Ultralow-cost transportation robot system and control method

Abstract

The invention discloses an ultra-low-cost transportation robot system and a control method. The system comprises a gridding coordinate mapping module, a path generation module, a motion control module and a path management module. Wherein the gridding coordinate mapping module is used for performing gridding processing on a transportation site of the transportation robot based on a gridding coordinate mapping algorithm; the path generation module is used for analyzing a program instruction input by a user, and generating a transport path of the transport robot based on the transport robot moving path after gridding processing; the motion control module is used for realizing real-time control on the motion of the transport robot based on the transport path of the transport robot; and the execution control module is used for realizing addition, deletion, modification and lookup of paths and data storage and lookup by connecting the Bluetooth equipment through software. The invention aims to provide an outdoor transportation robot control scheme which is low in cost, easy to operate and high in adaptability. Dynamic charging path management and safe start-stop control are realized, and the reliability of outdoor operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly to an ultra-low-cost transportation robot system and a control method. Background Art

[0002] In the fields of industrial production and logistics, transportation robots play an important role. The general working principle of a transportation robot is as follows: The robot performs path planning and positioning navigation based on task parameters and environmental perception information, and moves towards the target position along a preset route. During the movement, the robot continuously detects the distance to the obstacles ahead, and when an obstacle is detected, it takes timely obstacle avoidance measures. After the robot reaches the target position, it completes tasks such as cargo handling. After the task is completed, the robot returns to the starting position along the original route and waits for the next task. In the existing path planning field, the mainstream solutions are based on SLAM (Simultaneous Localization and Mapping) or deep learning algorithms, and a multi-sensor fusion system is configured. This solution has a high cost. Moreover, in the field of charging path management, the existing technologies mostly rely on fixed charging piles and cannot adapt to dynamic environments. With the increasingly fierce competition in industrial robots, how to further reduce the cost of robots is a concern for each manufacturing enterprise. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide an ultra-low-cost transportation robot system and a control method that overcome or at least partially solve the above problems.

[0004] To solve the above technical problems, the embodiments of the present application disclose the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention discloses an ultra-low-cost transportation robot system, including: a grid coordinate mapping module, a path generation module, a motion control module, and a path management module; wherein:

[0006] The grid coordinate mapping module is used to perform grid processing on the transportation site of the transportation robot based on the grid coordinate mapping algorithm;

[0007] The path generation module is used to parse the program instructions input by the user and generate the transportation path of the transportation robot based on the transportation robot movement path after the grid processing;

[0008] The motion control module is used to realize real-time control of the movement of the transportation robot based on the transportation path of the transportation robot;

[0009] The execution control module is used to realize the addition, deletion, modification, query, data storage and retrieval of the path by software connecting a Bluetooth device.

[0010] Further, a grid coordinate mapping module is used to perform grid processing on the moving path of the transport robot based on the grid coordinate mapping algorithm. The specific method includes: setting the powered-on transport robot as the origin (0, 0), the forward direction of the powered-on transport plane as the positive direction of the y-axis of the coordinate axis, and the right direction as the positive direction of the x-axis of the coordinate axis. The unit standard is meters, and the entire transport robot transport site is like a grid composed of a grid with a spacing of one meter between the x and y coordinate axes; setting the symbolic up arrow key, down arrow key, left arrow key, and right arrow key to represent forward, backward, left, and right respectively in the algorithm; setting the distance measurement standard as the decimal type of Arabic numerals 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, and the basic unit of the journey as meters; setting the first line of the program as the speed limit, and setting the semicolon symbol as the end of a single segment; representing the position of the powered-on transport robot with (x, y) coordinates; setting the driving accuracy of the transport robot.

[0011] Further, a path generation module is used to parse the program instructions input by the user. The program instructions are divided into real-time remote control instructions and program control instructions.

[0012] Further, the specific method for parsing program instructions includes: when the program instruction is a program control instruction, first read the speed limit, then read the direction and distance. After a single trip is completed, read the next segment. After the entire program is read, return to the first line and read again, repeating continuously. When switching the charging route due to low power emergency, start reading the charging route after the original program execution ends.

[0013] Further, the specific method for parsing program instructions includes: when the program instruction is a remote control instruction, after the remote control instruction walks a certain distance in one direction and turns, the upper segment instruction ends. If there is no distance movement in one direction, a complete program is not generated; when remote controlling, first identify the direction, then identify acceleration or braking. When there is a certain speed, do not press the acceleration / braking to maintain a constant speed, and the speed limit is the highest speed during remote control.

