WO2019047582A1 - 用磁作为方向定位的机器人 - Google Patents

用磁作为方向定位的机器人 Download PDF

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WO2019047582A1
WO2019047582A1 PCT/CN2018/090861 CN2018090861W WO2019047582A1 WO 2019047582 A1 WO2019047582 A1 WO 2019047582A1 CN 2018090861 W CN2018090861 W CN 2018090861W WO 2019047582 A1 WO2019047582 A1 WO 2019047582A1
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magnetic
robot
magnetic strip
address
landmark
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PCT/CN2018/090861
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English (en)
French (fr)
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朱建强
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朱建强
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Publication of WO2019047582A1 publication Critical patent/WO2019047582A1/zh

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

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  • the present application relates to a robot that uses magnetic orientation as a direction, and more particularly to a robot that uses magnetic material as a directional landmark for sorting magnetics as a direction.
  • 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 moving in one sorting system. At present, the more common way is to use the collected landmark information to navigate.
  • Chinese patent 201620006569.3 discloses a sorting robot that uses a two-dimensional code as landmark information.
  • the two-dimensional code includes both the direction signal and the position signal.
  • the QR code information is continuously read, and the robot is made to go straight, reverse or turn according to the instruction, and the two-dimensional code has a good fault tolerance rate, and the partial information is lost. It can also be decoded.
  • the information of the four corners of the two-dimensional code represents the direction information.
  • the direction information 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. If the dimension code is worn or blocked by foreign objects, the reading failure will occur.
  • the present application provides a robot that uses magnetic orientation as a direction to position the robot by collecting magnetic material on the ground as a direction landmark.
  • a robot that uses magnetic orientation as a direction including a robot body, wherein the bottom of the robot body is mounted with:
  • a plurality of Hall sensors which are surrounded by a circular shape, an elliptical shape or an II shape, capable of collecting a directional landmark on the ground, the landmark being composed of at least two magnetic strips of different polarities;
  • An address landmark identification device capable of collecting address landmarks on the ground
  • the plurality of Hall sensors and address landmark identification devices are coupled to the robot body controller, and the robot body can advance, retreat or steer according to the command and the collected direction landmarks and address landmarks.
  • the robot body is provided with two wheels for walking.
  • the two wheels are located on both sides of the robot body.
  • the two wheels are just located in the II shape.
  • the outer side of the vertical line the structure can be installed with more Hall sensors, the coverage area is relatively large, and the acquisition precision is high.
  • a plurality of Hall sensors are enclosed in a circular shape or an elliptical shape, the shape is relatively regular, and the calculation in the software program is convenient.
  • a low remanence high magnetic permeability material plate is also included, the Hall sensor is installed close to the ground, and the low remanence high magnetic permeability material plate is fixed above the Hall sensor and close to the Hall. sensor.
  • the signal collected by the Hall sensor will be weak.
  • the shape of the low remanence high permeability material sheet is adapted to the shape of the plurality of Hall sensors.
  • the address landmark identification device is a camera or an RFID card reader, and correspondingly, the address landmark is a barcode, a two-dimensional code, a graphic mark, a color mark, a size mark or an RFID.
  • the robot body comprises a sorting robot and a cargo unloading robot.
  • the robot body and the server are connected by wireless. After receiving the command signal, the robot body advances, retreats or turns to travel to the target area to load or unload according to a predetermined route.
  • the structure of the sorting robot and the cargo unloading robot can refer to the patent mentioned in the background art of the present application.
