse in the back-to-warehouse charging process. Since the robot and the charging bin acquire the differential data from the same base station, the consistency of positioning error offset of the robot and the charging bin is ensured, the problem that the position of the robot returning to the bin is inaccurate due to RTK positioning errors is solved, and compared with other types of sensors, RTK positioning equipment is low in cost and less affected by the environment, and the positioning accuracy of the robot is improved. The robot is ensured to accurately return to the warehouse for charging while the cost is not obviously increased.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular, to a navigation control method, a robot, a system, a program product, and a storage medium. Background Art

[0002] After a robot works for a period of time, the problem of insufficient power will occur. At this time, the robot needs to automatically return to the warehouse for charging. Generally, the robot adopts contact (electrode contact) or non-contact (wireless coil) charging methods. Regardless of the method used, the robot needs to accurately align with the charging device in the charging warehouse.

[0003] In the technical solution where the robot uses RTK (Real-Time Kinematic) positioning technology to achieve return-to-warehouse charging, the robot is provided with an RTK module and an RTK antenna to obtain the pose of the robot in real time, and plan the return-to-warehouse charging path according to the pose of the robot and the coordinate information of the charging warehouse obtained in advance. However, due to certain errors in RTK positioning, it affects the accuracy of the robot's return-to-warehouse charging. Therefore, how to ensure the accurate return-to-warehouse charging of the robot without significantly increasing the cost has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0004] In view of the above problems, this application provides a navigation control method, a robot, a system, a program product, and a storage medium to achieve the purpose of ensuring the accurate return-to-warehouse charging of the robot without significantly increasing the cost. The specific solutions are as follows:

[0005] The first aspect of this application provides a navigation control method, including:

[0006] During the process of the robot returning to the warehouse for charging, determine the pose of the robot according to the differential data sent by the base station received by the first RTK positioning module on the robot and the satellite data received by the first RTK antenna;

[0007] Receive the pose sent by the charging warehouse, where the pose of the charging warehouse is determined by the charging warehouse according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna;

[0008] Plan the return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse, and control the robot to move along the return-to-warehouse charging path.

[0009] In a possible implementation, before receiving the pose sent by the charging warehouse, the navigation control method further includes:

[0010] Generate a first return charging path between the coordinates of the robot and the initial return point according to the pre-stored pose of the charging bin, and control the robot to move along the first return charging path to the initial return point, where the initial return point is on the extension line of the pose of the charging bin.

[0011] In a possible implementation manner, the planning of the return charging path according to the pose of the robot and the pose of the charging bin includes:

[0012] Output a lateral error between the robot and the charging bin according to the pose of the robot and the pose of the charging bin;

[0013] In the case that the lateral error is greater than the threshold, generate a second return charging path according to the pose of the robot and the pose of the charging bin;

[0014] In the case that the lateral error is not greater than the threshold, generate a third return charging path according to the pose of the robot and the pose of the charging bin.

[0015] In a possible implementation, the generating of the second return charging path according to the pose of the robot and the pose of the charging bin includes:

[0016] Determine the intersection coordinates of the target movement trajectory of the robot and the extension line of the pose of the charging bin, where the target movement trajectory of the robot is the movement trajectory after the robot turns according to the target turning angle;

[0017] Generate the second return charging path between the robot and the intersection coordinates.

[0018] In a possible implementation, the generating of the third return charging path according to the pose of the robot and the pose of the charging bin includes:

[0019] Generate the third return charging path according to the pose, speed, acceleration of the robot and the pose of the charging bin.

[0020] A second aspect of the present application provides a robot, including: a controller, a charging module, a first RTK positioning module, a first RTK antenna, and a first communication module;

[0021] The first RTK positioning module receives differential data sent by a base station;

[0022] The first RTK antenna receives satellite data;

[0023] The first communication module communicates with the charging bin;

[0024] The controller can implement the navigation control method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0025] The third aspect of the present application provides a robot system, including: a base station, a charging bin, and the robot of the above-mentioned second aspect;

[0026] The charging bin includes: a power supply module, a second RTK positioning module, a second RTK antenna, and a second communication module;

[0027] The second RTK positioning module receives the differential data sent by the base station;

[0028] The second RTK antenna receives satellite data;

[0029] The charging bin determines its pose according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna;

[0030] The second communication module communicates with the robot.

