Method for controlling robot to transfer between sites

Abstract

A method for controlling a robot to transfer between sites. By means of beacon identification, generation of a virtual map, and movement, the method controls a robot to transfer between sites. Guiding beacons each comprise a physical feature (1), a unique visual feature (2) and a directional visual feature. The physical feature (1) comprises a base plate (11) and a cylindrical marker post (12), wherein the marker post (12) is vertically arranged on the base plate (11), and the base plate (11) is configured to be fixed on a ground plane edge line of a site where transfer between sites is required. The unique visual feature (2) is provided on the marker post (12), and is used for allowing each guiding beacon to have a unique identifier. The vertical projection of the marker post (12) on the plane where the base plate (11) is located is in a non-centered relationship in both the direction of width and the direction of length of the base plate (11), and the non-centered relationship and any edge line of the base plate (11) together form the directional visual feature.

Description

A robot transfer control method Technical Field

[0001] This invention belongs to the field of robot motion technology, specifically relating to a robot transfer control method. Background Technology

[0002] With the development of technology, more and more repetitive or harsh tasks can be completed by robots, freeing up human hands, reducing the probability of personal safety accidents, and lowering labor costs. For example, robots are needed in production workshops, home cleaning, shopping mall cleaning, and public place security patrols. These robots require pre-designed automatic movement paths based on the actual conditions of the site (size, shape, and objects to be worked on), enabling them to traverse all objects on the site using the shortest possible path. Examples include lawnmower robots, home or shopping mall sweeping robots, and security inspection robots.

[0003] The process of moving a robot from one location to another for work is called relocation. Traditional solutions for relocation involve physical guidance technologies (e.g., laying magnetic strips and setting up electronic fences) and radio guidance technologies (e.g., UWB, GPS (RTK) differential positioning, NFC, and wireless beacon guidance). However, both technologies have the following problems: physical guidance requires laying guidance devices (such as magnetic strips or wires) throughout the entire route, which is cumbersome and prone to damage; while radio guidance requires building reference base stations, which is cumbersome, requires power, and is susceptible to interference. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the fact that the current traditional methods of robot transfer are carried out by physical guidance technology and radio guidance technology. Physical guidance technology requires laying guidance devices (such as magnetic strips or wires) in all channels, which is cumbersome to construct and easy to damage. Radio guidance technology requires the construction of reference base stations, which is cumbersome to construct, requires power, and is easily interfered with.

[0005] To solve the above-mentioned technical problems, the present invention provides a robot transition guidance beacon, which is set in pairs and cooperates with each other, and is fixed on two different field edge lines respectively. The guidance beacon includes physical features, unique visual features and directional visual features.

[0006] The physical features include a base plate and a cylindrical marker, the marker being vertically mounted on the base plate, and the base plate being used to fix the site to the edge of the ground plane where the relocation is required;

[0007] The unique visual feature is set on the beacon to give each guide beacon a unique number;

[0008] Furthermore, the vertical projection of the marker on the plane of the base plate is not centered in the width and length directions of the base plate, and this non-centered relationship, together with any edge line of the base plate, constitutes the directional feature.

[0009] Preferably, the unique visual feature can be a barcode.

[0010] Preferably, the base plate has mounting holes at least near two of its opposing edges, and fasteners can be driven into the mounting holes to fix it to the site.

[0011] The present invention also provides a robot transfer system, including a computer program, a visual recognition system, and a non-volatile computer-readable storage medium, wherein the computer program can be stored in the non-volatile computer-readable storage medium.

[0012] Preferably, the visual recognition system includes, but is not limited to, one or more of the following: digital camera, laser scanner, linear and area array CCD camera, and TV camera.

