WO2018224047A1 - 机器人行走的模块地标、地标及其机器人 - Google Patents

机器人行走的模块地标、地标及其机器人 Download PDF

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Publication number
WO2018224047A1
WO2018224047A1 PCT/CN2018/090705 CN2018090705W WO2018224047A1 WO 2018224047 A1 WO2018224047 A1 WO 2018224047A1 CN 2018090705 W CN2018090705 W CN 2018090705W WO 2018224047 A1 WO2018224047 A1 WO 2018224047A1
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WIPO (PCT)
Prior art keywords
robot
landmark
magnetic
magnetic strip
module
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PCT/CN2018/090705
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English (en)
French (fr)
Inventor
朱建强
Original Assignee
朱建强
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Publication date
Application filed by 朱建强 filed Critical 朱建强
Priority to AU2018279679A priority Critical patent/AU2018279679B2/en
Priority to SG11201911872SA priority patent/SG11201911872SA/en
Priority to CA3066676A priority patent/CA3066676C/en
Priority to EP18813705.3A priority patent/EP3637213A1/en
Priority to JP2020518117A priority patent/JP6905639B2/ja
Priority to KR1020197037466A priority patent/KR102291667B1/ko
Publication of WO2018224047A1 publication Critical patent/WO2018224047A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/0005—Geometrical arrangement of magnetic sensor elements; Apparatus combining different magnetic sensor types
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06187—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with magnetically detectable marking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/08—Methods or arrangements for sensing record carriers, e.g. for reading patterns by means detecting the change of an electrostatic or magnetic field, e.g. by detecting change of capacitance between electrodes
    • G06K7/082—Methods or arrangements for sensing record carriers, e.g. for reading patterns by means detecting the change of an electrostatic or magnetic field, e.g. by detecting change of capacitance between electrodes using inductive or magnetic sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation

Definitions

  • the invention relates to a module landmark, a landmark and a robot for walking the robot.
  • Robots can navigate in a variety of ways when shipping and unloading. For example, they can be navigated by GPS or by landmarks. When the robot is used to sort packages, there are hundreds of robots in a sorting system. At present, the more common way is to collect the landmark information to navigate.
  • the most common landmark information is the two-dimensional code.
  • the two-dimensional code includes both the direction signal and the position signal, and the robot moves from one module area to another. In the area, the QR code information is continuously read, and the robot is made to go straight, reverse or turn according to the instruction.
  • the two-dimensional code has a good fault tolerance rate, and can also be decoded under the premise of partial information loss.
  • the information of the corners represents the direction information, which can be used for the robot to judge the direction. When one of the four corners of the two-dimensional code fails to read, the direction cannot be determined, because the two-dimensional code is worn or blocked by foreign objects. , there will be a phenomenon of read failure.
  • the present invention provides a module landmark for walking a robot, and positioning the robot by providing a magnetic material.
  • a modular landmark for walking a robot dividing the entire area in which the robot walks into a plurality of module regions, and each module region is provided with:
  • a first magnetic block having a polarity of an N pole or an S pole
  • the second magnetic block has a polarity different from that of the first magnetic block.
  • two magnetic blocks of different polarities can be used for positioning the robot.
  • the positions of the two magnetic blocks can be arbitrarily set, and the shape of the magnetic block can also be various. Accordingly, the magnetic induction sensor of the robot is corresponding thereto. Matching.
  • the first magnetic block is a first magnetic strip
  • the second magnetic block is a second magnetic strip
  • the shape of the magnetic block is arbitrary, and the shape of the magnetic strip is a rectangle.
  • the positions of the two magnetic strips can also be arbitrarily set.
  • the first magnetic strip is disposed in a Y-axis direction; and the second magnetic strip is disposed in an X-axis direction.
  • first magnetic strip and the second magnetic strip are set according to the principle of plane coordinates, and the plane coordinate setting can determine the position and walking direction of the robot entering the coordinate, and the robot can decide to advance and retreat according to the instruction. Or turning, the first magnetic strip and the second magnetic strip may intersect or not intersect. If intersected, the intersection position corresponds to the origin of the coordinates, and the magnetic induction sensor on the robot cannot collect the intersection signal due to the overlap of the N pole or the S pole. The magnetic strip and the magnetic induction sensor are wasted, so that the disjoint structure can be selected, but the intersection position can be obtained by calculation.
  • the method further comprises:
  • the third magnetic strip is disposed in the X-axis direction, and the polarity of the third magnetic strip is the same as the second magnetic strip.