[0031] In a possible implementation, the second RTK antenna includes: a second RTK positioning antenna and a second RTK orientation antenna;

[0032] The charging bin determines its pose according to the differential data sent by the base station received by the second RTK positioning module, and the satellite data received by the second RTK positioning antenna and the second RTK orientation antenna.

[0033] In a possible implementation, the second RTK antenna includes a second RTK positioning antenna;

[0034] The charging bin determines its pose according to the differential data sent by the base station received by the second RTK positioning module, the satellite data received by the second RTK positioning antenna, and the azimuth angle stored in advance.

[0035] The fourth aspect of the present application provides a computer program product, including computer-readable instructions, which when running on a controller, enable the controller to implement the navigation control method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0036] The fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs, and when the one or more computer programs are executed by a controller, can enable the controller to implement the navigation control method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0037] With the above technical solution, a navigation control method provided by the present application sets a second RTK positioning module and a second RTK antenna in the charging bin, and establishes communication between the charging bin and the robot, enabling the charging bin to obtain its own pose in real time and send its own pose to the robot in real time. Thus, during the process of the robot returning to the bin for charging, it can plan the return charging path in real time according to its own pose and the pose of the charging bin. Since the robot and the charging bin obtain differential data from the same base station, the consistency of the positioning error offset between the robot and the charging bin is ensured, solving the problem that the robot's return position to the bin is inaccurate due to RTK positioning error. Moreover, the RTK positioning device has a lower cost compared to other types of sensors and is less affected by the environment, achieving the goal of ensuring the robot can accurately return to the bin for charging without significantly increasing the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the various embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic and the original elements and elements are not necessarily drawn to scale.

[0039] Figure 1 FIG.

[0040] Figure 2 is a schematic structural diagram of a robot system provided by an embodiment of the present application;

[0041] Figure 3 is a schematic structural diagram of a robot and a charging bin provided by an embodiment of the present application;

[0042] Figure 4 is a schematic flowchart of a navigation control method provided by an embodiment of the present application;

[0043] Figure 5 is a schematic diagram of a first return charging path provided by an embodiment of the present application;

[0044] Figure 6 is a schematic diagram of a robot moving to the initial return point provided by an embodiment of the present application;

[0045] Figure 7 is a schematic diagram of the intersection coordinates of the target movement trajectory of a robot and the extended line of the pose of a charging bin provided by an embodiment of the present application;

[0046] Figure 8 is a schematic diagram of a third return charging path provided by an embodiment of the present application;

[0047] Figure 9Schematic structural diagram of a navigation control device provided by an embodiment of the present application. Specific embodiments

[0048] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The terms used in the embodiments 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.

[0049] The embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art will know that with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0050] The terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinguishing when describing objects with the same attributes in the embodiments of the present application. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product or device comprising a series of units does not have to be limited to those units, but may include other units not clearly listed or inherent to these processes, methods, products or devices.

[0051] In the technical solution where a robot uses RTK (Real-Time Kinematic) positioning technology to achieve return to the warehouse for charging, the robot is provided with an RTK module and an RTK antenna to obtain the pose of the robot. Since there are certain errors in RTK positioning, relying only on the RTK positioning of the robot cannot complete accurate return to the warehouse for charging.

[0052] In a related technology, a mechanical auxiliary device is used to assist the charging module to align after the robot returns to the charging bin. However, this method increases the mechanical cost, and at the same time, the charging bin generally needs to be designed relatively large to accommodate the mechanical auxiliary device.

[0053] In another related technology, markers are set near the charging bin or guiding lines are added on the ground, and a camera is used to detect corresponding features, so as to determine the relative position relationship between the robot and the charging bin, and guide the robot back to the charging bin. However, this method requires a large amount of computing power, and in addition, it is prone to problems such as being affected by light, camera fouling, and feature marker fouling in the outdoor environment, resulting in the inability to ensure accurate return of the robot to the warehouse for charging.

[0054] In another related technology, sensors are added at the robot end and the charging station end for assistance, such as adding UWB communication devices, infrared alignment devices, etc., so as to obtain the relative relationship between the robot and the charging station to guide the robot back to the charging station. However, the sensors used in this method often require relatively high costs, and there are also problems of contamination if optical sensors are used.

[0055] To solve the above technical problems, the embodiments of the present application provide a navigation control method, a robot, a system, a program product, and a storage medium to achieve the purpose of ensuring accurate charging of the robot back to the warehouse without significantly increasing costs.