  • the ground on which the robot body travels is divided into a plurality of module regions, and the two magnetic strips are provided in each module region, and are respectively a first magnetic strip and a second magnetic strip.
  • the third magnetic strip and the fourth magnetic strip are arranged in a cross shape with the first magnetic strip and the second magnetic strip, and the second magnetic The strip, the third magnetic strip, and the fourth magnetic strip are of the same polarity and are different in polarity from the first magnetic strip.
  • the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic strip are directly pasted on the module area.
  • each of the modules is mounted with a magnetic material plate, and is directly magnetized on the magnetic material plate to form the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic length. article.
  • the application has the advantages of simple structure, low cost, reliable and accurate positioning, and convenient maintenance.
  • FIG. 1 is a schematic structural view of a first magnetic strip, a second magnetic strip, a third magnetic strip, and a fourth magnetic strip arranged in a cross shape according to the module of the present application.
  • FIG. 2 is a schematic structural view of a plurality of Hall sensors enclosing a circular shape according to the present application.
  • FIG. 3 is a schematic structural view of a plurality of Hall sensors enclosing an II shape according to the present application.
  • FIG. 4 is a schematic structural view of a magnetic strip, a Hall sensor, and a low remanence high magnetic permeability material sheet according to the present application.
  • a robot that uses magnetic orientation as a direction includes a robot body, and at the bottom of the robot body is mounted:
  • a plurality of Hall sensors 6, which are surrounded by a circular shape, an elliptical shape or a II shape, and are capable of collecting a directional landmark on the ground, the landmark being composed of at least two magnetic strips of different polarities; the Hall sensor 6 is arranged
  • the density is determined by the positioning accuracy; the different polarities refer to the N polarity and the S polarity; the II shape can be deformed, for example, the two vertical lines can be changed to circular lines.
  • An address landmark identification device capable of collecting an address landmark 5 on the ground
  • a plurality of Hall sensors 6 and an address landmark identification device are coupled to the controller of the robot body, and the robot body can advance, retreat or steer according to the command and the collected direction landmarks and address landmarks.
  • a low remanence high magnetic permeability material plate 7 which is mounted close to the ground, and a low remanence high magnetic permeability material plate 7 is fixed above the Hall sensor 6 and close to the Hall sensor 6.
  • the shape of the low remanence high magnetic permeability material sheet 7 is adapted to the shape of the plurality of Hall sensors 6.
  • the address landmark identification device is a camera or an RFID card reader, and correspondingly, the address landmark is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID.
  • the robot body includes a sorting robot and a cargo unloading robot.
  • the robot body and the server are connected by wireless. After receiving the command signal, the robot body advances, retreats or turns to travel to the target area to load or unload according to a predetermined route.
  • the ground on which the robot body travels is divided into a plurality of module regions, and two magnetic strips are disposed in each module region, which are a first magnetic strip 1 and a second magnetic strip 2, respectively.
  • the first magnetic strip 1 and the second magnetic strip 2 may be arranged arbitrarily or in a right angle manner.
  • the third magnetic strip 3 and the fourth magnetic strip 4 are arranged in a cross shape with the first magnetic strip 1 and the second magnetic strip 2, second The magnetic strips 2, the third magnetic strips 3, and the fourth magnetic strips 4 have the same polarity and are different in polarity from the first magnetic strips 1.
  • the first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3, and the fourth magnetic strip 4 are directly pasted on the module area.
  • Each module is installed with a magnetic material plate, and is directly magnetized on the magnetic material plate to form an N-pole or S-pole magnetic strip.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种用磁作为方向定位的机器人，包括机器人本体，在机器人本体的底部安装有：多个霍尔传感器(6)，其围成圆形状或Ⅱ形状，能采集到地面上的方向地标，该方向地标由不同极性的至少两根磁性长条组成；地址地标识别装置，其能采集地面上的地址地标(5)；多个霍尔传感器和地址地标识别装置连接到用机器人本体控制器，机器人本体能根据指令及采集到的方向地标和地址地标前进、后退或转向。霍尔传感器接近地面安装，低剩磁高导磁率材料板(7)固定在霍尔传感器上方且接近霍尔传感器。低剩磁高导磁率材料板的形状与多个霍尔传感器围成形状相适配。具有结构简单、成本低、定位可靠准确、维护方便的有益效果。