[0014] Further, the path generated by the path module includes a one-way path and a round-trip path. The path generation module takes the powered-on position as the origin (0, 0), converts the remote control memory data transmitted through Bluetooth connection into program instructions and stores the remote control route; automatically generates and writes the program instructions for the one-way route and the return path program instructions after selecting the round-trip mode.

[0015] Further, a super low-cost transport robot system further includes an execution control module, and the execution control module is used to parse execution instructions to complete the functions of distance sensing start / stop and low power emergency switching.

[0016] Further, the execution priority of the distance sensing start / stop is higher than that of the remote control and the program route instructions to ensure safety during driving. When remote controlling, the acceleration instruction must be selected after choosing a direction.

[0017] In a second aspect, an embodiment of the present invention discloses a method for controlling an ultra-low-cost transport robot. Using the method for controlling an ultra-low-cost transport robot described in any one of the above claims 1-8, it is characterized by including:

[0018] The grid coordinate mapping module performs grid processing on the transport site of the transport robot based on the grid coordinate mapping algorithm;

[0019] The path generation module analyzes the program instructions input by the user and generates the transport path of the transport robot based on the movement path of the transport robot after the grid processing;

[0020] The motion control module realizes the real-time control of the movement of the transport robot based on the transport path of the transport robot;

[0021] The execution control module realizes the addition, deletion, modification, query, data storage and retrieval of the path by software connecting to a Bluetooth device.

[0022] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include:

[0023] An embodiment of the present invention discloses an ultra-low-cost transport robot system, including: a grid coordinate mapping module, a path generation module, a motion control module and a path management module; wherein: the grid coordinate mapping module is used to perform grid processing on the transport site of the transport robot based on the grid coordinate mapping algorithm; the path generation module is used to analyze the program instructions input by the user and generate the transport path of the transport robot based on the movement path of the transport robot after the grid processing; the motion control module is used to realize the real-time control of the movement of the transport robot based on the transport path of the transport robot; the execution control module is used to realize the addition, deletion, modification, query, data storage and retrieval of the path by software connecting to a Bluetooth device. The purpose of the present invention is to provide a control solution for an outdoor transport robot with low cost, easy operation and high adaptability. Realize dynamic charging path management and safe start-stop control, and improve the reliability of outdoor operations.

[0024] The technical solutions of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0025] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0026] Figure 1 It is a structural diagram of an ultra-low-cost transport robot system in Embodiment 1 of the present invention;

[0027] Figure 2This is a program instance diagram of an ultra-low-cost transportation robot system in Embodiment 1 of the present invention;

[0028] Figure 3 This is a flowchart of a control method for an ultra-low-cost transportation robot in Embodiment 2 of the present invention. Detailed implementation manners

[0029] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0030] To solve the problems existing in the prior art, embodiments of the present invention provide an ultra-low-cost transportation robot system and a control method.

[0031] Embodiment 1

[0032] The present invention discloses an ultra-low-cost transportation robot system, as Figure 1 , including: a grid coordinate mapping module, a path generation module, a motion control module, and a path management module; wherein:

[0033] The grid coordinate mapping module is used to perform grid processing on the transportation site of the transportation robot based on the grid coordinate mapping algorithm;

[0034] In this embodiment, the grid coordinate mapping module is used to perform grid processing on the moving path of the transportation robot. The specific method includes: setting the powered-on transportation robot as the origin (0, 0), the positive forward direction of the powered-on transport aircraft as the positive y-axis direction of the coordinate axis, the right direction as the positive x-axis direction of the coordinate axis, the unit standard as meters, and the entire transportation site of the transportation robot is like a grid composed of x and y coordinate axes with a spacing of one meter; setting the meanings of the up arrow key, down arrow key, left arrow key, and right arrow key in the algorithm as forward, backward, leftward, and rightward respectively; setting the distance measurement standard as the Arabic numerals 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 in decimal type, and the basic unit of the distance as meters; setting the first line of the program as the speed limit, and setting the semicolon symbol as the end of a single segment; representing the position of the powered-on transportation robot with (x, y) coordinates; setting the driving accuracy of the transportation robot.