[0056] See Figure 1 , Figure 1 shows a schematic structural diagram of a robot system. The robot system includes: a base station, a charging station, and a robot. The base station is configured to broadcast differential data to the charging station and the robot respectively. The charging station and the robot are configured to receive the differential data broadcast by the same base station to achieve RTK positioning. Among them, the base station can broadcast differential data to the charging station and the robot through communication methods such as 4G, LoRa (Long Range Radio), etc. To ensure communication quality, the distances between the robot and the charging station and the base station need to be within a preset range, such as within 30 km.

[0057] The robot system can be applied to various application scenarios. In a possible implementation, the robot system can be deployed in a photovoltaic power station, as Figure 2 shown, the robot can be a crawler-type photovoltaic cleaning and inspection robot, running on the photovoltaic array.

[0058] The robot includes: a controller, a charging module, a first RTK positioning module, a first RTK antenna, and a first communication module. The first RTK positioning module receives the differential data sent by the base station, and the first RTK antenna receives satellite data. The first RTK positioning module is connected to the first RTK antenna, used to obtain satellite data, and correct the satellite data through the differential data to obtain a pose with an error within ±2 cm. The first communication module communicates with the charging station, and the controller can implement the navigation control method provided by the embodiments of the present application.

[0059] The charging station includes: a power supply module, a second RTK positioning module, a second RTK antenna, and a second communication module. The second RTK positioning module receives the differential data sent by the base station, the second RTK antenna receives satellite data, the second RTK positioning module is connected to the second RTK antenna, and the charging station determines the pose according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna. The second communication module communicates with the robot.

[0060] When the robot returns to the warehouse for charging, the charging module needs to be aligned with the power supply module in the charging station.

[0061] The robot and the charging bin can communicate with each other via Bluetooth, WIFI, 4G, etc., and this application does not make specific restrictions.

[0062] As shown in Figure 3, which is a schematic structural diagram of the robot and the charging bin, the first RTK antenna in the robot includes a first RTK positioning antenna and a first RTK orientation antenna, and the second RTK antenna in the charging bin includes a second RTK positioning antenna and a second RTK orientation antenna. The second RTK positioning antenna in the charging bin can be set at the center position of the charging bin, and the second RTK orientation antenna can be set on the extension line of the center of the charging bin. The positions of the second RTK positioning antenna and the second RTK orientation antenna can also be set at other positions, as long as the coordinate conversion relationship is pre-calibrated.

[0063] Furthermore, the second RTK antenna in the charging bin can also only include the second RTK positioning antenna. In this case, the charging bin cannot obtain the azimuth angle in real time, and the pre-stored azimuth angle can be used as the azimuth angle in the pose sent to the robot.

[0064] The embodiment of this application provides a navigation control method, which is applied to the controller of the robot in the above embodiment. The navigation control method of the embodiment of this application will be introduced in detail below with reference to the accompanying drawings.

[0065] Refer to Figure 4 , Figure 4 , which is a schematic flowchart of a navigation control method provided by the embodiment of this application. As Figure 4 shown, the navigation control method provided by the embodiment of this application may include steps 401 to 403, and these steps will be described in detail below.

[0066] 401: During the process of the robot returning to the charging bin for charging, determine the pose of the robot according to the differential data sent by the base station received by the first RTK positioning module on the robot and the satellite data received by the first RTK antenna;

[0067] The robot returns to the charging bin for charging when the battery power is lower than the threshold or it receives a command to return to the charging bin for charging.

[0068] Specifically, the satellite data is corrected by the differential data to obtain the pose of the robot, and the pose includes coordinates and heading.

[0069] 402: Receive the pose sent by the charging bin, and the pose of the charging bin is determined by the charging bin according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna;

[0070] The principle that the charging bin determines its pose based on the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna is the same as that of the robot determining its pose.

[0071] 403: Plan the return-to-bin charging path according to the pose of the robot and the pose of the charging bin, and control the robot to move along the return-to-bin charging path.

