Robot control system and method based on magnetic pole combination coding

Abstract

The invention discloses a robot control system and method based on magnetic pole combination coding, and relates to the field of robot control. A first direction identification nail and a second direction identification nail with different magnetic pole directions are arranged at the two ends of a station identification unit, and a middle permanent magnet nail represents address information; the control module judges the driving direction according to the polarity combination of the head and tail magnetic poles, so that the analysis sequence of the address information is determined, and the problem of station misrecognition caused by the fact that the direction cannot be distinguished during reverse driving of the robot in the existing magnetic coding scheme is solved; meanwhile, direction discrimination and address coding can be synchronously realized only through a group of linearly arranged permanent magnet nails, an additional direction sensor or a preset path direction is not needed, and the hardware complexity and deployment cost of the system are reduced.

Description

A robot control system and method based on magnetic pole combination coding Technical Field

[0001] This invention relates to the field of robot control, and in particular to a robot control system and method based on magnetic pole combination coding. Background Technology

[0002] In existing robot navigation systems, station address identification often employs single magnetic dots, QR codes, or RFID tags. Single magnetic dots can only indicate presence or absence, unable to carry complex address information, resulting in a limited number of identifiable stations. This makes it difficult to support the unique identification of dozens to hundreds of stations in large smart factories or warehouse environments. Furthermore, the identification results typically trigger preset actions directly, making it difficult to execute corresponding control operations at the same physical station based on different operational needs (such as picking, placing, or inspection). This restricts the robot's flexibility and station reuse efficiency in multi-task collaborative scenarios. While QR codes or RFID tags can achieve high-capacity encoding, they require additional reading devices (such as cameras or RFID readers), increasing system costs and making them susceptible to environmental interference (such as dust, wear, and obstruction), resulting in poor stability. In addition, these solutions typically lack the ability to automatically determine the direction of travel, requiring additional sensors or preset rules for bidirectional path operation, leading to high system complexity. Summary of the Invention

[0003] To overcome the shortcomings of existing robot station identification schemes in terms of address capacity, bidirectional travel direction discrimination, and dynamic task adaptation, this invention proposes a robot control system based on magnetic pole combination encoding. The system includes: station identification units located at each preset station position; each station identification unit comprises multiple permanent magnetic nails of the same number and geometric arrangement; the two permanent magnetic nails at the two ends of the arrangement are respectively the first direction identification nail and the second direction identification nail, whose magnetic pole directions are configured with different fixed values ​​to constitute direction identification information; the magnetic pole directions of the remaining permanent magnetic nails located between the two are used to represent address information, which is used to generate… A binary address code identifies the location of the station, and the binary address codes corresponding to any two station identification units are different; a magnetic sensor installed at the bottom of the robot is configured to sequentially detect the magnetic pole direction of each permanent magnet nail in the station identification unit it passes through during travel; a control module is configured to determine the current travel direction based on the combination of magnetic pole polarities of the first and last permanent magnet nails detected by the magnetic sensor, determine the parsing order of the address information based on the travel direction, convert the address information into the corresponding binary address code, and then map the binary address code into the corresponding control command based on the current task context, and control the robot to perform corresponding actions based on the control command.

[0004] Furthermore, the step of mapping the binary address code to the corresponding control instruction based on the current task context specifically involves: loading the task-specific mapping relationship corresponding to the currently executed task, and mapping the identified binary address code to the corresponding robot control instruction by querying the task-specific mapping relationship; the task-specific mapping relationship includes the correspondence between each binary address code and the robot control instruction.

[0005] Furthermore, the magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing the magnetic pole direction, configured to output the magnetic pole direction signal of each detected permanent magnet.

[0006] Furthermore, the robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

[0007] Furthermore, the multiple permanent magnet nails in the station identification unit are arranged sequentially in a straight line along a preset travel direction.

