Track magnetic sheet dynamic map system based on intelligent background plate

Abstract

The invention discloses a track magnetic sheet dynamic map system based on an intelligent background board, and the system comprises a track magnetic sheet which is disposed on the intelligent background board, the track magnetic sheet is provided with an OID code value, and the OID code value comprises a coordinate code, an instruction type, and a direction check code; and the robot obtains the OID code values on the magnetic sheets through the OID optical identification module and obtains an instruction by reading one or more instruction magnetic sheets printed with the OID code values. Compared with the prior art, the problems that an existing intelligent education robot cannot be corrected in time when deflection occurs in the operation process, and tracks cannot be freely spliced are solved, the intelligent background plate serves as an information medium between the robot and the magnetic sheets, and the intelligent background plate reads information of the magnetic sheets and transmits the information to the robot; and the robot can identify map changes in real time.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot control technology, and in particular to a dynamic map system based on a smart background board and magnetic strips. Background Technology

[0002] Programmable robots controlled by OID optical sensors are a common type of intelligent robot. These robots typically do not have instruction buttons on their bodies. Instead, they use OID sensors to identify specific coded patterns (instructions) to fulfill the user's programming and control needs. Furthermore, the robots can provide interactive feedback in various scenarios during instruction execution, making them quite engaging.

[0003] Existing intelligent educational robots based on optical recognition (OID) programming require maps or cards with specific codes to function.

[0004] In existing card-based robots, the placement of cards is restricted. They can only be joined by setting a single direction for adjacent cards; otherwise, they cannot be recognized, leading to inconvenience. Furthermore, the OID code is only used for the robot to obtain instructions, providing limited information and failing to correct deviations in a timely manner during robot operation.

[0005] Furthermore, when existing intelligent educational robots dynamically adjust the preset map they are using, the robots cannot recognize map changes in real time and adjust their paths accordingly. Summary of the Invention

[0006] The purpose of this invention is to provide a dynamic map system for track magnetic tiles based on an intelligent background board, so as to solve the problems that existing intelligent educational robots cannot correct deviations in time during operation and that magnetic tiles can only be spliced ​​in one direction.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a dynamic map system for track magnetic tiles based on an intelligent background board, comprising:

[0008] Dynamic map;

[0009] The track magnetic tile is placed on the intelligent background board of the dynamic map. The track magnetic tile is set with OID code value, which includes coordinate code, command type and direction check code.

[0010] The robot obtains the OID code value on the magnetic sheet through the OID optical recognition module, and obtains instructions by reading the track magnetic sheet instruction block printed with the OID code value;

[0011] When multiple track magnetic tiles are randomly assembled to form a path, the robot executes cross-track magnetic tile movement commands. During this process, the robot parses the OID code value, verifies the data validity through the direction check code, and recalculates its own pose based on the direction vector and coordinate code. It also dynamically adjusts the motion parameters according to the command type. The track magnetic tiles are equipped with an array of coordinate codes, which include x-code values, y-code values, and angle information. The x-code value contains ID information and x-coordinate information, and the y-code value contains ID information and y-coordinate information. The x-code value and y-code value are used to identify the placement direction of the magnetic tiles, and the angle information is used to represent the robot's tilt angle.

[0012] As a further description of the above technical solution:

[0013] The dynamic map includes at least one smart background board, with track magnetic tiles placed on the smart background board. Contact points are located at the four inner corners of the back of each track magnetic tile. The OID code value on each track magnetic tile corresponds to its resistance value. The smart background board detects the resistance value between the four contact points of the track magnetic tile to obtain its orientation and acquire its OID code value. The smart background board transmits the track magnetic tile placement information, including the position information and OID code value of each individual track magnetic tile, to the robot.

[0014] As a further description of the above technical solution:

[0015] On the dynamic map, the robot operates in autonomous or programmed mode based on OID code value recognition. In autonomous mode, the robot moves in a straight line without reading a specific OID code value. During its journey, it reads a specific OID code value from a track magnetic sheet and then executes the corresponding action based on the instruction corresponding to the recognized OID code value. The programming mode operates by first having the robot read one or more instruction magnetic sheets with printed OID codes to complete the program upload. Then, the robot executes the uploaded instruction string on the track magnetic sheets with printed OID codes.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] 1. In this invention, when the robot uploads a program in programming mode, it identifies the instruction information corresponding to the OID code value on the instruction magnetic piece. On the other hand, it confirms its own position by using the x code value, y code value, and angle information contained in the OID code value to prevent the robot from deviating from its intended path. At the same time, the system provides real-time guidance for the robot's running position, making the placement of the instruction magnetic pieces unrestricted. Since the code value can be read from any placement position of the instruction magnetic piece, the instruction magnetic pieces can be placed from left to right or from right to left when uploading the program. Both left-handed and right-handed users can place them according to their own habits, improving ease of use.