[0035] The path generation module is used to parse the program instructions input by the user and generate a transportation path for the transportation robot based on the grid-processed moving path of the transportation robot;

[0036] In this embodiment, the path generation module is used to parse the program instructions input by the user. The specific method for parsing the instructions includes: sequential parsing of program instructions. First, read the speed limit, then read the direction and distance. After a single trip is completed, read the next segment (that is, read the next segment after ";" appears, and the program for this segment ends). After reading an entire program, return to the first line and read again, repeating indefinitely. When switching to the charging route in case of low power emergency, start reading the charging route after the original program execution ends. After the remote control instruction moves a certain distance in one direction and turns, the previous instruction ends. If there is no distance movement in one direction, a complete program is not generated. When remote controlling, first identify the direction, and then identify acceleration or braking. When the speed reaches a certain value, do not press the acceleration / braking to maintain a constant speed. The speed limit is the highest speed during remote control.

[0037] The program instructions are divided into real-time remote control instructions and program control instructions. Among them, real-time remote control instructions: use a control method similar to that of existing Bluetooth remote control cars (the only difference is that the driving method is based on grid coordinate positioning) and chips (such as ESP32-C3, DA14531, nRF52840, CC2640R2F, QCC3071, etc.). Program control instructions: Write the program instruction route on the software (via Bluetooth) and transmit it to the device, and control it to execute the programmed route. In this embodiment, the real-time remote control instructions have a remote control memory function: after connecting to the device via Bluetooth and using the remote control memory function, the speed segment control module will monitor the running trajectory of the transport robot and cooperate with the path generation module to automatically convert the route into the corresponding program and store it.

[0038] In this embodiment, the specific method for parsing program instructions includes: when the program instruction is a program control instruction, first read the speed limit, then read the direction and distance. After a single trip is completed, read the next segment. After reading an entire program, return to the first line and read again, repeating indefinitely. When switching to the charging route in case of low power emergency, start reading the charging route after the original program execution ends.

[0039] In this embodiment, the specific method for parsing program instructions includes: when the program instruction is a remote control instruction, after the remote control instruction moves a certain distance in one direction and turns, the previous instruction ends. If there is no distance movement in one direction, a complete program is not generated. When remote controlling, first identify the direction, and then identify acceleration or braking. When the speed reaches a certain value, do not press the acceleration / braking to maintain a constant speed. The speed limit is the highest speed during remote control.

[0040] In this embodiment, the path generated by the path module includes a one-way route path and a round-trip route path. The path generation module takes the power-on position as the origin (0, 0), converts the remote control memory data transmitted via Bluetooth connection into program instructions, and stores the remote control route; automatically generates the program instructions for writing the one-way route and the return path program instructions after selecting the round-trip mode.

[0041] The motion control module is used to achieve real-time control of the movement of the transport robot based on the transport path of the transport robot; in this embodiment, the motion control module realizes real-time control of the movement of the transport robot connected by software by receiving the execution instructions processed by the speed segment control module. The motion control methods are divided into real-time remote control and program instruction control. The specific methods of real-time remote control and program instruction control have been described in detail in the above path generation module, and will not be elaborated here in this embodiment.

[0042] The path management module is used to realize the addition, deletion, modification, query, data storage and retrieval of paths by software connecting to a Bluetooth device. In this embodiment, the path management module mainly realizes the addition, deletion, modification, query, data storage and retrieval of paths by software connecting to a Bluetooth device (after connecting to the Bluetooth device, it will quickly receive the feedback data collected and processed by the speed segment control module).

[0043] In some preferred embodiments, a ultra-low-cost transport robot system further includes an execution control module, and the execution control module is used to parse the execution instructions to complete the distance sensing start / stop and low-power emergency switching functions. Among them, the execution priority of the distance sensing start / stop is higher than that of the remote control and the program route instructions to ensure safety during driving. When performing remote control, the direction must be selected to execute the acceleration instruction.

[0044] To better understand this embodiment, the above-disclosed ultra-low-cost transport robot system is adopted, and a logistics park cargo transfer scenario is constructed in this embodiment, where:

[0045] Such as Figure 2 , the target end point is (55.55, 66.66), and one of the route programs to go there is "↑30; →20; ↑36.66; →35.55;", and the return path generated by the system is "←35.55; ↓36.66; ←20; ↓30;"

[0046] The above path is realized by combining software and hardware as follows:

[0047] Robot: Model A-20, load capacity 200kg, STM32F4 controller, ultrasonic distance sensor Software: Android / iOS dual-platform APP (version 1.2.3)

[0048] Function flow:

[0049] 1. Input instructions: 10; ↑30; →20; ↑36.66; →35.55 (speed 10km / h, target coordinates 55.55, 66.66)

[0050] 2. Select the "round-trip mode", and the system automatically generates the return path

[0051] 3. When the power is below 20% during operation, it is forced to switch to the charging path → 35.55; ↑ 36.66; → 20; ↑ 130

[0052] Effect: The single - transport cost is reduced from 58 yuan to 12 yuan, and the failure rate is reduced from 15% to 2%.