  • the length of the first magnetic strip may be equal to the length of the second magnetic strip and the third magnetic strip, and the structure has better symmetry; the first magnetic strip, the second magnetic strip and the third magnetic
  • the length of the strips can also be the same.
  • the magnetic strip in the X-axis direction is larger than the magnetic strip in the Y-axis direction, and the adjustment accuracy of the robot in the X-axis direction is higher than that in the Y-axis direction, if the robot This solution is a preferred solution when the Y-axis direction is the main traveling direction.
  • the fourth magnetic strip is disposed in the Y-axis direction, and the polarity of the fourth magnetic strip is the same as the second magnetic strip and the third magnetic strip.
  • the magnetic strips of different polarities do not intersect, and the magnetic strips of the same polarity may or may not intersect.
  • the first magnetic strip, the second magnetic strip, the third magnetic strip, and the fourth magnetic strip are arranged in a cross shape.
  • the cross-shaped center has the same length to the most distal end of the first magnetic strip, the second magnetic strip, the third magnetic strip, and the fourth magnetic strip.
  • the magnetic strip is directly pasted on the module area.
  • the magnetic strip When the magnetic strip is relatively thin, it does not substantially affect the walking of the robot, or the wheel of the robot can choose to avoid the magnetic strip.
  • Each of the modules is mounted with a magnetic material plate, and the magnetic material plate is directly magnetized to form the N-pole or S-pole magnetic strip.
  • a magnetic material plate is selected, and the size of the magnetic material plate may be filled with the entire module area, or may occupy only the central area of the module area.
  • the plurality of module regions are arranged in a matrix, and the module regions are square.
  • the invention also discloses a landmark for robot walking, comprising the module landmark of the robot walking, further comprising an address landmark, each of the module regions being equipped with a different address landmark.
  • the module landmark can only give the location and direction within the module's territory.
  • the address landmark can give the exact location of the module's territory in the entire region.
  • the address landmark is a barcode, a two-dimensional code, a graphic mark, a color mark, a size mark, or a radio frequency identification (RFID).
  • RFID radio frequency identification
  • the invention also discloses a robot for identifying landmark information by setting a Hall
  • the robot walks on the landmark of the robot walking, and a plurality of magnetic induction sensors and address landmark identification devices are installed at the bottom of the robot, and the plurality of magnetic induction sensors can collect the magnetic strip signals of different polarities, and the address landmark identification device
  • the address landmark can be collected, and the plurality of magnetic induction sensors and the address landmark identification device are connected to the robot controller, and the robot can advance, retreat and/or turn to the target module area according to the command and the collected landmark information.
  • the magnetic induction sensor is a Hall.
  • multiple Halls can acquire two magnetic strip signals of different polarities, the position and direction of the robot in the module area can be determined.
  • Multiple Halls can be arranged in multiple ways, or straight or angular. Line, or curve, circle, etc.
  • the address landmark identification device is a camera or an RFID card reader.
  • the camera is configured to acquire signals of bar codes, two-dimensional codes, graphic marks, color marks, and/or size marks
  • the RFID card reader is configured to collect RFID signals.
  • a plurality of said halls are square, and said address landmark identifying means is located at the center of the square.
  • the Hall is square, it can cover a large area, and it is easy to collect a magnetic strip signal. As the robot walks, the output signals of multiple Halls change, so that the exact position of the robot can be obtained.
  • a low remanence high magnetic permeability material plate is also included, and the Hall proximity module is installed in the region, and the low remanence high magnetic permeability material plate is fixed above the Hall and close to the Hall.
  • the robot includes a sorting robot and/or a cargo unloading robot.
  • the robot and the server are connected by wireless. After receiving the command signal, the robot advances, retreats and/or turns to the target module area along the predetermined line, and the unloading is performed. Go to the mouth and finally return to loading.
  • the invention adopts the technical scheme that the magnetic strip and the Hall cooperate, and the coverage area is larger than the technical scheme of the pure two-dimensional code, and is not affected by the ash layer or the foreign object.
  • the invention has the advantages of simple structure, low cost, reliable and accurate positioning and convenient maintenance.
  • FIG. 1 is a schematic structural view showing a first magnetic strip and a second magnetic strip in a module landmark of the present invention.
  • FIG. 2 is a schematic structural view showing the addition of a third magnetic strip on the basis of FIG. 1.