[0013] This invention also provides a robot transition control method, which mainly relies on the aforementioned visual recognition system and uses a computer program to instruct relevant hardware to complete the following steps:

[0014] S1, Beacon Recognition: Using the robot's visual recognition system and specific algorithms, complete the following feature recognition logic and specific requirements for each guide beacon: including initial beacon recognition, beacon ID recognition, and beacon direction feature recognition;

[0015] S2, Generating a Virtual Map: The guide beacons on the two sites are called guide beacon A and guide beacon B, respectively. When the robot is used for the first time, it first identifies guide beacon A, including unique visual features, direction recognition, and position information. Using this guide beacon as the starting point, the robot is controlled to move forward in a straight line. When guide beacon B is identified, its ID, direction, position information, and the information of its working area are recorded. Beacon B is used as the end point of the connecting path. At the same time, the position association settings of guide beacon A and guide beacon B are set in the control system. The straight line connecting the two guide beacons is stored as the connecting path. The relative positional relationship between the working areas where the two guide beacons are located, the two guide beacons themselves, and the connecting path is marked and stored in the map to form a virtual working map.

[0016] S3: Relationship between transition starting point and guide beacon: After the robot recognizes the guide beacon, its direction of travel remains parallel to the directional visual features of the guide beacon, and the side of the robot body maintains a distance of 10-20cm from the unique visual features of the guide beacon. After moving forward one robot body length and then rotating 90° clockwise, the position reached is the transition starting point, which is based on the position of the guide beacon.

[0017] S4: Action:

[0018] (1) Locate the guide beacon A in the area using the map;

[0019] (2) Confirm the unique visual features and direction of the guide beacon A to obtain the transition starting point of the guide beacon A;

[0020] (3) Drive along the line connecting guide beacon A and guide beacon B. Before entering the initial recognition range of guide beacon B, use the gyroscope to calibrate the direction. This driving distance is no more than 5m. After entering the initial recognition range of guide beacon B, use guide beacon B for directional guidance.

[0021] The technical solution of this invention has the following beneficial effects:

[0022] This invention provides a robot transition guidance beacon. The guidance beacons are installed in pairs, fixed to two adjacent areas. Each guidance beacon includes physical features, unique visual features, and directional visual features. This invention also provides a robot transition system, including a computer program, a visual recognition system, and a non-volatile computer-readable storage medium. Furthermore, this invention provides a robot transition control method. The visual recognition system is part of the robot hardware. When the robot is used for the first time, upon recognizing guidance beacon A, the unique visual features, direction, and position information of guidance beacon A are recorded in a map of area A. Then, starting from guidance beacon A, the robot is guided according to the direction of guidance beacon A. The robot moves forward in a straight line. When it detects guide beacon B, it records the unique visual features, direction, position information, and working area information of guide beacon B, using it as the end point of the connecting path. Simultaneously, the control system associates guide beacons A and B, storing the straight line connecting them as the connecting path (the central axis of the connecting path is approximately perpendicular (75-105°) to the directional visual features of the two paired beacons). The relative positions of area A, guide beacon A, area B, guide beacon B, and the connecting path are marked and stored on a map, forming a virtual working map. When the robot is used subsequently, it directly transitions to the new location based on the initially created virtual working map. The guide beacons of this invention are laid out on the site, requiring no electricity or magnetism, are unaffected by weather, avoid instability, and are easy, quick, and cost-effective to install. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 is a top view of the guidance beacon in this invention;

[0025] Figure 2 is a side view of the guidance beacon in this invention;

[0026] Figure 3 is a three-dimensional schematic diagram of the guidance beacon in this invention.

[0027] Explanation of reference numerals in the attached drawings: 1. Entity features; 11. Base plate; 11a. Mounting hole; 11b. Longer side at a greater distance; 12. Marker; 2. Unique visual features. Detailed Implementation

[0028] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] This invention provides a robot transition guidance beacon, which is set in pairs and works in a coordinated manner. The two pairs of guidance beacons are referred to as guidance beacon A and guidance beacon B. As shown in Figures 1-3, each guidance beacon includes entity feature 1, unique visual feature 2, and directional visual feature.

