WO2022242667A1 - Capteur de patrouille de ligne et procédé et dispositif pour renvoyer un robot à une pile de charge - Google Patents

Capteur de patrouille de ligne et procédé et dispositif pour renvoyer un robot à une pile de charge Download PDF

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Publication number
WO2022242667A1
WO2022242667A1 PCT/CN2022/093486 CN2022093486W WO2022242667A1 WO 2022242667 A1 WO2022242667 A1 WO 2022242667A1 CN 2022093486 W CN2022093486 W CN 2022093486W WO 2022242667 A1 WO2022242667 A1 WO 2022242667A1
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WIPO (PCT)
Prior art keywords
inductor
robot
distance
energized coil
coil
Prior art date
Application number
PCT/CN2022/093486
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English (en)
Chinese (zh)
Inventor
张少光
王中甲
Original Assignee
未岚大陆(北京)科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202110540645.4A external-priority patent/CN115933624A/zh
Priority claimed from CN202121067933.4U external-priority patent/CN216099032U/zh
Application filed by 未岚大陆(北京)科技有限公司 filed Critical 未岚大陆(北京)科技有限公司
Publication of WO2022242667A1 publication Critical patent/WO2022242667A1/fr

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    • 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
    • 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

Definitions

  • the present application relates to the technical field of robots, and in particular to a line inspection sensor, a method and a device for returning a robot to a charging pile.
  • robots With the maturity of robot technology, the application scenarios of robots are becoming more and more extensive, such as: food delivery robots for food delivery, sweeping robots for environmental cleaning, lawn mowers, etc. As robots play an increasingly important role in various fields, the public's demand for intelligent robots is also increasing.
  • the present application proposes a method and a device for returning to a charging pile for a line inspection sensor and a robot.
  • the embodiment of the first aspect of the present application proposes a line tracking sensor, including: a first inductor, a second inductor, and a third inductor; the first inductor is set perpendicular to the ground, and the measured first sensing data is used To determine the relationship between the inside and outside of the first inductor and the horizontally arranged energized coil; the second inductor and the third inductor are arranged parallel to the ground, and are arranged laterally symmetrically on the sides of the first inductor On both sides, the second induction data measured by the second inductor is used to determine the distance relationship between the second inductor and the energized coil, and the third induction data measured by the third inductor is used to determine The distance relationship between the third inductor and the energized coil.
  • the first inductor is set vertically to the ground, and the measured first induction data is used to determine the relationship between the first inductor and the horizontally set energized coil
  • the relationship between the inner and outer sides of the second inductor and the third inductor are arranged parallel to the ground and arranged laterally symmetrically on both sides of the first inductor, and the second induction data measured by the second inductor is used to determine the relationship between the second inductor and the third inductor.
  • the distance relationship between the energized coils, the third induction data measured by the third inductor is used to determine the distance relationship between the third inductor and the energized coil, so that the robot can be realized by using the line tracking sensor that only includes the inductor.
  • Autonomous line inspection reduces the complexity of hardware design and software algorithm, thus reducing the cost.
  • the embodiment of the second aspect of the present application proposes a method for a robot to return to a charging pile, where a first inductor, a second inductor, and a third inductor are arranged in the middle of the first end of the robot; the first inductor The inductor is arranged perpendicular to the ground; the second inductor and the third inductor are arranged parallel to the ground, and are symmetrically arranged on both sides of the first inductor laterally, and symmetrically arranged on the charging pile.
  • the first energized coil and the second energized coil includes: controlling the robot to run to the second energized coil according to the induction data of the first energized coil and the second energized coil by the first inductor An inductor is located in the middle of the center line between the first energized coil and the second energized coil; according to the induction data of the first energized coil by the second inductor and the third inductor Determining a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil for the induction data of the second energized coil. distance; and according to the first distance and the second distance, controlling the robot to return to the charging pile from the intermediate position.
  • the method of returning the robot to the charging pile controls the robot to run until the first inductor is located between the first energized coil and the second energized coil according to the induction data of the first inductor on the first energized coil and the second energized coil.
  • the middle position on the center line between the coils according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the distance between the second inductor and the first energized coil
  • the first distance and the second distance between the third inductor and the second energized coil are used to control the robot to return to the charging pile from the middle position according to the first distance and the second distance.
  • the embodiment of the third aspect of the present application proposes a device for returning a robot to a charging pile.
  • a first inductor, a second inductor, and a third inductor are arranged in the middle of the first end of the robot; the first inductor The inductor is arranged perpendicular to the ground; the second inductor and the third inductor are arranged parallel to the ground, and are symmetrically arranged on both sides of the first inductor laterally, and symmetrically arranged on the charging pile.
  • the first energization coil and the second energization coil includes: a first control module, configured to control the first energization coil and the second energization coil according to the induction data of the first inductor to the first energization coil and the second energization coil
  • the robot runs to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil;
  • the induction data of the energized coil and the induction data of the third inductor to the second energized coil determine the first distance between the second inductor and the first energized coil and the third inductor a second distance from the second energized coil; and a second control module, configured to control the robot to return to the charging post from the intermediate position according to the first distance and the second distance.
  • the device for returning the robot to the charging pile controls the robot to run until the first inductor is located between the first energized coil and the second energized coil according to the induction data of the first inductor on the first energized coil and the second energized coil.