Description

用磁作为方向定位的机器人
相关申请的交叉引用
本申请要求于2017年09月05日提交中国专利局的申请号为CN 201721129660.5、名称为“用磁作为方向定位的机器人”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
本申请涉及一种用磁作为方向定位的机器人，尤其是涉及用磁性材料作为方向地标的分拣用磁作为方向定位的机器人。
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移动，目前比较常见的方式，通常选用采集地标信息来导航，中国专利201620006569.3,公开了分拣机器人，采用了二维码作为地标信息，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时，将无法判断方向，由于二维码存在磨损、异物遮挡等原因，会出现读取失败的现象存在。
发明内容
本申请根据以上不足，提供了一种用磁作为方向定位的机器人，通过采集地面上的磁性材料作为方向地标来为机器人方向定位。
本申请的技术方案是：
一种用磁作为方向定位的机器人，包括机器人本体，其特征是，在机器人本体的底部安装有：
多个霍尔传感器，其围成圆形状、椭圆形或Ⅱ形状，能采集到地面上的方向地标，该方向地标由不同极性的至少两根磁性长条组成；
地址地标识别装置，其能采集地面上的地址地标；
所述的多个霍尔传感器和地址地标识别装置连接到用机器人本体控制器，机器人本体能根据指令及采集到的方向地标和地址地标前进、后退或转向。
需要说明的是，机器人本体设置有两个用于行走的轮子，这两个轮子位于机器人本体 的两侧，当多个霍尔传感器围成Ⅱ形状时，两个轮子刚好位于Ⅱ形状中两条竖直线的外侧，该结构可以安装较多的霍尔传感器，覆盖面积比较大，采集精度较高。当多个霍尔传感器围成圆形状或椭圆形时，形状比较规则，软件程序中计算比较方便。
为了获得良好的磁信号，提高采集灵敏度，还包括低剩磁高导磁率材料板，所述的霍尔传感器接近地面安装，低剩磁高导磁率材料板固定在霍尔传感器上方且接近霍尔传感器。
需要说明的是，没有低剩磁高导磁率材料板，霍尔传感器采集到的信号会比较弱。
作为优选，所述低剩磁高导磁率材料板的形状与多个霍尔传感器围成形状相适配。
作为优选，所述的地址地标识别装置为摄像头或RFID读卡器，相应地，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RFID。
所述的机器人本体包括分拣机器人、运货卸货机器人，机器人本体与服务器通过无线连接，机器人本体在接收到指令信号后沿着预定的线路前进、后退或转向行走到目标地域装货或卸货。分拣机器人、运货卸货机器人的结构可以参考本申请背景技术中提到的专利。
作为优选，将机器人本体行走的地面划分成多个模块地域，在每个模块地域内设置有所述的两根磁性长条，分别为第一磁性长条和第二磁性长条。
进一步地，还包括第三磁性长条和第四磁性长条，第三磁性长条和第四磁性长条与所述第一磁性长条、第二磁性长条按十字型排列，第二磁性长条、第三磁性长条和第四磁性长条极性相同且与第一磁性长条极性不同。
作为优选，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直接粘贴在所述模块地域上。
作为优选，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。
本申请具有结构简单、成本低、定位可靠准确、维护方便的有益效果。
附图说明
图1为本申请模块地域设置的第一磁性长条、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的结构示意图。
图2为本申请多个霍尔传感器围成圆形状的结构示意图。
图3为本申请多个霍尔传感器围成Ⅱ形状的结构示意图。
图4为本申请磁性长条、霍尔传感器、低剩磁高导磁率材料板相关的结构示意图。
具体实施方式
现结合附图对本申请作进一步的说明：
如图所示，一种用磁作为方向定位的机器人，包括机器人本体，在机器人本体的底部 安装有：
多个霍尔传感器6，其围成圆形状、椭圆形或Ⅱ形状，能采集到地面上的方向地标，该方向地标由不同极性的至少两根磁性长条组成；霍尔传感器6排列的密度由定位精度决定；不同极性指的是N极性和S极性；Ⅱ形状可以进行变形，例如两根竖直线可以改为圆弧线等。
地址地标识别装置，其能采集地面上的地址地标5；
多个霍尔传感器6和地址地标识别装置连接到机器人本体的控制器，机器人本体能根据指令及采集到的方向地标和地址地标前进、后退或转向。
还包括低剩磁高导磁率材料板7，霍尔传感器6接近地面安装，低剩磁高导磁率材料板7固定在霍尔传感器6上方且接近霍尔传感器6。
低剩磁高导磁率材料板7的形状与多个霍尔传感器6围成形状相适配。
地址地标识别装置为摄像头或RFID读卡器，相应地，地址地标为条码、二维码、图形标记、颜色标记、大小标记或者RFID。
机器人本体包括分拣机器人、运货卸货机器人，机器人本体与服务器通过无线连接，机器人本体在接收到指令信号后沿着预定的线路前进、后退或转向行走到目标地域装货或卸货。
将机器人本体行走的地面划分成多个模块地域，在每个模块地域内设置有两根磁性长条，分别为第一磁性长条1和第二磁性长条2。第一磁性长条1和第二磁性长条2可以任意排列，也可以按直角方式排列。
还包括第三磁性长条3和第四磁性长条4，第三磁性长条3和第四磁性长条4与第一磁性长条1、第二磁性长条2按十字型排列，第二磁性长条2、第三磁性长条3和第四磁性长条4极性相同且与第一磁性长条1极性不同。
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直接粘贴在模块地域上。
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。