[0072] The robot and the charging bin periodically determine their poses based on the received differential data and satellite data. Correspondingly, the robot will also periodically plan the return-to-bin charging path according to the pose of the robot and the pose of the charging bin. The return-to-bin charging paths planned in each cycle may not be exactly the same. That is to say, the robot dynamically adjusts the return-to-bin charging path according to the real-time pose of the robot and the real-time pose of the charging bin until the robot moves to the charging bin and stops moving when it aligns with the power supply module of the charging bin for charging. Since the robot and the charging bin obtain differential data from the same base station, it ensures the consistency of the positioning error offset between the robot and the charging bin, solves the problem that the robot's return-to-bin position is inaccurate due to RTK positioning error, and the RTK positioning device has a lower cost and is less affected by the environment compared with other types of sensors, realizing the accurate return-to-bin charging of the robot while not significantly increasing the cost.

[0073] The method for the robot to plan the return-to-bin charging path can be the same or different as it moves.

[0074] When communicating between the robot and the charging bin through short-distance communication methods such as Bluetooth and WiFi, when the robot is far from the charging bin beyond the communication distance, the robot cannot receive the pose sent by the charging bin. In this case, according to the pre-stored pose of the charging bin, generate the first return-to-bin charging path between the coordinates of the robot and the initial return point, and control the robot to move along the first return-to-bin charging path to the initial return point.

[0075] As Figure 5 shown, the robot pre-stores the pose of the charging bin , , taking as the starting point, generate an extension line along , that is, the extension line of the pose of the charging bin. At a distance of the target distance to obtain the initial return point , and generate the first return-to-bin charging path between the coordinates of the robot and the initial return point. When the robot has low battery or receives a return-to-bin instruction, as Figure 6 shown, the robot moves along the first return-to-bin charging path to the initial return point . The robot moves to the initial return point Within a preset range, it is possible to receive the pose sent by the charging bin.

[0076] When the robot can receive the position of the charging bin, there are also various implementation methods for planning the charging path back to the bin according to the pose of the robot and the pose of the charging bin.

[0077] In a possible implementation, taking the pose of the charging bin as the end point and the current pose of the robot as the starting point, plan the charging path back to the bin according to the speed and acceleration of the robot.

[0078] In another possible implementation, there are also various implementation methods for planning the charging path back to the bin according to the pose of the robot and the pose of the charging bin, including the following steps 4031 - 4033:

[0079] 4031: According to the pose of the robot and the pose of the charging bin, output the lateral error between the robot and the charging bin;

[0080] According to the pose of the robot and the pose sent by the charging bin , output the lateral error between the robot and the charging bin , where is the difference between and

[0081] 4032: When the lateral error is greater than the threshold, generate a second charging path back to the bin according to the pose of the robot and the pose of the charging bin;

[0082] When the lateral error is greater than the threshold, generate a second charging path back to the bin to reduce the lateral error between the robot and the charging bin.

[0083] 4033: When the lateral error is not greater than the threshold, generate a third charging path back to the bin according to the pose of the robot and the pose of the charging bin.

[0084] When the lateral error is not greater than the threshold, generate a third charging path back to the bin to enable the robot to accurately charge in the bin.

[0085] In a possible implementation, the method of generating the second charging path back to the bin includes A1 - A2:

[0086] A1: Determine the intersection coordinates of the target movement trajectory of the robot and the extension line of the pose of the charging bin;

[0087] To ensure the safety of the robot's movement, constrain the steering angle of the robot to the target steering angle , as Figure 7 shown, the target movement trajectory of the robot is that the robot follows the target steering angle The moving trajectory after turning, so as to determine the intersection coordinates of the target moving trajectory of the robot and the extended line of the pose of the charging bin .

[0088] A2: Generate a second charging path back to the bin between the robot and the intersection coordinates.

[0089] Starting from and ending at , interpolate between and to generate a second charging path. The interpolation method can be any interpolation method, which is not specifically limited in this application.

[0090] In a possible implementation, the method for generating the third charging path back to the bin is: generate the third charging path back to the bin according to the pose, speed, acceleration of the robot and the pose of the charging bin. Specifically, methods such as quintic polynomial, Bezier curve, cubic polynomial, B-spline curve, etc. can be used to generate the third charging path back to the bin according to the pose, speed, acceleration of the robot and the pose of the charging bin.

[0091] Taking the quintic polynomial as an example, the quintic polynomial expression is shown in Equation 1-1. In the equation, are polynomial coefficients, are known variables, are unknown variables.