[0018] 2. In this invention, the intelligent background board acts as an information intermediary between the robot and the magnetic tiles. After the magnetic tiles are placed on the intelligent background board, the intelligent background board reads the information of the track magnetic tiles and transmits it to the robot. This allows the robot to obtain the OID code values ​​of each track magnetic tile on the dynamic map in real time through the intelligent background board. This enables the robot to recognize map changes in real time and prevents it from falling off the track magnetic tiles. Furthermore, multiple robots can work collaboratively through the track magnetic tile map.

[0019] 3. In this invention, the robot's built-in path adjustment algorithm will parse the four layers of information in the OID code value in real time, verify the validity of the data through the check bit, recalculate its own pose based on the direction vector and position coordinates, and dynamically adjust the motion parameters according to the instruction type to ensure that the robot accurately executes subsequent movement tasks, avoids the risk of path misjudgment caused by non-standard splicing of track magnetic tiles, and significantly improves the accuracy and stability of the robot's motion control in the track magnetic tile combination environment.

[0020] 4. In the self-driving mode, by combining multiple physical instruction magnetic pieces with the program loop logic, the custom function of specific track magnetic pieces can be realized, realizing the innovation of physical programming interaction mode, breaking through the limitation of single trigger of traditional physical programming, and forming a reusable instruction string mechanism. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a magnetic tile in a dynamic map system based on a smart background board.

[0023] Figure 2This is a schematic diagram of coordinate codes in a dynamic map system for track magnetic tiles based on an intelligent background board.

[0024] Figure 3 This is a schematic diagram of two magnetic tiles being stitched together in a dynamic map system for track magnetic tiles based on an intelligent background board.

[0025] Figure 4 This is a schematic diagram illustrating the detection of resistance values ​​between four contact points of a magnetic strip in a dynamic map system based on a smart background panel.

[0026] Figure 5 This is a schematic diagram of a robot operating in autonomous driving mode in a dynamic map system based on a smart background board and magnetic stripe.

[0027] Figure 6 This is a schematic diagram illustrating the customized operation of a robot's autonomous driving mode in a dynamic map system based on a smart background board and magnetic stripe.

[0028] Figure 7 This is a schematic diagram illustrating the operation of Scheme 1 of the robot programming mode in a dynamic map system based on a smart background board and magnetic strips.

[0029] Figure 8 This is a schematic diagram illustrating the operation of Scheme 2 of the robot programming mode in a dynamic map system based on a smart background board and magnetic strips.

[0030] Figure 9 This is a schematic diagram illustrating the operation of Scheme 3 of the robot programming mode in a dynamic map system based on a smart background board and track magnetic tiles.

[0031] Figure 10 This is a schematic diagram of the robot's upward-looking structure in a dynamic map system based on a smart background board and magnetic stripe.

[0032] Legend:

[0033] 1. Track magnetic sheet; 11. Coordinate code; 12. Contact point;

[0034] 9. Robot; 91. Main optical sensor; 92. Speaker; 93. Roller; 94. Switch. Detailed Implementation Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0037] Embodiment 1

[0038] Please refer to Figure 1-3 and Figure 10 , the present invention provides a technical solution: a track magnetic sheet dynamic map system based on an intelligent background board, including:

[0039] A dynamic map;

[0040] Track magnetic sheets, which are placed on the intelligent background board of the dynamic map. OID code values are set on the track magnetic sheets, and the OID code values include coordinate codes, instruction types, and direction check codes;

[0041] A robot, which obtains the OID code values on the instruction magnetic sheets through the OID optical recognition module and obtains instructions by reading one or more instruction magnetic sheets;

[0042] Among them, when multiple track magnetic sheets are randomly spliced to form a path, during the process of the robot executing the cross-track magnetic sheet movement instruction, the robot analyzes the OID code values, verifies the data validity through the direction check code, recalculates its own pose based on the direction vector and the coordinate code, and dynamically adjusts the motion parameters according to the instruction type. Arrayed coordinate codes are set on the magnetic sheets. The coordinate codes include x code values, y code values, and angle information. The x code value of the coordinate code includes ID information and x coordinate information, the y code value includes ID information and y coordinate information. The x code value and the y code value are used to identify the placement direction of the track magnetic sheet 1. The x coordinate information and the y coordinate information therein are generally two-digit coordinate values of 54 multiplied by 54. The ID information is used to distinguish different track magnetic sheets 1, and the angle information is used to represent the tilt angle of the robot.