  • FIG. 2 is a schematic structural view showing the addition of a third magnetic strip on the basis of FIG. 1.
  • FIG. 3 is a schematic structural view showing the addition of a fourth magnetic strip on the basis of FIG. 2.
  • FIG. 3 is a schematic structural view showing the addition of a fourth magnetic strip on the basis of FIG. 2.
  • Fig. 4 is a schematic view showing the structure in which the magnetic strips of different polarities of the module do not intersect and the magnetic strips of the same polarity intersect.
  • FIG. 5 is a schematic structural view of a robot walking on a landmark according to the present invention.
  • Fig. 6 is a structural schematic view showing the magnetic strip, the Hall and the low remanence high magnetic permeability material sheet of the present invention.
  • a module landmark for robot walking divides the entire area in which the robot walks into a plurality of module regions, and each module region is provided with:
  • a first magnetic block having a polarity of an N pole or an S pole
  • the second magnetic block has a polarity different from that of the first magnetic block.
  • the first magnetic block is the first magnetic strip 1 and the second magnetic block is the second magnetic strip 2 .
  • the first magnetic strip 1 is disposed in the Y-axis direction; the second magnetic strip 2 is disposed in the X-axis direction (as shown in FIG. 1).
  • Embodiment 2 Based on Embodiment 1, further comprising:
  • the third magnetic strip 3 is disposed in the X-axis direction, and the third magnetic strip 3 has the same polarity as the second magnetic strip 2 (as shown in FIG. 2).
  • Embodiment 3 on the basis of Embodiment 2, further includes:
  • the fourth magnetic strip 4 is disposed in the Y-axis direction, and the polarity of the fourth magnetic strip 4 is the same as that of the second magnetic strip 2 and the third magnetic strip 3 (as shown in FIG. 3).
  • Magnetic strips of different polarities do not intersect, and magnetic strips of the same polarity may intersect (as shown in Figure 4) or not.
  • the first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3, and the fourth magnetic strip 4 are arranged in a cross shape.
  • the cruciform center has the same length to the most distal end of the first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3, and the fourth magnetic strip 4.
  • the magnetic strips are directly attached to the module area, and a magnetic material plate may be installed in each module area, and the magnetic material plate is directly magnetized to form an N-pole or S-pole magnetic strip.
  • module areas are arranged in a matrix, and the module area is square.
  • a landmark for robot walking including a module landmark for robot walking, and an address landmark 5, each of which is provided with a different address landmark 5 (as shown in FIG. 5).
  • the address landmark 5 is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID.
  • the magnetic induction sensor is Hall 6, the Hall is usually 0.5-2 cm away from the ground, and the signal of the magnetic strip can be acquired without contact. Hall will have different voltage outputs when acquiring N or S magnetic signals.
  • the address landmark identification device is a camera or an RFID card reader.
  • the robot can also be positioned without providing the fourth magnetic strip 4 and the third magnetic strip 3.
  • a low remanence high magnetic permeability material plate 7 is also included, the Hall 6 is mounted close to the module, and the low remanence high magnetic permeability material plate 7 is fixed above the Hall 6 and close to the Hall 6 (as shown in FIG. 6).
  • the robot includes a sorting robot and/or a cargo unloading robot.
  • the robot and the server are connected by wireless. After receiving the command signal, the robot advances, retreats, and turns to the target module to load or unload the cargo along the predetermined route.