[0092] (1-1)

[0093] Substitute the constraint conditions, where , then at there is:[[]]

[0094] (1-2)

[0095] From the above equation, Equation 1-3 can be obtained

[0096] (1-3)

[0097] Finally, Equation 1-4 is obtained

[0098] (1-4)

[0099] Assume that within the time , the robot moves from the current position to the charging bin. Given the current state quantity of the robot , the target state quantity , where is the current coordinate of the robot, is the speed of the robot, is the acceleration of the robot,[[]] are the coordinates of the charging bin. Respectively, in and directions, construct and quintic polynomials. Among them, the boundary conditions in and directions are respectively:

[0100] (1 - 5)

[0101] (1 - 6)

[0102] Among them, is 's coordinates, is the azimuth angle in the pose of the charging bin.

[0103] According to Equation 1 - 3, solve the coefficients of the quintic polynomials of and respectively, and take discrete values in with 100 ms as the unit. Finally, combine and to obtain the corresponding quintic polynomial trajectory points of , that is, the quintic polynomial trajectory points within time constitute the above-mentioned third return-to-bin charging path. As Figure 8 shown, and the third return-to-bin charging path between is a smooth curve.

[0104] It should be noted that when the lateral error between the robot and the charging bin is greater than the threshold, errors will occur when directly using methods such as quintic polynomials to plan the return-to-bin charging path, resulting in too large lateral error or heading error. Therefore, when the lateral error is greater than the threshold, first generate the second return-to-bin charging path to make the robot return to a position with a smaller lateral error, and then use methods such as quintic polynomials to generate the third return-to-bin charging path, which can effectively reduce the influence of tracking error.

[0105] The above introduces a navigation control method provided by an embodiment of the present application. Next, a device for executing the above navigation control method will be introduced.

[0106] Please refer to Figure 9 , Figure 9 which is a schematic structural diagram of a navigation control device provided by an embodiment of the present application. As Figure 9 shown, the navigation control device includes:

[0107] A determination unit 901, configured to determine the pose of the robot according to the differential data sent by the base station received by the first RTK positioning module on the robot and the satellite data received by the first RTK antenna during the process of the robot returning to the warehouse for charging;

[0108] A receiving unit 902, configured to receive the pose sent by the charging warehouse, where the pose of the charging warehouse is determined by the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna;

[0109] A first planning unit 903: Plan a return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse, and control the robot to move along the return-to-warehouse charging path.

[0110] In a possible implementation, the navigation control device further includes:

[0111] A second planning unit, configured to generate a first return-to-warehouse charging path between the coordinates of the robot and the initial return-to-warehouse point according to the pose of the charging warehouse stored in advance, and control the robot to move to the initial return-to-warehouse point along the first return-to-warehouse charging path, where the initial return-to-warehouse point is on the extension line of the pose of the charging warehouse.

[0112] In a possible implementation, the first planning unit 903 includes:

[0113] An output subunit, configured to output the lateral error between the robot and the charging warehouse according to the pose of the robot and the pose of the charging warehouse;

[0114] A first generation subunit, configured to generate a second return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse when the lateral error is greater than a threshold;

[0115] A second generation subunit, configured to generate a third return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse when the lateral error is not greater than the threshold.

[0116] In a possible implementation, the first generation subunit is specifically configured to determine the intersection coordinates of the target movement trajectory of the robot and the extension line of the pose of the charging warehouse, where the target movement trajectory of the robot is the movement trajectory after the robot turns according to the target turning angle; generate the second return-to-warehouse charging path between the robot and the intersection coordinates.

[0117] In a possible implementation, the second generation subunit is specifically configured to generate the third return-to-warehouse charging path according to the pose, speed, acceleration of the robot and the pose of the charging warehouse.

[0118] A navigation control device disclosed in this embodiment can obtain its own pose in real time by setting a second RTK positioning module and a second RTK antenna in the charging bin and establishing communication between the charging bin and the robot, and then send its own pose to the robot in real time. Therefore, during the process of the robot returning to the bin for charging, it can plan the charging path back to the bin in real time according to its own pose and the pose of the charging bin. Since the robot and the charging bin obtain differential data from the same base station, the consistency of the positioning error offset between the robot and the charging bin is ensured, solving the problem that the robot's return position to the bin is inaccurate due to RTK positioning error. Moreover, the RTK positioning device has a lower cost and is less affected by the environment compared with other types of sensors, realizing accurate charging of the robot when returning to the bin without significantly increasing the cost.