[0043] On the bottom surface of the robot 9, a main optical sensor 91, a speaker 92, rollers 93, and a switch 94 are provided. The main optical sensor 91 is used to identify the OID code values, the speaker 92 is used to play external sounds, and the rollers 93 are used for the robot 9 to walk. The switch 94 and the two rollers 93 are arranged in a "pin" shape. In addition to controlling the startup and shutdown of the robot 9, the switch 94 serves as a support point and cooperates with the two rollers to form a three-point support for the robot 9, improving the anti-tipping ability of the robot 9.

[0044] When the robot runs on the dynamic map, it identifies the instruction information corresponding to the OID code value on the track magnetic sheet. On the other hand, it confirms its own position by using the x code value, y code value and angle information contained in the OID code value to prevent the robot from deviating. At the same time, the system guides the robot's running position in real time, so that the placement direction of the track magnetic sheet is not restricted, because the code value can be read from each placement position of the track magnetic sheet.

[0045] The OID code value is adhered to the surface of the magnetic sheet using adhesive. The magnetic sheets include command magnetic sheets and track magnetic sheets. Command magnetic sheets are used to upload instruction programs to the robot, while track magnetic sheets are used to guide the robot's movement after the instruction program has been uploaded. The OID code value of a single command magnetic sheet corresponds to a specific instruction, such as forward, turn, loop, condition, or function. Command magnetic sheets with different OID code values ​​can upload different instructions to the robot.

[0046] One or more instruction magnetic tiles arranged in a certain order can construct a repeatable instruction string. When the robot moves over the instruction magnetic tiles, it reads the instruction string information, automatically obtains the corresponding action sequence, and supports the repeated execution of the same instruction string in the running path to realize the task logic.

[0047] The robot has four photodiodes symmetrically arranged at the four corners of its bottom, which correspond to four photoelectric sensors on the magnetic sheet, so that it can receive 16 kinds of signals (2 to the power of 4).

[0048] When multiple track magnetic tiles are randomly assembled to form a path, during the execution of cross-track magnetic tile movement commands, if the robot moves out of the side of one magnetic tile and comes into contact with the side of another magnetic tile (e.g., moves out from the right side of magnetic tile a and comes into contact with the top of magnetic tile b), the robot's built-in path adjustment algorithm will analyze the four layers of information in the OID code value in real time, verify the validity of the data through check bits, recalculate its own pose based on the direction vector and position coordinates, and dynamically adjust the motion parameters according to the command type. This ensures that the robot accurately executes subsequent movement tasks, avoids the risk of path misjudgment caused by non-standard splicing of magnetic tiles, and significantly improves the accuracy and stability of the robot's motion control in the track magnetic tile combination environment.

[0049] The surface of the track magnetic sheet 1 is covered with OID code values ​​bearing fixed direction markings. This code value uses a composite encoding algorithm, integrating binary, Gray code, and direction check bits. The OID code value contains four layers of core information: the first 4 bits represent the position coordinates, the middle 3 bits define the command type (forward, turn, loop, etc.), combined with the inherent up, down, left, and right direction vector information of the magnetic sheet, and the last 2 bits serve as a direction check code to ensure data accuracy.

[0050] The track magnetic sheet 1 has an array of coordinate codes 11. Each coordinate code 11 includes an x-value, a y-value, and angle information. The x-value of coordinate code 11 contains ID information and coordinate information. For example, in the x-value "150", "1" represents the ID information and "50" represents the coordinate information; in the x-value "254", "2" represents the ID information and "54" represents the coordinate information. The portion of the x-value greater than 100 represents the module ID information.

[0051] See appendix Figure 1 The x-code value of the coordinate code 11 on the surface of the track magnetic sheet 1 gradually increases from left to right, and the y-code value gradually increases from top to bottom.