[0033] As shown in Figures 1 and 3, entity feature 1 includes a base plate 11 and a cylindrical marker 12. The marker 12 is vertically mounted on the base plate 11, which is used to fix the base plate 11 to the edge line of the ground plane of the site where the relocation is required. The base plate 11 has mounting holes 11a at least near two of the opposite edge lines, and rivets can be driven into the mounting holes 11a to fix it to the site.

[0034] As shown in Figure 2, a unique visual feature 2 is set on the marker 12 to give each guide beacon a unique number, also known as an ID, which can be recognized by the robot. In this invention, the unique visual feature 2 can be a barcode.

[0035] As shown in Figure 1, the vertical projection of the marker 12 onto the plane of the base plate 11 is not centered in either the width or length direction of the base plate 11. This non-centered relationship, together with any edge of the base plate 11, constitutes the directional characteristic. In this embodiment of the invention, the long side 11b of the base plate 11, which is farther away from the marker 12, is used as the directional characteristic.

[0036] The present invention also provides a system for relocating a robot using the aforementioned guide beacon, comprising a computer program, a visual recognition system, and a non-volatile computer-readable storage medium. The computer program can be stored in a non-volatile computer-readable storage medium. The visual recognition system includes, but is not limited to, one or more of digital cameras, laser scanners, linear and area CCD cameras, and TV cameras. The visual recognition system is part of the robot's hardware.

[0037] The present invention also provides a control method for robot relocation using the above-mentioned system, which relies on a vision recognition system and uses a computer program to instruct relevant hardware to complete the following steps:

[0038] S1, Beacon Recognition: Using the robot's visual recognition system (a collection of multiple visual sensors) and specific algorithms, complete the following beacon feature recognition logic and specific requirements for each guide beacon: including initial beacon recognition, beacon ID recognition, and beacon direction feature recognition;

[0039] (1) Initial beacon recognition: The robot's initial beacon recognition range is 360° with a radius of 5m, centered on the intersection of the central axis of the guide beacon pole 12 and the height line 0.5m above the base plate 11. Within this range, the robot initially recognizes the guide beacon through the visual recognition system and the entity feature 1 of the beacon. When a changeover is needed, the robot can be guided to move along a certain path and direction according to the orientation of the guide beacon A, thereby approaching the guide beacon B;

[0040] (2) Beacon ID Recognition: The robot's beacon ID recognition range is within a radius of 1m and a 360° area centered on the intersection of the central axis of the guide beacon pole 12 and the 0.5m height line above the base plate 11. Within this range, the robot recognizes the ID of the guide beacon through the visual recognition system and the unique visual feature 2 of the guide beacon. When a transition is required, the robot can find the connection path based on the ID of the guide beacon and its positional relationship on the map, and then perform the transition through the connection path.

[0041] (3) Beacon directional feature recognition: The directional visual features of the beacon provide a physical reference for the robot to identify the direction. The robot determines the direction of travel after aligning its own central axis with the directional features of the beacon.

[0042] S2: Generating a Virtual Map: When the robot is used for the first time, after recognizing guide beacon A (for ease of understanding, the working area where guide beacon A is located is named Area A), the unique visual feature 2, direction, and position information of guide beacon A are recorded in the map of Area A. Then, starting from guide beacon A, the robot is guided to move forward in a straight line according to the direction of guide beacon A. When guide beacon B is recognized (for ease of understanding, the working area where guide beacon B is located is named Area B), the unique visual feature 2, direction, position information, and working area information of guide beacon B are recorded. Guide beacon B is used as the end point of the connecting path. At the same time, the position association settings of guide beacon A and guide beacon B are set in the control system, and the straight line connecting guide beacon A and guide beacon B is stored as the connecting path (the direction of the central axis of the connecting path is approximately perpendicular (75-105°) to the directional visual feature lines of the two pairs of beacons).