[0008] This invention also proposes a robot control method based on magnetic pole combination encoding, comprising: during the robot's travel along a running path, using a magnetic sensor installed on the bottom of the vehicle body, sequentially detecting the magnetic pole direction of each permanent magnet in the station identification unit along the route; wherein, the station identification unit is located at each preset station position, comprising multiple permanent magnets of the same number and consistent geometric arrangement, wherein the two permanent magnets located at the two ends of the arrangement sequence are respectively the first direction identification nail and the second direction identification nail, and their magnetic pole directions are configured with different fixed values ​​to form direction identification information, and the magnetic pole directions of the remaining permanent magnets located between the two are used to represent address information, the address information is used to generate a binary address code identifying the station position, and the binary address codes corresponding to any two station identification units are different from each other; determining the current travel direction based on the magnetic pole polarity combination of the first and last permanent magnets detected by the magnetic sensor; determining the parsing order of the address information according to the travel direction, and converting the address information into the corresponding binary address code; mapping the binary address code into a corresponding control command according to the current task context; and controlling the robot to perform corresponding actions based on the control command.

[0009] Furthermore, the step of mapping the binary address code to the corresponding control instruction based on the current task context specifically involves: loading a task-specific mapping relationship corresponding to the currently executed task, and mapping the identified binary address code to the corresponding robot control instruction by querying the task-specific mapping relationship; the task-specific mapping relationship includes the correspondence between each binary address code and the robot control instruction.

[0010] Furthermore, the magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing the magnetic pole direction, configured to output the magnetic pole direction signal of each detected permanent magnet.

[0011] Furthermore, the robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

[0012] Furthermore, the multiple permanent magnet nails in the station identification unit are arranged sequentially in a straight line along a preset travel direction.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: (1) The present invention sets first and second direction identification pins with different magnetic pole directions at both ends of the station identification unit, and the middle permanent magnet pin represents the address information. The control module determines the driving direction based on the combination of the first and last magnetic pole polarities and determines the parsing order of the address information accordingly. This solves the problem of station misidentification caused by the inability to distinguish the direction when the robot is driving in reverse in the existing magnetic coding scheme. At the same time, only a set of linearly arranged permanent magnet pins are needed to realize the direction discrimination and address coding simultaneously. No additional direction sensor or preset path direction is required, which reduces the system hardware complexity and deployment cost.

[0014] (2) By loading a dedicated mapping relationship for each task, the present invention enables the same binary address code to be mapped to different robot control instructions in different task contexts, thereby realizing the logical reuse of physical sites, avoiding the repeated deployment of site identification units for different work processes, and improving the system's flexibility and resource utilization efficiency in multi-task collaborative scenarios.

[0015] (3) The present invention arranges multiple permanent magnet nails in a straight line along a preset driving direction to ensure that the magnetic sensor can detect each permanent magnet nail in a fixed spatial order during driving, providing a reliable geometric basis for "head and tail direction determination" and "address bit order analysis", avoiding reading misorder or missed detection problems caused by nonlinear arrangement.

[0016] (4) The present invention uses a Hall effect sensor or discrete N / S pole detection unit that can distinguish the magnetic pole direction, which can output the magnetic pole direction signal sequence of each permanent magnet in real time and accurately, providing reliable input for direction discrimination and address analysis, and enhancing the system's noise resistance and recognition stability in the environment of metal interference or vibration. Attached Figure Description

[0017] Figure 1 is a schematic diagram of the site identifier according to an embodiment of the present invention. Detailed Implementation

[0018] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0019] Example 1: To overcome the shortcomings of existing robot station identification schemes in terms of address capacity, bidirectional travel direction discrimination, and dynamic task adaptation, this invention proposes a robot control system based on magnetic pole combination coding, comprising: station identification units located at each preset station position; each station identification unit includes multiple permanent magnets of the same number and geometrically consistent arrangement, wherein the two permanent magnets located at the two ends of the arrangement sequence are respectively the first direction identification nail and the second direction identification nail, and their magnetic pole directions are configured with different fixed values ​​to form direction identification information; the magnetic pole directions of the remaining permanent magnets located between the two are used to represent address information, the address information is used to generate a binary address code identifying the station position, and the binary address codes corresponding to any two station identification units are different; the multiple permanent magnets in the station identification unit are arranged sequentially in a straight line along the preset travel direction.