Claims (9)

  1. 一种用磁作为方向定位的机器人，包括机器人本体，其特征是，在机器人本体的底部安装有：
    多个霍尔传感器(6)，其围成圆形状、椭圆形或Ⅱ形状，能采集到地面上的方向地标，所述方向地标由不同极性的至少两根磁性长条组成；
    地址地标识别装置，其能采集地面上的地址地标(5)；
    所述的多个霍尔传感器(6)和地址地标识别装置连接到机器人本体控制器，机器人本体能根据指令及采集到的方向地标和地址地标(5)前进、后退或转向。
  2. 如权利要求1所述的一种用磁作为方向定位的机器人，其特征是，还包括低剩磁高导磁率材料板(7)，所述的霍尔传感器(6)接近地面安装，低剩磁高导磁率材料板(7)固定在霍尔传感器(6)上方且接近霍尔传感器(6)。
  3. 如权利要求2所述的一种用磁作为方向定位的机器人，其特征是，所述低剩磁高导磁率材料板(7)的形状与多个霍尔传感器(6)围成形状相适配。
  4. 如权利要求1所述的一种用磁作为方向定位的机器人，其特征是，所述的机器人本体包括分拣机器人和运货卸货机器人，机器人本体与服务器通过无线连接，机器人本体在接收到指令信号后沿着预定的线路前进、后退或转向行走到目标地域装货或卸货。
  5. 如权利要求1所述的一种用磁作为方向定位的机器人，其特征是，所述的地址地标识别装置为摄像头或RFID读卡器，相应地，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RFID。
  6. 如权利要求1-5任一项所述的一种用磁作为方向定位的机器人，其特征是，将机器人本体行走的地面划分成多个模块地域，在每个模块地域内设置有所述的两根磁性长条，其分别为第一磁性长条(1)和第二磁性长条(2)。
  7. 如权利要求6所述的一种用磁作为方向定位的机器人，其特征是，还包括第三磁性长条(3)和第四磁性长条(4)，第三磁性长条(3)和第四磁性长条(4)与所述第一磁性长条(1)、第二磁性长条(2)按十字型排列，第二磁性长条(2)、第三磁性长条(3)和第四磁性长条(4)极性相同且与第一磁性长条(1)极性不同。
  8. 如权利要求7所述的一种用磁作为方向定位的机器人，其特征是，所述第一磁性长条(1)、第二磁性长条(2)、第三磁性长条(3)和第四磁性长条(4)直接粘贴在所述模块地域上。
  9. 如权利要求7所述的一种用磁作为方向定位的机器人，其特征是，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)。
PCT/CN2018/090861 2017-09-05 2018-06-12 用磁作为方向定位的机器人 WO2019047582A1 (zh)

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CN207224024U (zh) * 2017-09-05 2018-04-13 杭州亚美利嘉科技有限公司 用磁作为方向定位的机器人
CN109664260B (zh) * 2018-11-21 2020-11-03 杭州亚美利嘉科技有限公司 悬挂式机器人导轨方向定位装置及其定位方法
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