[0043] The relative positions of area A, guide beacon A, area B, guide beacon B, and connecting paths are marked and stored on the map to form a virtual working map.

[0044] S3: Relationship between the transition starting point and the guide beacon: After the robot recognizes the guide beacon, its direction of travel remains parallel to the directional visual features of the guide beacon, and the side of the robot body maintains a distance of 10-20cm from the unique visual feature 2 of the guide beacon. After moving forward one robot body length and then rotating 90° clockwise, the position reached is the transition starting point, which is based on the position of the guide beacon.

[0045] S4, Action:

[0046] (1) Locate the guide beacon A in the area using the map;

[0047] (2) Confirm the unique visual feature 2 and direction of the guide beacon A to obtain the transition starting point of the guide beacon A;

[0048] (3) Drive along the line connecting guide beacon A and guide beacon B. Before entering the initial recognition range of guide beacon B, use the gyroscope to calibrate the direction. This driving distance is no more than 5m. After entering the initial recognition range of guide beacon B, use guide beacon B for directional guidance.

[0049] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A robot transfer control method, which uses a guide beacon to control the robot transfer, wherein the guide beacon includes a physical feature (1), a unique visual feature (2) and a directional visual feature, wherein the physical feature (1) includes a base plate (11) and a cylindrical pole (12), wherein the pole (12) is vertically set on the base plate (11), and the base plate (11) is used to fix the robot to the edge of the ground plane of the site where the transfer is required; The unique visual feature (2) is set on the pole (12) to give each guiding beacon a unique number; Furthermore, the vertical projection of the benchmark (12) onto the plane of the base plate (11) is not centered in the width and length directions of the base plate (11). The non-centered relationship and any edge line of the base plate (11) together constitute the directional visual feature. The directional visual feature provides a physical reference for the robot to identify the direction. Its features are, The following steps are completed by using a visual recognition system and instructing relevant hardware through a computer program; S1, Beacon Recognition: Through the robot's visual recognition system and algorithms, the following feature recognition logic and requirements are completed for each guide beacon: including initial beacon recognition, beacon ID recognition, and beacon directional visual feature recognition; the initial beacon recognition is the robot's preliminary recognition of the guide beacon through the visual recognition system and the beacon's physical features; the beacon directional visual feature recognition provides a physical reference for the robot to identify the direction, and the robot determines the transition direction after aligning its own central axis with the beacon's directional features. S2, Generating a Virtual Map: The guide beacons on the two sites are called guide beacon A and guide beacon B, respectively. When the robot is used for the first time, it first identifies guide beacon A, including its ID, direction, and position information. Using this guide beacon as the starting point, the robot is controlled to move forward in a straight line. When guide beacon B is identified, its ID, direction, position information, and the information of its working area are recorded. Beacon B is used as the end point of the connecting path. At the same time, the position association settings of guide beacons A and B are set in the control system. The straight line connecting the two guide beacons is stored as the connecting path. The relative positional relationship between the working areas where the two guide beacons are located, the two guide beacons themselves, and the connecting path is marked and stored in the map to form a virtual working map. S3, Relationship between the transition starting point and the guide beacon: After the robot recognizes the guide beacon, its direction of travel is parallel to the directional visual features of the guide beacon, and the side of the robot body is 10-20cm away from the unique visual features (2) of the guide beacon. After moving forward one body length and then rotating 90° clockwise, the position reached is the transition starting point. S4, Action: (1) Locate the guide beacon A in the area using the map; (2) Confirm the unique visual features (2) and direction of the guide beacon A to obtain the transition starting point of the guide beacon A; (3) Drive along the line connecting guide beacon A and guide beacon B. Before entering the initial recognition range of guide beacon B, use the gyroscope to calibrate the direction. This driving distance is no more than 5m. After entering the initial recognition range of guide beacon B, use guide beacon B for directional guidance.

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