[0020] This invention arranges multiple permanent magnet nails sequentially in a straight line along a preset driving direction, ensuring that the magnetic sensor can detect each permanent magnet nail in a fixed spatial order during driving. This provides a reliable geometric basis for "head and tail direction determination" and "address bit order analysis", avoiding reading misorder or missed detection problems caused by nonlinear arrangement.

[0021] In the circular track path shown in Figure 1, there are stations 1 to 12. Each station identification unit consists of 6 permanent magnets arranged linearly. The 1st and 6th permanent magnets are the first and second direction identification nails, respectively, with the magnetic pole directions fixed as S and N poles. The 2nd to 5th permanent magnets in the middle are used to represent 4-bit address information, which can encode 16 different combinations, enough to uniquely identify 12 physical stations.

[0022] A magnetic sensor located at the bottom of the robot is configured to sequentially detect the magnetic pole orientation of each permanent magnet in the station marker unit it passes through during travel; the magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing the magnetic pole orientation, and is configured to output the magnetic pole orientation signal of each detected permanent magnet.

[0023] This invention employs a Hall effect sensor or discrete N / S pole detection unit that can distinguish magnetic pole directions, enabling real-time and accurate output of the magnetic pole direction signal sequence of each permanent magnet, providing reliable input for direction discrimination and address analysis, and enhancing the system's noise resistance and recognition stability under metal interference or vibration environments.

[0024] In this embodiment, the magnetic sensor is a single Hall effect sensor capable of distinguishing magnetic pole directions, configured to output the magnetic pole direction signals of each detected permanent magnet. For example, when the robot passes station 1, the sensor sequentially reads the magnetic pole sequence as "SSSSSN", where the first and last magnetic poles are S and N, used to determine the driving direction; the four middle magnetic poles "SSSS" represent address information.

[0025] The control module is configured to determine the current driving direction based on the combination of magnetic poles of the first and last permanent magnets detected by the magnetic sensor, determine the parsing order of the address information based on the driving direction, convert the address information into the corresponding binary address code, and then map the binary address code into the corresponding control command based on the current task context, and control the robot to perform corresponding actions based on the control command.

[0026] The step of mapping the binary address code to the corresponding control instruction based on the current task context specifically involves: loading the task-specific mapping relationship corresponding to the currently executed task, and mapping the identified binary address code to the corresponding robot control instruction by querying the task-specific mapping relationship; the task-specific mapping relationship includes the correspondence between each binary address code and the robot control instruction.

[0027] This invention loads a dedicated mapping relationship for each task, enabling the same binary address code to be mapped to different robot control instructions in different task contexts. This achieves logical reuse of physical sites, avoids repeatedly deploying site identification units for different work processes, and improves the system's flexibility and resource utilization efficiency in multi-task collaborative scenarios.

[0028] The magnetic pole combinations of the 12 stations and their corresponding binary address codes are explained in the table below: It should be noted that the direction indicator pins (pin 1=S, pin 6=N) remain fixed, and only the middle 4 bits change to generate a unique address code.

[0029] The robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

[0030] Specific task examples are as follows: Task 1: The robot transports goods from station 1 to station 5 and returns to station 1.

[0031] The robot travels forward. When it reaches station 1, it reads the sequence "SSSSSN". Since the first and last characters are SN, it is determined to be traveling forward. The address information "SSSS" is converted to the address code "0000". The control module loads the task-specific mapping relationship of Task 1, finds "0000" and executes the "pick up" instruction, and executes the pickup. When it reaches station 5, it reads "SSNSSN" and the address code "0100", which is mapped to "release". On the return trip, it travels in reverse. When it reaches station 4, the magnetic sensor reads the sequence "NNNSSS" (i.e., the reverse of the forward sequence), where the first and last magnetic poles are N and S. Based on this, the control module determines that it is currently traveling in reverse. Then, it extracts the middle 4 characters "NNSS" and reverses them to "SSNN" according to the reverse parsing rules, finally obtaining the binary address code "0011", which is consistent with the forward recognition result, ensuring that the station identity is correctly restored.