  • the middle position on the center line between the coils according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the distance between the second inductor and the first energized coil
  • the first distance and the second distance between the third inductor and the second energized coil are used to control the robot to return to the charging pile from the middle position according to the first distance and the second distance.
  • the embodiment of the fourth aspect of the present application proposes a robot, including the line inspection sensor as described in the embodiment of the first aspect, and a robot body;
  • the robot body includes: a processor, a controller connected to the processor, A driving device connected to the controller;
  • the line following sensor is arranged in the middle of the first end of the robot body;
  • the processor is connected to the line following sensor, and according to each inductance of the line following sensor
  • the sensing data of the sensor determines the relative position information of the robot body and the energized coil arranged horizontally;
  • the controller determines the movement information of the robot body according to the relative position information;
  • the drive device determines the movement information of the robot body according to the The movement information drives the movement of the robot body.
  • the embodiment of the fifth aspect of the present application proposes a robot, wherein a first inductor, a second inductor, and a third inductor are arranged in the middle of the first end of the robot; the first inductor is arranged perpendicular to the ground; The second inductor and the third inductor are arranged parallel to the ground, and arranged laterally symmetrically on both sides of the first inductor, and the robot further includes: at least one processor; A memory that is communicatively connected to a processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the present invention The method for returning the robot to the charging pile described in the embodiment of the first aspect of the application.
  • the embodiment of the sixth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for returning the robot to the charging pile as described in the embodiment of the first aspect of the present application is implemented. .
  • the embodiment of the seventh aspect of the present application proposes a computer program product, including a computer program.
  • the computer program is executed by a processor, the method for returning the robot to the charging pile according to the above is implemented.
  • Fig. 1 is a bottom view of a line tracking sensor provided by an embodiment of the present application
  • Fig. 2 is a front view of the line tracking sensor provided by the embodiment of the present application.
  • Fig. 3 is a schematic diagram of the connection relationship between the line inspection sensor and the processor in the robot body provided by the embodiment of the present application;
  • Fig. 4 is a schematic diagram of another connection relationship between the line inspection sensor provided in the embodiment of the present application and the processor in the robot body;
  • Fig. 5 is a schematic diagram of the distances between the second inductor, the third inductor and the energized coil in the line following sensor provided by the embodiment of the present application;
  • Fig. 6 is a flow chart of a method for returning a robot to a charging pile according to an embodiment of the present application
  • Fig. 7 is a schematic diagram of arranging energized coils on charging piles according to an embodiment of the present application.
  • Fig. 8 is a flow chart of another method for returning a robot to a charging pile according to an embodiment of the present application.
  • Fig. 9 is a schematic diagram of various regions of a charging pile provided according to an embodiment of the present application.
  • Fig. 10 is a flow chart of another method for returning a robot to a charging pile provided in an embodiment of the present application.
  • 11-15 are schematic diagrams of the positional relationship between the robot and the charging pile provided by the embodiment of the present application.
  • Fig. 16 is a flow chart of controlling the robot to return to the charging pile from the intermediate position
  • Fig. 17 is a flow chart of another method for returning a robot to a charging pile according to an embodiment of the present application.
  • Fig. 18 is a flow chart of another method for returning a robot to a charging pile provided in an embodiment of the present application.
  • 19-26 are schematic diagrams of the positional relationship between the robot and the charging pile provided by the embodiment of the present application.
  • Fig. 27 is a structural diagram of a device for returning a robot to a charging pile provided in an embodiment of the present application
  • Fig. 28 is a structural diagram of a robot provided by an embodiment of the present application.
  • Fig. 29 is a structural diagram of another robot provided by the embodiment of the present application.
  • Line tracking sensor-10 first inductor-110; second inductor-120;
  • Robot body-30 processor-310; controller-320;
  • Comparing circuit-342 first energized coil-31; second energized coil-32;
  • a laser and a combination of distance-measuring and position-measuring sensors are usually used to realize the autonomous line inspection of the robot.
  • sensors there are many types and quantities of sensors used, and the cost of hardware design and production and software design are relatively high.
  • the various embodiments of the present application mainly aim at the technical problems existing in the above-mentioned related technologies, and propose a method, device, robot, storage medium and computer program product for a line inspection sensor, a robot returning to a charging pile.
  • the line tracking sensor includes a first inductor, a second inductor and a third inductor, the first inductor is arranged vertically to the ground, and the measured first induction data is used to determine the inner distance between the first inductor and the horizontally arranged energized coil.
  • the second inductor and the third inductor are arranged parallel to the ground, and arranged laterally and symmetrically on both sides of the first inductor, the second induction data measured by the second inductor is used to determine the relationship between the second inductor and the energized
  • the distance relationship between the coils, the third induction data measured by the third inductor is used to determine the distance relationship between the third inductor and the energized coil. Therefore, the autonomous line inspection of the robot can be realized by using the line inspection sensor including only the inductor, which reduces the complexity of hardware design and software algorithm, thereby reducing the cost.
  • Fig. 1 is a bottom view of a line following sensor 10 provided by an embodiment of the present application
  • Fig. 2 is a front view of the line following sensor 10 provided by an embodiment of the present application.