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Abstract

一种机器人行走的模块地标，将机器人行走的整个地域划分成多个模块地域，在每个模块地域内设置有：第一磁性块，其极性为N极或S极；第二磁性块，其极性与第一磁性块不同，还公开了一种机器人行走的地标和机器人。

Description

机器人行走的模块地标、地标及其机器人
相关申请的交叉引用
本申请要求于2017年06月09日提交中国专利局的申请号为CN201710437399.3、名称为“机器人行走的模块地标、地标及其机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种机器人行走的模块地标、地标及其机器人。
背景技术
机器人在运货卸货时可以通过多种方式来导航，例如可以通过GPS来导航，也可以通过地标来导航，当机器人用于分拣包裹时，一个分拣系统有数百个机器人在同时运动，目前比较常见的方式，通常选用采集地标信息来导航，地标信息中最常见的是二维码，二维码既包括了方向信号，又包括了位置信号，机器人从一个模块地域移动到另一个模块地域时，不断读取二维码信息，并根据指令机器人做出直行、倒退或转弯等动作，二维码有较好的容错率，在部分信息丢失的前提下也能解码，二维码四个角的信息代表了方向信息，该方向信息能用于机器人判断方向，当二维码四个角信息中的一个读取失败，将无法判断方向，由于二维码存在磨损或异物遮挡等原因，会出现读取失败的现象存在。
发明内容
本发明根据以上不足，提供了一种机器人行走的模块地标，通过设置磁性材料来为机器人进行定位。
本发明的技术方案是：
一种机器人行走的模块地标，将机器人行走的整个地域划分成多个模块地域，在每个模块地域内设置有：
第一磁性块，其极性为N极或S极；
第二磁性块，其极性与第一磁性块不同。
需要说明的是，两块不同极性的磁性块就能为机器人进行定位，这两块磁性块的位置可以任意设置，磁性块的形状也可以有多种，相应地，机器人的磁感应传感器与之配套。
为了提高磁性块的利用率，增加方位覆盖面积，方便机器人识别，作为优选，所述的第一磁性块为第一磁性长条，所述的第二磁性块为第二磁性长条。
需要说明的是，磁性块的形状是任意的，磁性长条的形状为长方形，当磁性块设置成磁性长条时，这两块磁性长条的位置同样可以任意设置。
作为优选，所述第一磁性长条，按Y轴方向设置；所述第二磁性长条，按X轴方向设置。
需要说明的是，第一磁性长条和第二磁性长条按平面坐标的原理进行设置，平面坐标的设定能确定进入该坐标内机器人的位置和行走方向，机器人可以根据指令决定前进、后退或转向，第一磁性长条和第二磁性长条可以相交或不相交，如果相交，交点位置相当于坐标的原点，由于N极或S极重叠，机器人上的磁感应传感器无法采集该交点信号，造成磁性长条和磁感应传感器的浪费，因此，可以选择不相交的结构，但通过推算能得出该交点位置。
作为优选，还包括：
第三磁性长条，按X轴方向设置，第三磁性长条的极性与所述的第二磁性长条相同。
需要说明的是，第一磁性长条的长度可以等于第二磁性长条加第三磁性长条的长度，该结构对称性比较好；第一磁性长条、第二磁性长条和第三磁性长条的长度还可以相同，在这种情况下，X轴方向的磁性长条大于Y轴方向的磁性长条，机器人在X轴方向的调整精度高于在Y轴方向的精度，如果机器人以Y轴方向作为主要行走方向时，该方案为优选方案。
进一步地，还包括：
第四磁性长条，按Y轴方向设置，第四磁性长条的极性与所述的第二磁性长条、第三磁性长条相同。
所述极性不同的磁性长条不相交，所述极性相同的磁性长条可以相交或不相交。
所述第一磁性长条、第二磁性长条、第三磁性长条和第四磁性长条按十字型排列。
所述十字型中心到所属第一磁性长条、第二磁性长条、第三磁性长条和第四磁性长条的最远端长度相同。
所述的磁性长条直接粘贴在模块地域上。
当磁性长条比较薄时，基本上不影响机器人的行走，或者，机器人的轮子的可以选择避开磁性长条。
所述的每个模块地域安装有磁性材料板，在磁性材料板上直接充磁形成所述的N极或S极磁性长条。
为了安装方便、充磁方便，选用磁性材料板，磁性材料板的大小可以是充满整个模块地域，也可以只占据模块地域的中心区域。
作为优选，所述的多个模块地域按矩阵排列，模块地域为方形。
本发明还公开了一种机器人行走的地标，包括所述的机器人行走的模块地标，还包括地址地标，每一个所述的模块地域配备一个不同的地址地标。