[0032] Finally, return to station 1, identify "0000" again, and the task ends.

[0033] Task 2: Robot inspection task, stopping only at stations 3, 7, and 11 for inspection.

[0034] At station 3 (address code "0010"), the mapping is "stop + inspection"; at station 7 ("0110"), the mapping is "stop + take a picture"; at station 11 ("1010"), the mapping is "stop + data upload"; all other stations are mapped to "go straight".

[0035] It can be seen that six permanent magnets (two directions + four addresses) can support the unique identification of more than 12 stations, and the same station (such as station 1, address code 0000) can trigger different instructions in different tasks, realizing the dual advantages of high-density coding and dynamic task adaptation.

[0036] This invention solves the problem of station misidentification caused by the inability to distinguish directions when the robot is moving in reverse, by setting first and second direction identification pins with different magnetic pole directions at both ends of the station identification unit, and the middle permanent magnet pin representing the address information. The control module determines the driving direction based on the combination of the first and last magnetic pole polarities and determines the parsing order of the address information accordingly. At the same time, only one set of linearly arranged permanent magnet pins is needed to realize direction discrimination and address encoding simultaneously, without the need for additional direction sensors or preset path directions, thus reducing the system hardware complexity and deployment cost.

[0037] Example 2: This embodiment of the invention also proposes a robot control method based on magnetic pole combination encoding, comprising: during the robot's movement along a running path, using a magnetic sensor installed at the bottom of the robot body to sequentially detect the magnetic pole direction of each permanent magnet in the station identification unit along the route; wherein, the station identification unit is located at each preset station position and includes multiple permanent magnets of the same number and consistent geometric arrangement, wherein the two permanent magnets located at both ends of the arrangement sequence are respectively the first direction identification nail and the second direction identification nail, and their magnetic pole directions are configured with different fixed values ​​to form direction identification information, and the magnetic pole directions of the remaining permanent magnets located between the two are used to represent address information, the address information is used to generate a binary address code identifying the station position, and the binary address codes corresponding to any two station identification units are different from each other; the magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing magnetic pole direction, configured to output the magnetic pole direction signal of each detected permanent magnet.

[0038] The multiple permanent magnets in the station identification unit are arranged sequentially in a straight line along the preset travel direction.

[0039] The current driving direction is determined based on the magnetic polarity combination of the first and last permanent magnets detected by the magnetic sensor. Based on the driving direction, the parsing order of the address information is determined, and the address information is converted into corresponding binary address codes. According to the current task context, the binary address codes are mapped to corresponding control commands. Specifically, mapping the binary address codes to corresponding control commands based on the current task involves: loading a task-specific mapping relationship corresponding to the currently executed task; and mapping the identified binary address codes to corresponding robot control commands by querying the task-specific mapping relationship. The task-specific mapping relationship includes the correspondence between each binary address code and the robot control command.

[0040] The robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

[0041] Based on the control commands, the robot is controlled to perform corresponding actions.

[0042] This invention solves the problem of station misjudgment during reverse travel by separating and encoding direction identification information and address information in the station identification unit (direction is achieved by fixing the magnetic poles of the first and last permanent magnets, and the address is represented by the combination of magnetic poles of the middle permanent magnet), and the control module dynamically adjusts the address parsing order according to the direction judgment result. At the same time, by loading a dedicated mapping relationship based on the task context, the same address code can trigger different control commands in different tasks, which significantly improves the adaptability and station reuse capability of the robot system in multi-task scenarios.