[0052] Coordinate code 11 contains unique x and y coordinate information. The robot moves along the direction of the coordinate code. When two adjacent square track magnetic pieces are spliced ​​together with arbitrary sides, the robot uses the coordinate codes of the two adjacent track magnetic pieces and the path adjustment algorithm to process the coordinate sequence formed by splicing in real time and calculate the robot's running direction.

[0053] Since the robot moves according to the direction of the coordinate code, if the track magnetic pieces are randomly pieced together, the robot will encounter coordinate codes in other directions. Without a path adjustment algorithm, the robot will not be able to identify other directions and will therefore be unable to continue moving.

[0054] When the path adjustment algorithm identifies the splicing of track magnetic pieces 1, there are four possible splicing directions for two adjacent square track magnetic pieces 1. (See appendix for details.) Figure 3 As shown in embodiment (1), when the robot crosses two adjacent square track magnetic plates 1 with the same direction, if the difference in y-coordinate or x-coordinate between the coordinate codes of the two adjacent track magnetic plates 1 is greater than 30, it is determined that it has entered a new track magnetic plate 1. See Appendix. Figure 3 As shown in embodiments (2), (3), and (4), when the robot crosses two adjacent square track magnetic plates 1 with inconsistent directions, if the angle information between the coordinate codes of the two adjacent track magnetic plates 1 is greater than 45 degrees, it is determined that the robot has entered a new track magnetic plate 1. In addition, the robot updates the angle information in a timely manner after entering a new magnetic plate.

[0055] In the splicing and recognition stage, the code value on the surface of the magnetic sheet contains unique x and y coordinate information. When two track magnetic sheets are spliced ​​together with arbitrary edges, OID technology quickly identifies the splicing coordinate code value through optical signals, accurately marking the splicing position. The combination of these two technologies enables the system to complete a comprehensive judgment of the splicing status within milliseconds, breaking through the limitation of traditional OID coordinate code values ​​that cannot arbitrarily change the splicing direction.

[0056] The coordinate code provides the robot with direct position navigation information. The intelligent algorithm processes the coordinate sequence formed by splicing in real time and automatically calculates the robot's running direction by using the x and y coordinates of adjacent magnetic pieces, ensuring stable operation on any spliced ​​track.

[0057] The synergistic effect of these three elements not only achieves flexibility in the physical splicing of magnetic tiles, but also transforms the physical track into a precisely controllable digital path through digital coordinates and algorithm calculations, thus constructing a complete technology chain of "physical splicing - digital recognition - intelligent control". This maximizes the functionality and accuracy of the system without introducing additional technologies.

[0058] Working principle: OID codes are adhered to the surface of the magnetic tiles using adhesive. The OID code value on a single track magnetic tile 1 corresponds to the resistance value of that single track magnetic tile. The intelligent background board transmits the placement information of the track magnetic tiles to the robot. This placement information includes the position information and OID code value of each magnetic tile. This allows the robot to obtain the OID code values ​​of each track magnetic tile on the dynamic map in real time through the intelligent background board. This enables the robot to recognize map changes in real time and dynamically adjust its path. Multiple robots can also work collaboratively using the magnetic tile map.

[0059] Example 2

[0060] See appendix Figure 4 Based on the above embodiments, this embodiment further improves upon the following technical solutions: The dynamic map includes at least one intelligent background board, and a track magnetic sheet is placed on the intelligent background board. Contact points 12 are provided at the four inner corners of the back of the track magnetic sheet 1. The OID code value on a single magnetic sheet corresponds to the resistance value of the single magnetic sheet. The intelligent background board detects the resistance value between the four contact points 12 of the magnetic sheet to obtain the direction of the track magnetic sheet and acquire the OID code value of the magnetic sheet. The intelligent background board transmits the track magnetic sheet placement information on it to the robot. The track magnetic sheet placement information includes the position information and OID code value of a single track magnetic sheet.

[0061] The figure shows the positional changes in the resistance of the track magnetic sheet 1 when it is placed in four orientations: 0°, 90°, 180°, and 270°. This allows the smart background board to detect the orientation of the track magnetic sheet 1 by detecting the resistance value between the four contacts 12 of the track magnetic sheet.

[0062] The orientation of the track magnetic tiles corresponds to the angle information in the OID code value, both of which are used to determine the robot's tilt angle. There is a one-to-one correspondence between the resistance value and the magnetic tile OID code value, and a correspondence table exists. After the intelligent background board identifies the resistance value of the track magnetic tiles, the corresponding OID code value is obtained by looking up the table.