[0119] In an embodiment of the present application, there is also provided a computer program product including computer-readable instructions. When the computer-readable instructions run on a controller, the controller is enabled to implement any one of the navigation control methods provided in the embodiments of the present application.

[0120] In an embodiment of the present application, there is also provided a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by a controller, the controller is enabled to implement any one of the navigation control methods provided in the embodiments of the present application.

[0121] In addition, it should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided in the present application, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines.

[0122] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware. Of course, it can also be implemented by dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. Generally, functions accomplished by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures for implementing the same function can also be various, such as analog circuits, digital circuits or dedicated circuits, etc. However, for the present application, software program implementation is a better embodiment in more cases. Based on such understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a readable storage medium, such as a floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk or optical disc of a computer, etc., and includes several instructions for causing a computer device (which can be a personal computer, training device, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0123] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product.

[0124] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions can 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 can be transmitted from a website, computer, training device or data center to another website, computer, training device or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a training device or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

Claims

1. A navigation control method, characterized in that, Including: During the process of the robot returning to the warehouse for charging, determine the pose of the robot according to the differential data sent by the base station received by the first RTK positioning module on the robot and the satellite data received by the first RTK antenna; Receive the pose sent by the charging warehouse, where the pose of the charging warehouse is determined by the charging warehouse according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna; Plan the return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse, and control the robot to move along the return-to-warehouse charging path.

2. The navigation control method according to claim 1, wherein Before receiving the pose sent by the charging warehouse, the navigation control method further includes: Generate a first return-to-warehouse charging path between the coordinate of the robot and the initial return point according to the pre-stored pose of the charging warehouse, and control the robot to move along the first return-to-warehouse charging path to the initial return point, where the initial return point is on the extension line of the pose of the charging warehouse.

3. The navigation control method according to claim 1, wherein The planning of the return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse includes: Output the lateral error between the robot and the charging warehouse according to the pose of the robot and the pose of the charging warehouse; When the lateral error is greater than the threshold, generate a second return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse; When the lateral error is not greater than the threshold, generate a third return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse.

4. The navigation control method according to claim 3, wherein The generation of the second return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse includes: Determine the intersection coordinate between the target movement trajectory of the robot and the extension line of the pose of the charging warehouse, where the target movement trajectory of the robot is the movement trajectory after the robot turns according to the target turning angle; Generate the second return-to-warehouse charging path between the robot and the intersection coordinate.

5. The navigation control method according to claim 3, wherein The generation of the third return-to-warehouse charging path according to the pose of the robot and the pose of the charging warehouse includes: Generate the third return-to-warehouse charging path according to the pose, speed, acceleration of the robot and the pose of the charging warehouse.

6. A robot, characterized in that, Including: A controller, a charging module, a first RTK positioning module, a first RTK antenna, and a first communication module; The first RTK positioning module receives the differential data sent by the base station; The first RTK antenna receives satellite data; The first communication module communicates with the charging warehouse; The controller can implement the navigation control method described in any one of claims 1 to 5.

7. A robot system, characterized in that, Including: A base station, a charging warehouse, and the robot described in claim 6; The charging warehouse includes: a power supply module, a second RTK positioning module, a second RTK antenna, and a second communication module; The second RTK positioning module receives the differential data sent by the base station; The second RTK antenna receives satellite data; The charging warehouse determines the pose according to the differential data sent by the base station received by the second RTK positioning module and the satellite data received by the second RTK antenna; The second communication module communicates with the robot.

8. The robot system according to claim 7, characterized in that, The second RTK antenna includes: a second RTK positioning antenna and a second RTK orientation antenna; The charging bin determines the position and orientation based on the differential data sent by the base station received by the second RTK positioning module, and the satellite data received by the second RTK positioning antenna and the second RTK orientation antenna.

9. The robot system according to claim 7, wherein The second RTK antenna includes a second RTK positioning antenna; The charging bin determines the position and orientation based on the differential data sent by the base station received by the second RTK positioning module, the satellite data received by the second RTK positioning antenna, and the azimuth angle stored in advance.

10. A computer program product, characterized in that, It includes computer-readable instructions that, when the computer-readable instructions run on the controller, enable the controller to implement the navigation control method described in any one of claims 1 to 5.

11. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when the one or more computer programs are executed by the controller, can enable the controller to implement the navigation control method described in any one of claims 1 to 5.

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