模块地标只能给出该模块地域内的位置和方向，地址地标能给出模块地域在整个地域中的准确位置。
所述的地址地标为条码、二维码、图形标记、颜色标记、大小标记或者射频标识(RFID)。
本发明同时还公开了一种机器人，通过设置霍尔来识别地标信息，
机器人行走在所述的机器人行走的地标上，在机器人的底部安装有多个磁感应传感器和地址地标识别装置，多个磁感应传感器能采集到所述不同极性的磁性长条信号，地址地标识别装置能采集所述的地址地标，多个磁感应传感器和地址地标识别装置连接机器人控制器，机器人能根据指令及采集到的地标信息前进、后退和/或转向行走到目标的模块地域。
作为优选，所述的磁感应传感器为霍尔。
多个霍尔只要能采集到两条不同极性的磁性长条信号，就能确定机器人在模块地域内的位置和方向，多个霍尔的排列位置可以有多种方式，或直线、角状线、或曲线、圆形等。
所述的地址地标识别装置为摄像头或RFID读卡器。摄像头配置为采集条码、二维码、图形标记、颜色标记和/或大小标记的信号，RFID读卡器配置为采集RFID信号。
作为优选，多个所述的霍尔围成方形，所述的地址地标识别装置位于方形中心。当霍尔围成方形时，其能覆盖较大的面积，容易采集到磁性长条信号。随着机器人的行走，多个霍尔的输出信号会发生变化，从而能获得机器人的准确位置。
为了提高磁信号采集灵敏度，还包括低剩磁高导磁率材料板，所述的霍尔接近模块地域安装，低剩磁高导磁率材料板固定在霍尔上方且接近霍尔。
所述的机器人包括分拣机器人和/或运货卸货机器人，机器人与服务器通过无线连接，机器人在接收到指令信号后沿着预定的线路前进、后退和/或转向行走到目标模块地域，将卸货到格口内，最后返回装货。
本发明采用磁性长条与霍尔配合的技术方案，覆盖面积比纯二维码的技术方案要大，不受灰层或异物遮挡影响。
本发明具有结构简单、成本低、定位可靠准确、维护方便的有益效果。
附图说明
图1为本发明模块地标设置第一磁性长条和第二磁性长条的结构示意图。
图2为在图1的基础上增加第三磁性长条的结构示意图。
图3为在图2的基础上增加第四磁性长条的结构示意图。
图4为本发明模块地标极性不同的磁性长条不相交，极性相同的磁性长条相交的结构 示意图。
图5为本发明机器人行走在地标上的结构示意图。
图6为本发明磁性长条、霍尔和低剩磁高导磁率材料板相关的结构示意图。
具体实施方式
现结合附图对本发明作进一步的说明：
如图所示，实施例1：一种机器人行走的模块地标，将机器人行走的整个地域划分成多个模块地域，在每个模块地域内设置有：
第一磁性块，其极性为N极或S极；
第二磁性块，其极性与第一磁性块不同。
第一磁性块为第一磁性长条1，第二磁性块为第二磁性长条2。
第一磁性长条1，按Y轴方向设置；第二磁性长条2，按X轴方向设置(如图1所示)。
实施例2：在实施例1的基础上，还包括：
第三磁性长条3，按X轴方向设置，第三磁性长条3的极性与第二磁性长条2相同(如图2所示)。
实施例3，在实施例2的基础上，还包括：
第四磁性长条4，按Y轴方向设置，第四磁性长条4的极性与第二磁性长条2、第三磁性长条3相同(如图3所示)。
极性不同的磁性长条不相交，极性相同的磁性长条可以相交(如图4所示)或不相交。
第一磁性长条1、第二磁性长条2、第三磁性长条3和第四磁性长条4按十字型排列。
十字型中心到所属第一磁性长条1、第二磁性长条2、第三磁性长条3和第四磁性长条4的最远端长度相同。
磁性长条直接粘贴在模块地域上，还可以是每个模块地域安装有磁性材料板，在磁性材料板上直接充磁形成N极或S极磁性长条。
多个模块地域按矩阵排列，模块地域为方形。
一种机器人行走的地标，包括机器人行走的模块地标，还包括地址地标5，每一个模块地域配备一个不同的地址地标5(如图5所示)。
地址地标5为条码、二维码、图形标记、颜色标记、大小标记或者RFID。
一种机器人，其行走在机器人行走的地标上，在机器人的底部安装有多个磁感应传感器和地址地标识别装置，多个磁感应传感器能采集到不同极性的磁性长条信号，地址地标识别装置能采集地址地标，多个磁感应传感器和地址地标识别装置连接机器人控制器，机器人能根据指令及采集到的地标信息前进、后退、转向行走到目标的模块地域。
磁感应传感器为霍尔6，霍尔通常离开地面0.5-2厘米，非接触即可采集磁性长条的信号。霍尔在采集到N极或S极磁性信号时，将会有不同的电压输出。
地址地标识别装置为摄像头或RFID读卡器。
多个霍尔围成方形，地址地标识别装置位于方形中心(如图5所示)。
