Robot transition guiding beacon
By using pairs of guide beacons in robot transitions and using visual recognition to generate virtual maps, the problems of complex and susceptible interference in traditional robot transitions are solved, and a stable, convenient and low-cost transition solution is achieved.
Patent Information
- Application Number
- CN202422510899.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-10-17
AI Technical Summary
In traditional robot transition mode, physical guidance technology requires laying guidance devices, resulting in cumbersome construction and easy damage, while radio guidance technology requires building base stations and is susceptible to interference.
A pair-set robot transition guidance beacon, including physical features and unique visual features, is used to identify and generate a virtual working map through the robot's visual system to achieve stable transition without power and magnetism.
The stability and convenience of robot transition are achieved, construction complexity and electromagnetic interference are avoided, and costs are reduced.
Smart Images
Figure CN223140072U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robot movement, and particularly relates to a robot transfer guiding beacon. Background Art
[0002] With the development of technology, more and more repetitive labor or labor in relatively harsh environments can be completed by robots, which can liberate people's hands, reduce the probability of personal safety accidents, and also reduce labor costs. For example, robots are needed in production workshops, home cleaning, shopping mall cleaning, and public area safety inspections. Such robots need to pre-design an automatic back-and-forth movement path according to the actual situation of the site (size, shape, labor object) so that they can pass through all the objects to be labor on the site under the premise of the shortest path. For example, lawn mowing robots, home or shopping mall floor sweeping robots, security inspection robots, etc.
[0003] When a robot transfers from one site to another for work, it is called a transfer. In solving the transfer problem, traditional solutions are to use physical guiding technologies (such as laying magnetic strips and setting up electronic fence channels) and radio guiding technologies (such as UWB technology, GPS (RTK) differential positioning technology, NFC technology, wireless beacon guiding technology, etc.). However, the above two technologies have the following problems: Physical guiding technology requires laying guiding devices (such as magnetic strips or wires) in all channels, which is cumbersome in construction and easy to damage; while radio guiding technology requires building reference base stations, which is cumbersome in construction, requires power supply, and is vulnerable to interference. Summary of the Utility Model
[0004] Therefore, the technical problem to be solved by the utility model is to overcome the current traditional way of robot transfer, which uses physical guiding technology and radio guiding technology. Physical guiding technology requires laying guiding devices (such as magnetic strips or wires) in all channels, which is cumbersome in construction and easy to damage, while radio guiding technology requires building reference base stations, which is cumbersome in construction, requires power supply, and is vulnerable to interference.
[0005] To solve the above technical problems, the utility model provides a robot transfer guiding beacon, which is presented in a paired setting and a two-by-two cooperation relationship, and is respectively fixed on the edge lines of two different sites. The guiding beacon includes an entity feature, a unique visual feature, and a directional visual feature;
[0006] The entity feature includes a bottom plate and a cylindrical rod. The rod is vertically arranged on the bottom plate, and the bottom plate is used for fixing on the ground plane edge line of the site where transfer is needed;
[0007] The unique visual feature is set on the rod and is used to give each guiding beacon a unique number;
[0008] And the vertical projection of the benchmark on the plane where the bottom plate is located is non-centered in both the width direction and the length direction of the bottom plate, and the non-centered relationship and any side line of the bottom plate together constitute the directional feature.
[0009] Preferably, the unique visual feature can be a barcode.