[0063] Table 1: Resistor Value and OID Code Value Correspondence Table

[0064] resistor R code value 1Ω X:1xxY:0xx 2Ω X:2xxY:0xx 3Ω X:3xxY:0xx …… …… 100Ω X:0xxY:1xx

[0065] This allows the smart background board to act as an information intermediary between the robot and the track magnetic sheet. After the track magnetic sheet is placed on the smart background board, the smart background board reads the information from the track magnetic sheet and transmits it to the robot.

[0066] The dynamic map consists of a central control chip and several smart background panels. These smart background panels are stitched together to form the dynamic map. The central control chip is located within one of the smart background panels, and adjacent smart background panels interact with each other. The central control chip only needs to be placed within a smart background panel in the central area or other parts of the dynamic map; the other smart background panels are connected to the central control chip via resistors and wires.

[0067] Multiple smart background panels can be stitched together to form a dynamic map. For example, four 3x3 smart background panels can be stitched together to form a 6x6 dynamic map, nine 3x3 smart background panels can be stitched together to form a 9x9 dynamic map, and so on.

[0068] Adjacent smart backdrops are connected via Pogo pins, plugs, or clips. This allows smart backdrops without a central control chip to connect and interact with smart backdrops (main control boards) that do have a central control chip.

[0069] The dynamic map interacts with the terminal device via Bluetooth or Wi-Fi. The interaction between the robot and the dynamic map follows the same principle.

[0070] Example 3

[0071] See appendix Figure 5-6 Based on the above embodiments, this embodiment further improves upon the following technical solution: the robot operates in autonomous mode on the dynamic map based on OID code value recognition. In autonomous mode, the robot that has not read the programming string moves along a straight line. After reading the OID code value of the instruction magnetic piece during its journey, the robot executes the corresponding action according to the instruction corresponding to the recognized OID code value.

[0072] In autonomous driving mode, a robot that has not yet read a specific OID code value travels in a straight line on a magnetic track. During its journey, it reads the OID code value of a specific track magnetic piece and executes the corresponding action based on the command associated with that OID code value. These specific OID codes, by default, execute "turn left," "turn right," "translate left," and "translate right," respectively. These specific OID codes can also be customized using command strings (i.e., local programming). For example, the default "turn left" OID code value can be changed to "turn left, move forward one step, then turn right," or any other command, by having the robot read the OID command string.

[0073] Example 4

[0074] This embodiment further improves upon the above embodiments by implementing the following technical solutions: The robot utilizes a multi-robot collaborative and anti-fall function via magnetic track tiles placed on a smart background board. Multiple robots on a dynamic map obtain their position information through the dynamic map. The multi-robot collaborative function dynamically allocates tasks using an auction algorithm and generates path planning using a path avoidance algorithm. This enables multiple robots on the same dynamic map to achieve anti-interference collaborative control, overcoming the limitations of traditional infrared / Bluetooth communication methods and avoiding mutual interference. The anti-fall function obtains the position information of the magnetic track tiles on the smart background board in real time based on the dynamic map. When there are no magnetic tiles in front of the robot's running direction, it controls the robot to stop moving and issues an alarm, effectively preventing the robot from stepping off the magnetic tiles when controlled by a program or remote control on a mobile phone, computer, or other terminal device.

[0075] Example 5

[0076] See appendix Figure 7-9 Based on the above embodiments, this embodiment further improves upon the following technical solutions: by combining multiple physical instruction blocks and deeply binding them with program loop logic, the custom function of a specific track magnetic sheet can be realized, achieving innovation in the physical programming interaction mode, breaking through the limitation of single triggering in traditional physical programming, and forming a reusable instruction string mechanism.

[0077] Implementation method: In autonomous driving mode, the robot first recognizes multiple instruction magnetic tiles with code values. After recognition, specific track magnetic tiles can be customized to update the function. When the robot walks on the specific track magnetic tile, it executes the corresponding instruction string.

[0078] Implementation Case: In a self-driving adventure game, players complete tasks by defining corresponding program instructions for custom-function track magnetic tiles. For example, when the robot is on custom-function track magnetic tile 1, it needs to execute the instructions "move forward 1 step, turn left, move forward 1 step". The robot will execute this instruction string every time it encounters track magnetic tile 1 with the same code value, helping it complete the maze challenge. In the adventure game, there are various custom-function track magnetic tiles, each corresponding to a different code value, such as track magnetic tile g1, track magnetic tile g2, track magnetic tile g3, and track magnetic tile g4.