  • the line following sensor 10 may include: a first inductor 110 , a second inductor 120 and a third inductor 130 .
  • the first inductor 110 is arranged vertically to the ground, and the measured first induction data is used to determine the inner and outer relationship between the first inductor 110 and the horizontally arranged energized coil;
  • the second inductor 120 and the third inductor 130 are arranged parallel to the ground, and the second inductor 120 and the third inductor 130 are arranged laterally symmetrically on both sides of the first inductor 110, and the second inductor 120 measures the first
  • the second induction data is used to determine the distance relationship between the second inductor 120 and the energized coil
  • the third induction data measured by the third inductor 130 is used to determine the distance relationship between the third inductor 130 and the energized coil.
  • first inductor 110 the second inductor 120 and the third inductor 130 may be self-inductors.
  • the energized coil can be set in a preset manner.
  • the energized coil is arranged horizontally relative to the ground, and the energized coil is passed a current signal of a specific frequency, such as a 20KHZ (kilohertz) PWM wave signal, so that a magnetic field can be generated in the area where the energized coil is located.
  • a specific frequency such as a 20KHZ (kilohertz) PWM wave signal
  • the first inductor 110 is arranged vertically to the ground. When the first inductor 110 is near the energized coil arranged horizontally, the first inductor 110 can sense the magnetic field generated by the energized coil and generate the first induction data. Because the first inductor 110 When an inductor 110 is located inside and outside the energized coil, the magnitude of the first induction data such as the first voltage signal is different, so that the first inductor 110 and the first inductor 110 can be determined according to the first induction data measured by the first inductor 110. Inner-outer relationship of energized coils set horizontally.
  • the second inductor 120 and the third inductor 130 are disposed parallel to the ground, and are laterally symmetrically disposed on both sides of the first inductor 110 .
  • the second inductor 120 can sense the magnetic field generated by the energized coil, and can generate the second induction data. Due to the fact that the distance between the second inductor 120 and the energized coil is different, the second induction data generated by the second inductor 120, such as the magnitude of the second voltage signal is different, so according to the second inductor 120 measured The second induction data can determine the distance relationship between the second inductor 120 and the energized coil. Similarly, according to the third induction data measured by the third inductor 130 , the distance relationship between the third inductor 130 and the energized coil can be determined.
  • the first inductor 110 , the second inductor 120 and the third inductor 130 may be disposed on the circuit board 140 of the line following sensor 10 .
  • the first inductor 110 is arranged perpendicular to the circuit board 140 in the middle of the circuit board 140
  • the second inductor 120 and the third inductor 130 are arranged parallel to the circuit board 140
  • the second inductor 120 and the third inductor 130 are arranged laterally symmetrically arranged on both sides of the first inductor 110 .
  • the circuit board 140 of the line inspection sensor 10 can be arranged on the robot 2 parallel to the ground, so that the first inductor 110 is perpendicular to the ground, and the second inductor 120 and the second inductor 120 are parallel to the ground.
  • the three inductors 130 are parallel to the ground to ensure that the first inductor 110 can sense the first sensing data, the second inductor 120 can sense the second sensing data, and the third inductor 130 can sense the third sensing data.
  • the robot 2 may include a robot body 30, and the line-following sensor 10 may be disposed on the robot body 30, for example, at the middle of the first end of the robot body 30, wherein the first end may be the robot body 30 Therefore, the robot 2 can determine the inner and outer relationship between the first inductor 110 and the horizontally arranged energized coil according to the first induction data, and determine the relationship between the second inductor 120 and the horizontally arranged energized coil according to the second induction data.
  • the third induction data determine the distance relationship between the third inductor 130 and the horizontally arranged energized coil, and then according to the inner and outer relationship between the first inductor 110 and the horizontally arranged energized coil, the second inductance
  • the distance relationship between the inductor 120 and the third inductor 130 and the horizontally arranged energized coil respectively determines the relative positional relationship between the robot body 30 and the horizontally arranged energized coil, so as to control the movement of the robot body 30 according to the relative positional relationship.
  • the robot body 30 may be provided with a processor 310, so that through the processor 310, according to the first sensing data collected by the first inductor 110 and the second sensing data collected by the second inductor 120, And the third induction data collected by the third inductor 130 determines the relative positional relationship between the robot body 30 and the horizontally arranged electrified coil.
  • the first inductor 110 can be connected to the processor 310, so that the first inductor 110 can transmit the collected first sensing data to the processor 310, so that the processor 310 can, according to the first sensing data,
  • the inner and outer relationship between the first inductor 110 and the horizontally arranged energized coil is determined.
  • the second inductor 120 and the third inductor 130 can be respectively connected to the processor 310, so as to respectively transmit the collected second sensing data and the third sensing data to the processor 310, so that the processor 310 According to the second induction data transmitted by the inductor 120, the distance relationship between the second inductor 120 and the energized coil arranged horizontally is determined, and according to the third induction data transmitted by the third inductor 130, the distance relationship between the third inductor 130 and the horizontally arranged coil is determined. Distance relationship between energized coils.
  • the processor 310 combines the line tracking sensor 10 according to the inner and outer relationship between the first inductor 110 and the horizontally arranged energized coil, and the distance relationship between the second inductor 120 and the third inductor 130 and the horizontally arranged energized coil respectively.