[0010] The technical solution of the present utility model has the following beneficial effects:
[0011] The present utility model provides a robot transfer guiding beacon. The guiding beacons are arranged in pairs and cooperate with each other in pairs, and are respectively fixed on two adjacent sites. Each guiding beacon includes an entity feature, a unique visual feature and a directional visual feature. When the robot is used for the first time, after the guiding beacon A is recognized, the content such as the unique visual feature, direction, and position information of the guiding beacon A is recorded in the A area map. Then, starting from the guiding beacon A, the robot is guided to drive straight forward according to the direction of the guiding beacon A. When the guiding beacon B is recognized, the content such as the unique visual feature, direction, position information, and the working area information where it is located of the guiding beacon B is recorded. The guiding beacon B is used as the end point of the connection path. At the same time, the guiding beacon A and the guiding beacon B are set for position association in the control system, and the straight line connecting the guiding beacon A and the guiding beacon B is stored as the connection path. (The central axis direction of the connection path is approximately perpendicular (75 - 105°) to the connection line of the directional visual features of the two paired beacons), and the relative position relationships among the A area, the guiding beacon A, the B area, the guiding beacon B, the connection path, etc. are marked and stored in the map to form a virtual working map. When the robot is used subsequently, it directly conducts the transfer according to the virtual working map formed for the first time. The guiding beacons of the present utility model are laid on the site, do not need to use electricity and magnetism, are not affected by the weather, avoid the situation of unstable use, and are convenient, fast to install, and the cost is relatively low. Description of the Drawings
[0012] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0013] Figure 1 It is the top view of the guiding beacon in the present utility model;
[0014] Figure 2 It is the side view of the guiding beacon in the present utility model;
[0015] Figure 3 This is a three-dimensional schematic diagram of the guiding beacon in the present utility model.
[0016] Explanation of reference numerals: 1. Physical feature; 11. Bottom plate; 11a. Mounting hole; 11b. Long side at a relatively long distance; 12. Benchmark; 2. Unique visual feature. Specific embodiments
[0017] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0018] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0019] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0020] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0021] The present utility model provides a robot transfer guiding beacon, which presents a paired setting and a relationship of cooperation in pairs. The two paired guiding beacons are respectively called guiding beacon A and guiding beacon B. As Figures 1-3 shown, each guiding beacon includes a physical feature 1, a unique visual feature 2, and a directional visual feature.
[0022] As Figure 1 and Figure 3As shown in the figure, the entity feature 1 includes a bottom plate 11 and a cylindrical benchmark 12. The benchmark 12 is vertically arranged on the bottom plate 11, and the bottom plate 11 is used to be fixed on the edge line of the ground plane of the site that needs to be transferred. At least at positions near two opposite side lines, the bottom plate 11 is provided with mounting holes 11a, and rivets can be driven into the mounting holes 11a to fix it to the site.
[0023] As Figure 2 shown in the figure, the uniqueness visual feature 2 is arranged on the benchmark 12 and is used to give each guiding beacon a unique number, that is, the so-called ID, which can be recognized by the robot. In the present utility model, the uniqueness visual feature 2 can be a bar code.
[0024] As Figure 1 shown in the figure, and the perpendicular projection of the benchmark 12 on the plane where the bottom plate 11 is located is non-centered with respect to both the width direction and the length direction of the bottom plate 11. The non-centered relationship and any one side line of the bottom plate 11 together constitute the directional characteristic. In the embodiment of the present utility model, the benchmark 12 and the long side 11b of the bottom plate 11 that is at a relatively far distance from the benchmark 12 are jointly used as the directional characteristic.
[0025] The robot uses its own vision system, computer program and guiding beacons on the site to transfer:
[0026] S1, beacon recognition: Through the vision recognition system (a collection of multiple vision sensors) of the robot and a specific algorithm, the following beacon feature recognition logic and specific requirements are completed for each guiding beacon: including beacon initial recognition, beacon ID recognition, and beacon direction feature recognition;
[0027] (1) Beacon initial recognition: Taking the intersection point of the central axis of the benchmark 12 of the guiding beacon and the 0.5m height line above the bottom plate 11 as the center, with a radius of 5m, the 360° range is the beacon initial recognition range of the robot. Within this range, the robot initially recognizes the guiding beacon through the vision recognition system and the entity feature 1 of the beacon. When it needs to transfer, it can guide the robot to move according to a certain path and direction based on the orientation of the guiding beacon A, so as to approach the guiding beacon B;
[0028] (2) Beacon ID recognition: Taking the intersection point of the central axis of the benchmark 12 of the guiding beacon and the 0.5m height line above the bottom plate 11 as the center, with a radius of 1m, the 360° range is the beacon ID recognition range of the robot. Within this range, the robot recognizes the ID of the guiding beacon through the vision recognition system and the uniqueness visual feature 2 of the guiding beacon. When it needs to transfer, it can find the connection path according to the ID of the guiding beacon and the positional relationship of the guiding beacon in the map, and transfer through the connection path;
[0029] (3) Beacon Directional Feature Recognition: The directional visual features of the beacon provide a physical reference benchmark for the robot to recognize directions. After aligning its own central axis with the directional features of the beacon, the robot determines the transfer travel direction.