[0043] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, descriptions involving "first," "second," or "a" in the present invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. In the present invention, unless otherwise explicitly specified and defined, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. For those skilled in the art, the specific meanings of the above terms in this invention can be understood according to the specific circumstances. Furthermore, the technical solutions of the various embodiments of this invention can be combined with each other, but only on the basis that those skilled in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

Claims

1. A robot control system based on magnetic pole combination coding, characterized in that, include: Each station identification unit comprises a set of station markers at each preset station location. Each station marker unit includes a plurality of permanent magnets of the same number and geometrically consistent arrangement. The two permanent magnets at the two ends of the arrangement sequence are designated as the first direction marker and the second direction marker, respectively, and their magnetic pole directions are configured with different fixed values ​​to form direction identification information. The magnetic pole directions of the remaining permanent magnets located between the two are used to represent address information. The address information is used to generate a binary address code identifying the station location, and the binary address codes corresponding to any two station marker units are mutually exclusive. A magnetic sensor located at the bottom of the robot is configured to sequentially detect the magnetic pole directions of each permanent magnet in the station marker units it passes through during travel. A control module is configured to determine the current travel direction based on the combination of magnetic pole polarities of the first and last permanent magnets detected by the magnetic sensor, determine the parsing order of the address information based on the travel direction, convert the address information into the corresponding binary address code, and then map the binary address code into the corresponding control command based on the current task context. Based on the control command, the robot is controlled to perform corresponding actions.

2. The robot control system based on magnetic pole combination encoding according to claim 1, characterized in that, The step of mapping the binary address code to the corresponding control instruction based on the current task context specifically involves: loading the task-specific mapping relationship corresponding to the currently executed task, and mapping the identified binary address code to the corresponding robot control instruction by querying the task-specific mapping relationship; the task-specific mapping relationship includes the correspondence between each binary address code and the robot control instruction.

3. A robot control system based on magnetic pole combination coding according to claim 1, characterized in that, The magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing the direction of the magnetic poles, configured to output the magnetic pole direction signal of each detected permanent magnet.

4. A robot control system based on magnetic pole combination encoding according to claim 1, characterized in that, The robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

5. A robot control system based on magnetic pole combination encoding according to claim 1, characterized in that, The multiple permanent magnets in the station identification unit are arranged sequentially in a straight line along the preset travel direction.

6. A robot control method based on magnetic pole combination coding, characterized in that, include: As the robot travels along its path, magnetic sensors located on the bottom of the vehicle sequentially detect the magnetic pole orientation of each permanent magnet in the station identification units it passes through. Each station identification unit, located at a preset station position, comprises multiple permanent magnets of equal number and identical geometric arrangement. The two permanent magnets at the ends of the arrangement are designated as the first and second direction identification pins, respectively, with their magnetic pole orientations configured with different fixed values ​​to form direction identification information. The magnetic pole orientations of the remaining permanent magnets between these two pins represent address information, which is used to generate a binary address code identifying the station position. Furthermore, the binary address codes corresponding to any two station identification units are distinct. The current travel direction is determined based on the combination of magnetic pole polarities detected by the magnetic sensors at the beginning and end of the station. Based on the driving direction, the parsing order of the address information is determined, and the address information is converted into the corresponding binary address code; based on the current task context, the binary address code is mapped into the corresponding control command; based on the control command, the robot is controlled to perform the corresponding action.

7. A robot control method based on magnetic pole combination encoding according to claim 6, characterized in that, The step of mapping the binary address code to the corresponding control instruction based on the current task context specifically involves: loading the task-specific mapping relationship corresponding to the currently executed task, and mapping the identified binary address code to the corresponding robot control instruction by querying the task-specific mapping relationship; the task-specific mapping relationship includes the correspondence between each binary address code and the robot control instruction.

8. A robot control method based on magnetic pole combination encoding according to claim 6, characterized in that, The magnetic sensor includes detection units for detecting the N pole and the S pole respectively, or a single Hall effect sensor capable of distinguishing the direction of the magnetic poles, configured to output the magnetic pole direction signal of each detected permanent magnet.

9. A robot control method based on magnetic pole combination encoding according to claim 6, characterized in that, The robot control commands include: stopping, starting, stopping, accelerating, decelerating, going straight, turning left, turning right, and commands to control the on-board actuators to perform loading or unloading operations.

10. A robot control method based on magnetic pole combination encoding according to claim 6, characterized in that, The multiple permanent magnets in the station identification unit are arranged sequentially in a straight line along the preset travel direction.

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