  • the installation position on the robot body 30 can determine the relative positional relationship between the robot body 30 and the energized coils arranged horizontally.
  • an intermediate circuit 340 may also be provided on the robot body 30 , and the first inductor 110 and the processor 310 are connected through the intermediate circuit 340 .
  • 330 in each drawing of the present application is the driving wheel of the robot 2 .
  • the intermediate circuit 340 may include an amplification circuit 341 and a comparison circuit 342, the amplification circuit 341 is connected to the first inductor 110 and the comparison circuit 342 respectively, and the amplification circuit 341 may amplify the first induction data generated on the first inductor 110
  • the comparison circuit 342 is connected to the processor 310 , and the comparison circuit 342 can perform square wave processing on the amplified first sensing data according to a preset voltage threshold, and provide it to the processor 310 . Since the first inductor 110 is located inside and outside the horizontally arranged energized coil, the first induction data after square wave processing, such as the duty cycle of the first voltage signal, is different, so the processor 310 can be based on the first induction data. The duty cycle of the data determines whether the first inductor 110 is located inside or outside the horizontally arranged energized coil.
  • the preset voltage threshold can be set as required, which is not limited in this embodiment of the present application.
  • the number of energized coils can be set according to needs, for example, one energized coil can be set in the area of the charging pile, or two energized coils can be symmetrically arranged in the area of the charging pile, which is not made in this application. limit.
  • the inductive data of the energized coil measured by the first inductor 110 can be used to determine the relationship between the first inductor 110 and the inner and outer sides of the energized coil.
  • the distance relationship between the second inductor 120 and the third inductor 130 and the energized coil is determined based on the induction data of the energized coil measured by the third inductor 130 .
  • the relationship between the inside and outside of the first inductor 110 and the plurality of energized coils can be determined according to the induction data of the plurality of energized coils measured by the first inductor 110, and the relationship between the inside and outside of the first inductor 110 can be determined according to the second inductor
  • the induction data of a certain energized coil measured by 120 determines the distance between the second inductor 120 and the energized coil
  • the induction data of a certain energized coil measured by the third inductor 130 the distance between the third inductor 130 and the energized coil is determined. The distance between the energized coils.
  • the robot 2 includes a robot body 30
  • the line tracking sensor 10 is arranged in the middle of the front end of the robot body 30 .
  • the dotted lines 31 and 32 are energized coils arranged horizontally on the charging pile.
  • the left energized coil 31 is the first energized coil
  • the right energized coil 32 is the second energized coil
  • the two energized coils do not share a line segment, and the energized current
  • the values are the same, but the directions are opposite.
  • the positions of the two energized coils in the middle area of the charging pile are close to the energized wires, only one dotted line is taken as an example in FIG. 5 for illustration.
  • the inner and outer relationship between the first inductor 110 and the left and right energized coils can be determined.
  • the distance between the second inductor 120 and the first energized coil can be determined.
  • the distance between the third inductor 130 and the second energized coil can be determined.
  • the distance between the second inductor 120 and the energizing coil can be the shortest distance between the second inductor 120 and the energizing coil wire, and the distance between the third inductor 130 and the horizontally arranged energizing coil The distance between them may be the shortest distance from the third inductor 130 to the energizing wire of the energizing coil.
  • the distance between the second inductor 120 and the first energizing coil can be The vertical distance A from the second inductor 120 to the energized line in the middle area between the two energized coils in FIG. 5 . Since the distance between the third inductor 130 and the energized line in the middle area between the first energized coil and the second energized coil is the shortest, the distance between the third inductor 130 and the second energized coil can be as shown in FIG.
  • the vertical distance B from the third inductor 130 to the energized line in the middle area between the two energized coils is relatively close.
  • the distance between the second inductor 120 and the first energized coil can also be understood as the distance between the second inductor 120 and two
  • the distance between the third inductor 130 and the second energized coil can also be understood as the vertical distance from the third inductor 130 to the midline between the two energized coils.
  • the robot body 30 determines that the first inductor 110 is located on the midline between the two energized coils, the second inductor 120 and the third inductor 110 acquired in real time
  • the difference of the vertical distances between the inductors 130 and the center line between the two energized coils can dynamically adjust the pose of the robot body 30 so that the robot body 30 can move forward along the center line between the two energized coils.
  • the robot body 30 is left-side relative to the center line, so that according to the difference between the two distances, it can be determined The rotation angle of the robot body 30, and rotate the robot body 30 to the right by the rotation angle, so that the robot body 30 can advance along the center line.
  • the second inductor 120 when the distance between the first inductor 110 and the second inductor 120 and the distance between the first inductor 110 and the third inductor 130 are too small, the second inductor 120 The difference between the collected induction data and the induction data collected by the third inductor 130 is very small, and the difference between the distances between the second inductor 120 and the third inductor 130 and the energized coil is also very small, so that the The distance between the second inductor 120 and the energized coil, and the distance between the third inductor 130 and the energized coil accurately determine the relative positional relationship between the robot body 30 and the horizontally arranged energized coil.