从图5中看出，在不设置第四磁性长条4和第三磁性长条3的前提下，机器人也能定位。
还包括低剩磁高导磁率材料板7，霍尔6接近模块地域安装，低剩磁高导磁率材料板7固定在霍尔6上方且接近霍尔6(如图6所示)。
机器人包括分拣机器人和/或运货卸货机器人，机器人与服务器通过无线连接，机器人在接收到指令信号后沿着预定的线路前进、后退、转向行走到目标模块地域装货或卸货。

Claims (19)

  1. 一种机器人行走的模块地标，其特征是，将机器人行走的整个地域划分成多个模块地域，在每个模块地域内设置有：
    第一磁性块，其极性为N极或S极；
    第二磁性块，其极性与第一磁性块不同。
  2. 如权利要求1所述的一种机器人行走的模块地标，其特征是，所述第一磁性块为第一磁性长条(1)，所述第二磁性块为第二磁性长条(2)。
  3. 如权利要求2所述的一种机器人行走的模块地标，其特征是，所述第一磁性长条(1)，按Y轴方向设置；所述第二磁性长条(2)，按X轴方向设置。
  4. 如权利要求3所述的一种机器人行走的模块地标，其特征是，还包括：
    第三磁性长条(3)，按X轴方向设置，所述第三磁性长条(3)的极性与所述第二磁性长条(2)相同。
  5. 如权利要求4所述的一种机器人行走的模块地标，其特征是，还包括：
    第四磁性长条(4)，按Y轴方向设置，所述第四磁性长条(4)的极性与所述第二磁性长条(2)、所述第三磁性长条(3)相同。
  6. 如权利要求5所述的一种机器人行走的模块地标，其特征是，所述极性不同的磁性长条不相交，所述极性相同的磁性长条可以相交或不相交。
  7. 如权利要求6所述的一种机器人行走的模块地标，其特征是，所述第一磁性长条(1)、所述第二磁性长条(2)、所述第三磁性长条(3)和所述第四磁性长条(4)按十字型排列。
  8. 如权利要求7所述的一种机器人行走的模块地标，其特征是，所述十字型中心到所述第一磁性长条(1)、所述第二磁性长条(2)、所述第三磁性长条(3)和所述第四磁性长条(4)的最远端长度相同。
  9. 如权利要求2-8任一项所述的一种机器人行走的模块地标，其特征是，所述磁性长条直接粘贴在所述模块地域上。
  10. 如权利要求2-8任一项所述的一种机器人行走的模块地标，其特征是，每个所述模块地域安装有磁性材料板，在磁性材料板上直接充磁形成所述N极或S极磁性长条。
  11. 如权利要求2-8任一项所述的一种机器人行走的模块地标，其特征是，多个所述模块地域按矩阵排列，所述模块地域为方形。
  12. 一种机器人行走的地标，其特征是，包括如权利要求1-11任一项所述的机器人 行走的模块地标，还包括地址地标(5)，每一个所述的模块地域配备一个不同的所述地址地标(5)。
  13. 如权利要求12所述的一种机器人行走的地标，其特征是，所述的地址地标(5)为条码、二维码、图形标记、颜色标记、大小标记或者射频标识(RFID)。
  14. 一种机器人，其行走在如权利要求11-13任一项所述的机器人行走的地标上，其特征是，在所述机器人的底部安装有多个磁感应传感器和地址地标识别装置，所述多个磁感应传感器能采集到所述不同极性的磁性长条信号，所述地址地标识别装置能采集所述地址地标，所述多个磁感应传感器和所述地址地标识别装置连接机器人控制器，所述机器人能根据指令及采集到的地标信息前进、后退和/或转向行走到目标的模块地域。
  15. 如权利要求14所述的一种机器人，其特征是，所述的磁感应传感器为霍尔(6)。
  16. 如权利要求14所述的一种机器人，其特征是，所述的地址地标识别装置为摄像头或射频标识(RFID)读卡器。
  17. 如权利要求15或16所述的一种机器人，其特征是，多个所述霍尔围成方形，所述地址地标识别装置位于方形中心。
  18. 如权利要求17所述的一种机器人，其特征是，还包括低剩磁高导磁率材料板(7)，所述霍尔(6)接近模块地域安装，所述低剩磁高导磁率材料板(7)固定在所述霍尔(6)上方且接近所述霍尔(6)。
  19. 如权利要求14所述的一种机器人，其特征是，所述的机器人包括分拣机器人和/或运货卸货机器人，所述机器人与服务器通过无线连接，所述机器人在接收到指令信号后沿着预定的线路前进、后退和/或转向行走到目标模块地域装货或卸货。
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