[0053] Scenario 2: Material distribution in agricultural sites

[0054] Special configuration: Dust - and - waterproof design (IP67), speed limit 5 km / h (suitable for soft ground)

[0055] Effect: In farmland without GPS signal, the path deviation < 1.5 m, meeting the non - precise transportation requirements.

[0056] Scenario 3: Furniture item movement

[0057] Effect: Real - time low - cost remote control to move goods.

[0058] In summary, the ultra - low - cost transportation robot system disclosed in this embodiment solves the following problems: 1. Site layout problem: Solve the complex site layout problems of traditional magnetic stripe navigation and QR code navigation. 2. High - cost problem: Solve the complexity brought by high - precision sensors such as laser navigation, vision navigation, and GPS, as well as the high hardware cost (> 30,000 yuan per unit). 3. Operational complexity problem: Solve the operational complexity caused by the need for professional programming or pre - installed maps in the path planning of existing transportation robots, making it difficult for non - technical personnel to get started (training cycle > 2 days). 4. Scenario adaptability defects: Existing solutions cannot locate open sites to achieve low - cost path control; traditional path planning requires pre - installed maps and cannot adapt to temporary route changes (rigid); existing outdoor transportation robots rely on high - precision GPS / lidar, with high costs and instructions not suitable for non - technical personnel to operate (expensive and difficult). 5. Emergency handling insufficiency: Lack of intelligent charging path switching mechanism during low power, which is likely to cause task interruption.

[0059] This embodiment discloses an ultra - low - cost transportation robot system, including: a grid - based coordinate mapping module, a path generation module, a motion control module, and a path management module; among them: The grid - based coordinate mapping module is used to perform grid processing on the transportation site of the transportation robot based on the grid - based coordinate mapping algorithm; the path generation module is used to parse the program instructions input by the user and generate the transportation path of the transportation robot based on the grid - processed movement path of the transportation robot; the motion control module is used to achieve real - time control of the movement of the transportation robot based on the transportation path of the transportation robot; the execution control module is used to realize the addition, deletion, modification, query of the path and data storage and retrieval by software connecting to a Bluetooth device. The purpose of the present invention is to provide a low - cost, easy - to - operate, and highly adaptable outdoor transportation robot control solution. It realizes dynamic charging path management and safe start - stop control, and improves the reliability of outdoor operations.

[0060] Embodiment 2

[0061] Based on the same inventive concept, an embodiment of the present disclosure also provides a method for controlling an ultra-low-cost transportation robot, as Figure 3 follows:

[0062] The grid coordinate mapping module performs grid processing on the transportation site of the transportation robot based on the grid coordinate mapping algorithm;

[0063] The path generation module analyzes the program instructions input by the user and generates a transportation path for the transportation robot based on the transportation robot movement path after the grid processing;

[0064] The motion control module realizes real-time control of the movement of the transportation robot based on the transportation path of the transportation robot;

[0065] The path management module realizes the addition, deletion, modification, query, data storage and retrieval of the path by software connecting a Bluetooth device.

[0066] Among them, the specific methods for the grid coordinate mapping module, the path generation module, the motion control module and the path management module to work have been described in detail in Embodiment 1, and will not be repeated in this embodiment.

[0067] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the protection scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy.

[0068] In the above detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly stated in each claim. On the contrary, as reflected in the appended claims, the present invention resides in less than all of the features of a single disclosed embodiment. Accordingly, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the present invention.

[0069] Those skilled in the art should also understand that all the illustrative logical blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the above-described various illustrative components, blocks, modules, circuits, and steps have been generally described in terms of their functions. Whether such a function is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Skilled technicians can implement the described functions in a flexible manner for each specific application. However, such implementation decisions should not be construed as departing from the scope of protection of this disclosure.

[0070] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software modules can be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. The ASIC can be located in a user terminal. Of course, the processor and the storage medium can also exist as discrete components in the user terminal.