  • the distance between the first inductor 110 and the second inductor 120, and the distance between the first inductor 110 and the third inductor 130 must be greater than or equal to a preset threshold, so that When the robot 2 uses the line inspection sensor 10 to perform autonomous line inspection, it can accurately determine the relative positional relationship between the robot body 30 and the horizontally arranged energized coils.
  • the preset threshold may be set as required, which is not limited in this embodiment of the present application.
  • the line tracking sensor provided in the embodiment of the present application, by setting a first inductor perpendicular to the ground, the measured first induction data is used to determine the inner and outer relationship between the first inductor and the horizontally arranged energized coil, and to set parallel
  • the second inductor and the third inductor are arranged symmetrically on both sides of the first inductor on the ground, and the second induction data measured by the second inductor is used to determine the distance between the second inductor and the energized coil.
  • the third induction data measured by the third inductor is used to determine the distance relationship between the third inductor and the energized coil, so that the robot can realize autonomous line inspection by using the line inspection sensor including only the inductor, reducing the Hardware design complexity and software algorithm complexity, thereby reducing costs.
  • the line tracking sensor can determine the inner and outer relationship between the first inductor and the horizontally arranged energized coil, and the distance relationship between the second inductor and the third inductor and the energized coil respectively, so that the line tracking sensor can be used to The accuracy of the measured data is higher when performing autonomous line inspection.
  • the embodiment of the present application Based on the method for setting the first inductor, the second inductor, and the third inductor in the above-mentioned line tracking sensor, the embodiment of the present application also proposes a method for returning the robot to the charging pile.
  • Fig. 6 is a flowchart of a method for returning a robot to a charging pile according to an embodiment of the present application.
  • the method for returning the charging pile of the robot provided in the embodiment of the application can be performed by the device for returning the charging pile of the robot provided in the embodiment of the application, hereinafter referred to as the pile returning device, wherein the pile returning device can be configured on the robot In order to realize the autonomous line patrol of the robot and return to the charging pile.
  • the pegback device may be a processor in the robot.
  • the robot may be any type of robot such as a lawn mower or a sweeper, which is not limited in this embodiment of the present application.
  • the method for returning the robot to the charging pile includes the following steps:
  • Step 101 according to the induction data of the first inductor to the first energized coil and the second energized coil, the robot is controlled to run to a middle position where the first inductor is located on the midline between the first energized coil and the second energized coil.
  • a first inductor, a second inductor, and a third inductor are arranged in the middle of the first end of the robot, the first inductor is arranged perpendicular to the ground, and the second inductor and the third inductor are parallel to the ground.
  • the ground is set, and the two sides of the first inductor are symmetrically set laterally.
  • the charging pile is equipped with symmetrically arranged energized coils, which can generate a magnetic field in the charging pile area.
  • the layout of the energized coils on the charging pile may be as shown in FIG. 7 .
  • the charging pile includes a chassis, and the electrified coil can be arranged on the upper surface or the lower surface of the chassis.
  • a first energization coil 31 can be arranged in the left half area of the charging pile 3
  • a second energization coil 32 the first energization coil 31 and the second energization coil 32 can be arranged in the right half area of the charging pile 3 Symmetrically, the magnitudes of the energizing currents of the first energizing coil 31 and the second energizing coil 32 are the same, and the directions of the energizing currents of the first energizing coil 31 and the second energizing coil 32 are opposite.
  • the middle position is located on the midline between the first energizing coil and the second energizing coil, and may be any position in the area where the midline between the first energizing coil and the second energizing coil is located within the charging pile area.
  • first energized coil and the second energized coil can generate a magnetic field in the area of the charging pile.
  • the robot runs to a position where the first inductor is midway between the first energized coil and the second energized coil.
  • Step 102 according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the first distance between the second inductor and the first energized coil and the third inductance The second distance between the device and the second energized coil.
  • the first distance between the second inductor and the first energized coil can be determined in real time according to the induction data induced by the second inductor to the first energized coil, and according to the third inductance
  • the second distance between the third inductor and the second energized coil is determined in real time based on the induction data obtained by inducting the second energized coil by the inductor.
  • the first distance between the second inductor and the first energized coil is the shortest distance from the second inductor to the first energized coil; the second distance between the third inductor and the second energized coil is the first The shortest distance from the three inductors to the second energized coil.
  • the first distance is the vertical distance from the second inductor to the midline between the first energized coil and the second energized coil
  • the second distance is the vertical distance from the third inductor to the first energized coil and the second energized coil. The vertical distance between the centerlines of the coils.
  • steps 101 and 102 can be executed at the same time, or step 101 can be executed first and then step 102 can be executed, or step 102 can be executed first and then step 101 can be executed.
  • This application does not limit the execution timing of steps 101 and 102.
  • Step 103 control the robot to return to the charging pile from the intermediate position.
  • the pile return device can adjust the pose of the robot in real time according to the first distance and the second distance, so as to realize the precise return of the robot to the power line in the middle area.
  • the above-mentioned method of returning the robot to the charging pile can realize the robot returning to the charging pile only by using the induction data of the inductor, which reduces the complexity of hardware design and software algorithm complexity, and does not require the user to arrange long guide lines to realize the robot Accurate pile back saves user burden and use cost.