[0030] S2: Generate a virtual map: When the robot is used for the first time, after recognizing the guiding beacon A (for the convenience of understanding, the working area where the guiding beacon A is located is named Area A), record the unique visual features 2, direction, position information, etc. of the guiding beacon A into the map of Area A. Then, starting from the guiding beacon A, guide the robot to drive straight forward according to the direction of the guiding beacon A. When recognizing the guiding beacon B (for the convenience of understanding, the working area where the guiding beacon B is located is named Area B), record the unique visual features 2, direction, position information, and the information of the working area where it is located, etc. of the guiding beacon B. Take the guiding beacon B as the end point of the connection path. At the same time, set the position association between the guiding beacon A and the guiding beacon B in the control system, and store the straight line connecting the guiding beacon A and the guiding beacon B as the connection path. (The central axis direction of the connection path is approximately perpendicular (75 - 105°) to the connection line of the directional visual features of the two paired beacons).
[0031] And mark and store the relative position relationships among Area A, guiding beacon A, Area B, guiding beacon B, the connection path, etc. in the map to form a virtual working map.
[0032] S3: Relationship between the transfer starting point and the guiding beacon: After the robot recognizes the guiding beacon, the travel direction is parallel to the directional visual features of the guiding beacon, and there is a distance of 10 - 20 cm between the side of the fuselage and the unique visual feature 2 of the guiding beacon. Move forward a distance of one fuselage and then rotate 90° clockwise. The position reached is the transfer starting point position, and the transfer starting point position depends on the position of the guiding beacon.
[0033] S4, Action:
[0034] (1) Find the guiding beacon A in the area through map guidance;
[0035] (2) Confirm the unique visual feature 2 and direction of the guiding beacon A to obtain the transfer starting point of the guiding beacon A;
[0036] (3) Drive along the connection line of the guiding beacon A and the guiding beacon B, and rely on the gyroscope for direction calibration before entering the initial recognition range of the guiding beacon B. This driving distance is not greater than 5 m. When entering the initial recognition range of the guiding beacon B, use the guiding beacon B for direction guidance.
[0037] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or alterations derived therefrom still fall within the protection scope of the creation of the present utility model.
Claims
1. A robot transfer guiding beacon, characterized in that, The guide beacons are arranged in pairs, cooperate with each other, and are fixed on the edge lines of two sites respectively. The guide beacons include entity features (1), unique visual features (2) and directional visual features; The physical feature (1) comprises a base plate (11) and a cylindrical pole (12), wherein the pole (12) is vertically arranged on the base plate (11), and the base plate (11) is used to be fixed on the edge line of the ground plane of the site to be transferred; The unique visual feature (2) is arranged on the pole (12) to allow each guide beacon to have a unique number; Furthermore, a vertical projection of the benchmark (12) on the plane where the base plate (11) is located is in a non-center relationship with the base plate (11) in both the width direction and the length direction, and the non-center relationship and any edge line of the base plate (11) together constitute the directional feature.
2. The robot transfer guiding beacon according to claim 1, characterized in that, The unique visual feature (2) may be a barcode.
3. The robot transfer guiding beacon according to claim 2, characterized in that, The bottom plate (11) is provided with mounting holes (11a) at least near two opposing side lines, and fasteners can be driven into the mounting holes (11a) to be fixed to the site.