[0071] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that execute the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented inside the processor or outside the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well-known in the art.

[0072] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments. However, those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, this term is covered in a manner similar to the term "including" as interpreted when "including" is used as a transitional word in the claims. In addition, any term "or" used in the claims or the specification is intended to mean "non-exclusive or".

Claims

1. A super low-cost transportation robot system, characterized in that, Including: A grid coordinate mapping module, a path generation module, a motion control module, and a path management module; wherein: The grid coordinate mapping module is used to perform grid processing on the transportation site of the transportation robot based on the grid coordinate mapping algorithm; The path generation module is used to analyze the program instructions input by the user and generate the transportation path of the transportation robot based on the grid-processed moving path of the transportation robot; The motion control module is used to achieve real-time control of the motion of the transportation robot based on the transportation path of the transportation robot; The path management module is used to add, delete, modify, query, store, and retrieve paths by connecting to a Bluetooth device through software.

2. The ultra-low-cost transportation robot system according to claim 1, wherein The grid coordinate mapping module is used to perform grid processing on the moving path of the transportation robot based on the grid coordinate mapping algorithm. The specific method includes: setting the powered-on transportation robot as the origin (0, 0), the forward direction of the powered-on transport plane as the positive direction of the y-axis of the coordinate axis, and the right direction as the positive direction of the x-axis of the coordinate axis. The unit standard is meters. The entire transportation site of the transportation robot is like a grid composed of x and y coordinate axes with a spacing of one meter; setting the up arrow key, down arrow key, left arrow key, and right arrow key to represent forward, backward, leftward, and rightward respectively in the algorithm; setting the distance measurement standard as the decimal type of Arabic numerals 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, and the basic unit of the distance as meters; setting the first line of the program as the speed limit, and setting the semicolon symbol as the end of a single segment; representing the position of the powered-on transportation robot with (x, y) coordinates; setting the driving accuracy of the transportation robot.

3. The ultra-low-cost transportation robot system according to claim 1, characterized in that, The path generation module is used to analyze the program instructions input by the user, and the program instructions are divided into real-time remote control instructions and program control instructions.

4. The ultra-low-cost transportation robot system according to claim 3, characterized in that, The specific method for analyzing program instructions includes: when the program instruction is a program control instruction, first read the speed limit, and then read the direction and distance. After a single trip is completed, read the next segment. After reading an entire program, return to the first line and read again, looping continuously. When switching to the charging route in case of low power emergency, start reading the charging route after the original program execution ends.

5. The ultra-low-cost transportation robot system according to claim 3, wherein The specific method for analyzing program instructions includes: when the program instruction is a remote control instruction, after the remote control instruction moves a certain distance in one direction and turns, the upper segment instruction ends. If there is no distance movement in one direction, a complete program is not generated; when remote controlling, first identify the direction, and then identify acceleration or braking. When there is a certain speed, do not press the acceleration / braking to maintain a constant speed, and the speed limit is the highest speed during remote control.

6. The ultra-low-cost transportation robot system according to claim 1, characterized in that, The path generated by the path module includes a one-way path and a round-trip path. The path generation module takes the powered-on position as the origin (0, 0), converts the remote control memory data transmitted through Bluetooth connection into program instructions, and stores the remote control route; automatically generates and writes the program instructions for the one-way route and selects the return path program instructions after the round-trip mode.

7. The ultra-low-cost transportation robot system according to claim 1, wherein It also includes an execution control module, and the execution control module is used to analyze execution instructions to complete the functions of distance sensing start / stop and low power emergency switching.

8. The ultra-low-cost transportation robot system according to claim 7, characterized in that, The execution priority of the distance sensing start / stop is higher than that of the remote control and the program route instructions to ensure safety during driving. When remote controlling, the acceleration instruction must be selected after choosing a direction.

9. A control method for an ultra-low-cost transportation robot, adopting the control method for an ultra-low-cost transportation robot according to any one of the above claims 1-8, characterized in that, Including: The grid coordinate mapping module performs grid processing on the transportation site of the transportation robot based on the grid coordinate mapping algorithm; The path generation module parses the program instructions input by the user and generates the transportation path of the transportation robot based on the transportation path of the transportation robot after the grid processing; The motion control module realizes the real-time control of the motion of the transportation robot based on the transportation path of the transportation robot; The path management module realizes the addition, deletion, modification, query, data storage and retrieval of the path by software connecting to the Bluetooth device.

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