  • the relative positional relationship of the robot relative to the charging pile can be accurately determined, so that the robot can accurately patrol the line, and then control the robot to return to the charging pile accurately, and the process of returning to the pile is not easily affected by external interference such as light. Improve the success rate of pile back.
  • the method for returning the robot to the charging pile controls the robot to run until the first inductor is located between the first energized coil and the second energized coil according to the induction data of the first inductor on the first energized coil and the second energized coil.
  • the middle position on the center line between the coils according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the distance between the second inductor and the first energized coil The first distance and the second distance between the third inductor and the second energized coil, and then according to the first distance and the second distance, the robot is controlled to return to the charging pile from the middle position.
  • Fig. 8 is a flowchart of another method for returning a robot to a charging pile according to an embodiment of the present application.
  • the arrangement manner of the energized coil on the charging pile as shown in FIG. 7 is taken as an example for description.
  • the method for the robot to return to the charging pile may include the following steps:
  • Step 201 according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the first distance between the second inductor and the first energized coil and the third inductance The second distance between the device and the second energized coil.
  • the second inductor between the second inductor and the first energized coil can be determined in real time according to the induction data of the first energized coil by the second inductor.
  • a distance according to the induction data of the third inductor to the second energized coil, determine the second distance between the third inductor and the second energized coil.
  • the inner and outer relationships between the first inductor and the first energized coil and the second energized coil are respectively determined.
  • Step 202 when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined according to the first distance and the second distance that the robot satisfies the preset return condition, control the robot to The direction close to the middle position is rotated to the middle position.
  • Step 203 control the robot to return to the charging pile from the intermediate position.
  • the distance between the first inductor and the first energized coil and the second energized coil respectively can be determined according to the induction data of the first inductor on the first energized coil and the second energized coil. Inner and outer relationship, and then according to the inner and outer relationship between the first inductor and the first energized coil and the second energized coil, the first distance and the second distance, determine which area the first inductor is located in.
  • the area where the first inductor is located may include the charging pile area and the non-charging pile area, wherein the charging pile area includes the coverage area of the first energized coil, the coverage area of the second energized coil, the first energized coil and the second energized coil. The area where the neutral line lies between energized coils.
  • the coverage area of the first energizing coil can be the area A' shown in Figure 9
  • the coverage area of the second energizing coil can be the area C' shown in Figure 9
  • the area where the midline between the first energized coil and the second energized coil is located may be the area B' shown in FIG. 9
  • the non-charging pile area is the area outside the areas A', B', and C'.
  • a is the boundary of the coverage area of the second energization coil
  • b is the boundary of the second energization coil
  • c is the boundary of the supporting plate of the charging pile.
  • the first inductor is located on the first energization coil or the second energization coil, or that the first inductor is located on
  • the first energized coil and the second energized coil are outside, and the first distance and the second distance are both less than the third preset distance threshold
  • the post return device when the robot switches from the first inductor in the non-charging pile area to the coverage area of the first energized coil, or the coverage area of the second energized coil, the post return device can be based on the first distance and the second distance to judge whether the robot meets the preset pile-back conditions.
  • the preset pile-back condition is used to judge that the control robot runs to the middle position on the center line between the first energized coil and the second energized coil through one rotation, and the control robot moves from the middle position Returning to the charging pile, or by adjusting the pose of the robot multiple times, the robot is run to the middle position on the center line between the first energized coil and the second energized coil, and the robot is controlled to return from the middle position Charging pile.
  • the robot meets the preset back-to-pile conditions, the robot is controlled to approach the middle position and rotate to the middle position, then the robot can be controlled to return to the charging pile from the middle position.
  • the robot can be adjusted to the position where the first inductor is located in the middle of the center line between the first energized coil and the second energized coil, and then Control the robot to return to the charging pile from the intermediate position.
  • the preset return condition may include: the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and/or the first distance and the second distance are smaller than a second preset distance threshold.
  • the preset angle threshold and the second preset distance threshold can be set as required, and are not limited here.
  • the way of determining the angle between the robot and the intermediate position is to determine the distance between the second inductor and the third inductor according to the first distance, the second distance, and the distance between the second inductor and the third inductor.
  • the angle between the connecting line and the intermediate position determine the angle between the robot and the intermediate position according to the preset angle value and the angle between the connecting line and the intermediate position.
  • the angle between the robot and the middle position can be understood as the angle between the longitudinal symmetrical midline of the robot and the midline between the first energized coil and the second energized coil.
  • the longitudinal direction here may be a direction perpendicular to the connection line between the second inductor and the third inductor.
  • the preset angle value may be 90 degrees.
  • the preset angle value, the angle value between the connection line of the second inductor and the third inductor and the middle position, the difference between these two angle values can be obtained between the robot and the middle position angle.
  • the angle between the robot and the intermediate position is less than or equal to the preset angle threshold, it means that the yaw angle of the robot relative to the direction of the midline between the first energized coil and the second energized coil is small, based on In this case, control the robot to rotate once, run to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil, and then control the robot to return to the charging pile from the middle position, so that the robot can return accurately Charging pile.
  • the robot is controlled to rotate once and run to the midline where the first inductor is located between the first energized coil and the second energized coil Then control the robot to return to the charging pile from the middle position, which can also realize the precise return of the robot to the charging pile.