[0079] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A dynamic map system for track magnetic tiles based on an intelligent background board, characterized in that, include: Dynamic map; A track magnetic tile is placed on the intelligent background board of the dynamic map. The track magnetic tile is provided with an OID code value, which includes a coordinate code, an instruction type, and a direction verification code. The robot obtains the OID code value on the track magnetic sheet through the OID optical recognition module, and obtains instructions by reading one or more instruction magnetic sheets printed with OID code values; In this process, when multiple magnetic strips are randomly assembled to form a path, the robot parses the OID code value during the execution of the cross-magnetic strip movement command, verifies the data validity through the direction check code, and recalculates its own pose based on the direction vector and coordinate code. It also dynamically adjusts the motion parameters according to the command type. The magnetic strips are equipped with an array of coordinate codes, which include x-code values, y-code values, and angle information. The x-code value of the coordinate code contains ID information and x-coordinate information, and the y-code value contains ID information and y-coordinate information. The x-code value and the y-code value are used to identify the placement direction of the magnetic strips, and the angle information is used to represent the robot's tilt angle.

2. The dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, The dynamic map includes at least one smart background panel. The track magnetic pieces are placed on the smart background panel. Contact points are provided at the four inner corners of the back of the magnetic pieces. The OID code value of each track magnetic piece corresponds to the resistance value of that track magnetic piece. The smart background panel detects the resistance value between the four contact points of the track magnetic piece to obtain the orientation of the track magnetic piece and acquire its OID code value. The smart background panel transmits the track magnetic piece placement information to the robot. The track magnetic piece placement information includes the position information and OID code value of each track magnetic piece.

3. The dynamic map system for track magnetic tiles based on an intelligent background board according to claim 2, characterized in that, On the dynamic map, the robot operates in autonomous driving mode or programming mode based on OID code value recognition. In autonomous driving mode, the robot moves in a straight line without reading a specific OID code value. After reading the specific OID code value of the track magnetic sheet during its journey, the robot executes the corresponding action according to the instruction corresponding to the recognized OID code value. The operating logic of programming mode is to first let the robot read the instruction magnetic sheet information printed with one or more OID code values ​​and complete the program upload. The robot then executes the uploaded instruction string on the track magnetic sheet printed with OID code values.

4. The dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, The coordinate code contains unique x and y coordinate information. The robot walks along the direction of the coordinate code. When two adjacent square magnetic tiles are spliced ​​together with any side, the robot uses the coordinate codes of the two adjacent track magnetic tiles and the path adjustment algorithm to process the coordinate sequence formed by splicing in real time and calculate the robot's running direction.

5. A dynamic map system for track magnetic tiles based on an intelligent background board according to claim 4, characterized in that, When the path adjustment algorithm identifies the splicing of track magnetic tiles, since there are four splicing directions for two adjacent square track magnetic tiles, if the robot crosses two adjacent square track magnetic tiles with the same direction, and the difference in the y-coordinate or x-coordinate between the coordinate codes of the two adjacent track magnetic tiles is greater than 30, it is determined to enter a new track magnetic tile. If the robot crosses two adjacent square track magnetic tiles with different directions, and the angle information between the coordinate codes of the two adjacent track magnetic tiles is greater than 45 degrees, it is determined to enter a new magnetic tile.

6. The dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, The dynamic map includes a central control chip and several smart background panels. The smart background panels are stitched together to form the dynamic map. The central control chip is set in one of the smart background panels, and information is exchanged between adjacent smart background panels.

7. A dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, Adjacent smart background panels can be spliced ​​together using Pogo pins, plugs, or clips.

8. A dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, The robot features multi-robot collaboration and fall prevention capabilities via magnetic track tiles placed on a smart background board. Multiple robots on the dynamic map acquire their position information through the dynamic map. The multi-robot collaboration function of the magnetic track tiles on the smart background board dynamically allocates tasks using an auction algorithm and generates path planning in conjunction with a path avoidance algorithm. The fall prevention function of the magnetic track tiles on the smart background board, based on the magnetic tile position information fed back from the dynamic map, controls the robot to stop moving and issues an alarm when there is no magnetic tile in front of the robot's running direction.

9. A dynamic map system for track magnetic tiles based on an intelligent background board according to claim 1, characterized in that, The dynamic map interacts with the terminal device via Bluetooth or Wi-Fi connection.

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