  • the angle between the robot and the intermediate position is less than or equal to the preset angle threshold, and the first distance between the second inductor and the first energized coil, and the second distance between the third inductor and the second energized coil are both If it is less than the second preset distance threshold, it means that the yaw angle of the robot relative to the direction of the midline between the first energized coil and the second energized coil is small, and the first inductor to the first energized coil and the second energized coil The distance between the midlines between the coils is small, based on this situation, the robot is controlled to rotate once, and runs to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil, and then controls the robot from the middle The location returns to the charging pile, and the robot can also accurately return to the charging pile.
  • the first inductor when the robot satisfies the preset backing condition, in order to control the rotation of the robot, the first inductor is located in the middle of the midline between the first energized coil and the second energized coil, and at the If an inductor is located in the coverage area of the first energized coil, or in the coverage area of the second energized coil, the robot can be controlled to rotate to the intermediate position in a direction close to the intermediate position.
  • the robot when the first inductor is located in the coverage area of the first energized coil, the robot can be controlled to turn right until the first inductor is located in the middle of the center line between the first energized coil and the second energized coil, and stop Rotate; in the case that the first inductor is located in the coverage area of the second energized coil, the robot can be controlled to turn left until the first inductor is located in the middle of the midline between the first energized coil and the second energized coil, and stop rotate.
  • the robot when the robot is controlled to rotate to the middle position in the direction close to the middle position, the first inductor may switch to the non-charging pile area. In this case, it means that the robot is still some distance away from the charging pile , the robot can be controlled to move forward, and when the robot advances to the area to which the first inductor belongs and switches from the non-charging pile area to the charging pile area, continue to repeat steps 202-203.
  • the robot when the robot is controlled to run to a position where the first inductor is located at the middle position on the midline between the first energized coil and the second energized coil, the robot can be controlled according to the first distance and the second distance. The robot returns to the charging station from the intermediate position.
  • the robot runs directly from the position where the first inductor is located in the non-charging pile area to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil, which In this case, the robot can be controlled to return to the charging pile from the middle position directly according to the first distance and the second distance.
  • the following method can be used to control the robot to return to the charging pile from the intermediate position according to the first distance and the second distance: control the robot to advance, and obtain the difference between the first distance and the second distance; determine according to the difference Rotation angle of the robot; controls the robot to rotate the rotation angle.
  • the robot can be controlled to advance, and in the process of advancing, obtain the difference between the first distance and the second distance, and determine the rotation angle of the robot according to the difference, control the robot to rotate the rotation angle, and then control the robot go ahead. Therefore, by controlling the rotation of the robot in real time according to the difference between the first distance and the second distance during the forward process, the energized line at the middle position of the robot patrol can be accurately returned to the charging pile.
  • the rotation angle may be the required rotation angle when the difference between the first distance and the second distance is 0 or less than a preset difference threshold when the robot rotates to.
  • the rotation angle can be obtained by real-time calculation, or by pre-determining the corresponding relationship between different distance differences and rotation angles, and then the pile returning device can obtain the difference between the first distance and the second distance according to the obtained first distance.
  • the difference with the second distance is obtained from a predetermined correspondence, or may be obtained in other ways, which is not limited in this embodiment of the present application.
  • a PID controller may be used to determine the rotation angle of the robot according to the difference between the first distance and the second distance.
  • the input of the PID controller is the difference between the first distance and the second distance
  • the output of the PID controller is the rotation angle of the robot.
  • FIG. 10 is a flow chart of another method for returning a robot to a charging pile provided in an embodiment of the present application.
  • Figure 11-15 is a schematic diagram of the positional relationship between the robot and the charging pile.
  • Fig. 16 is a flow chart of controlling the robot to return to the charging pile from the intermediate position.
  • 1 simply represents the first inductor 11 , the second inductor 12 and the third inductor 13 .
  • the robot in order for the robot to return to the charging pile, when the robot is driving near the charging pile (step 301) (refer to Figure 11 for the positional relationship between the robot and the charging pile), the robot can continue to be controlled to move forward ( Step 302), and during the forward process of the robot, the induction data of the first inductor to the first energized coil and the second energized coil, the induction data of the second inductor to the first energized coil, and the induction data of the third inductor to the second energized coil are acquired.
  • the induction data of the energized coil combined with the induction data of the first inductor to the first energized coil and the second energized coil, the first distance and the second distance, determine whether the first inductor switches from the non-charging pile area to the charging pile area .
  • the robot can be controlled to return to the charging pile from the intermediate position (step 305) (refer to block diagram 14 for the positional relationship between the robot and the charging pile), until the return to the pile is successful (refer to the block diagram 15 for the positional relationship between the robot and the charging pile).
  • the robot can be controlled to turn right (step 307) (refer to Figure 13 for the positional relationship between the robot and the charging pile), until the first inductor is located on the center line between the first energized coil and the second energized coil Intermediate position (step 308), stop the rotation operation of the robot, and then control the robot to return to the charging pile from the intermediate position (step 305) (refer to block diagram 14 for the positional relationship between the robot and the charging pile), until the return to the pile is successful (the robot and the charging pile Refer to block diagram 15) for the positional relationship between them.
  • the robot can be controlled to turn left (step 310), Until the first inductor is located at the middle position on the center line between the first energized coil and the second energized coil (step 311), stop the rotation operation of the robot, and then control the robot to return to the charging pile from the middle position (step 305) (robot For the positional relationship between the robot and the charging pile, refer to block diagram 14), until the return to the pile is successful (for the positional relationship between the robot and the charging pile, refer to block diagram 15).
  • the robot can be controlled to advance (step 402), and the difference between the first distance and the second distance can be obtained during the advance (step 403), and determine the angle of rotation (step 404) of the robot according to the difference, then control the robot to rotate the angle of rotation (405), then judge whether the pile back is in place (step 406), and then return to the pile in place if the pile back is in place.
  • the second inductor and the first energized coil are determined.
  • the first distance between the coils and the second distance between the third inductor and the second energized coil determine that the first inductor is located in the coverage area of the first energized coil or the covered area of the second energized coil, and according to the first
  • the robot is controlled to rotate to the middle position in the direction close to the middle position, and then according to the first distance and the second distance, the robot is controlled to return to the charging pile from the middle position, So that when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined according to the first distance and the second distance that the robot satisfies the preset pile-back condition, only the inductor’s By sensing the data, the robot can automatically return to the post, which reduces the hardware design complexity and software algorithm complexity of the robot’s post return, thereby reducing the cost, and by adjusting the pose of the robot according to the first distance and
  • Fig. 17 is a flow chart of another method for returning a robot to a charging pile according to an embodiment of the present application.
  • the method for the robot to return to the charging pile may include the following steps:
  • Step 501 according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the first distance between the second inductor and the first energized coil and the third inductance The second distance between the device and the second energized coil.
  • Step 502 determine that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and determine that the robot does not meet the preset postback condition according to the first distance and the second distance.
  • Step 503 controlling the robot to rotate toward the middle position to the middle position or outside the charging pile.
  • the implementation process and principle of determining which area the first inductor is located, and the description about the preset post-back conditions can refer to the description of the above-mentioned embodiment, and will not be repeated here.
  • the robot is controlled to rotate once to run to the position where the first inductor is located on the midline between the first energized coil and the second energized coil. After the middle position, control the robot to return to the charging pile from the middle position, and it may not be possible for the robot to accurately return to the charging pile.
  • the angle between the robot and the intermediate position is greater than the preset angle threshold, and the first distance between the second inductor and the first energized coil, or the second distance between the third inductor and the second energized coil, is greater than or equal to
  • the second preset distance threshold it means that the yaw angle of the robot relative to the direction of the midline between the first energized coil and the second energized coil is relatively large, and the distance from the first inductor to the first energized coil and the second energized coil The distance between the midlines is relatively large.
  • control the robot to rotate once and run to the middle position of the first inductor located on the midline between the first energized coil and the second energized coil, and then control the robot to return from the middle position. Charging piles, it may not be possible for the robot to accurately return to the charging pile.
  • the robot After the robot is controlled to rotate once to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil, the robot is controlled to return to the charging pile from the middle position, and it may not be possible for the robot to accurately return to the charging pile
  • the robot can be run to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil, and then the robot can be controlled to return to the charging pile from the middle position, thereby realizing The robot returns to the charging pile accurately.
  • the robot may first be controlled to approach the middle position, and rotate to the middle position or outside the charging pile.
  • the robot when the first inductor is located in the coverage area of the first energized coil, and the robot does not meet the preset return conditions, the robot can be controlled to turn right until the first inductor is located, the first energized coil and the second energized coil The middle position on the center line between the coils, or outside the charging pile (non-charging pile area), stop rotating; when the first inductor is located in the coverage area of the second energized coil, and the robot does not meet the preset return pile conditions , the robot can be controlled to turn left until the first inductor is located in the middle of the midline between the first energized coil and the second energized coil, or outside the charging pile (non-charging pile area), and stop rotating. Then, through the following steps 504-507, the pose of the robot is adjusted multiple times, and the robot is run until the first inductor is located in the middle of the midline
  • Step 504 advance a predetermined distance and rotate toward the middle position to the middle position.
  • the preset distance can be set arbitrarily according to the needs. For example, in the case of a large charging pile area, the preset distance can be set to a larger value, such as 1 meter, 2 meters, etc., in the charging pile area In a smaller case, the preset distance can be set to a smaller value, such as 0.3 meters, 0.6 meters, and so on.
  • the robot when the robot is controlled to rotate until the first inductor is at the middle position or outside the charging pile, and the robot is controlled to advance a preset distance, the first inductor may no longer be at the middle position. In this case, the robot can be controlled to rotate in a direction close to the middle position again, so that the first inductor is located at the middle position.
  • the robot after the robot is controlled to advance a preset distance, if the first inductor is located in the coverage area of the first energized coil, the robot can be controlled to turn right so that the first inductor is located in the middle position; When an inductor is located in the coverage area of the second energized coil, the robot can be controlled to turn left so that the first inductor is located in the middle.
  • Step 505 judging whether the robot satisfies the preset retreat condition, if yes, execute step 506, otherwise, execute step 508.
  • the retreat condition may include: the number of retreats is less than or equal to a preset threshold, and/or, the first distance or the second distance is less than or equal to the first preset distance threshold.
  • the preset number of times threshold and the first preset distance threshold can be set as required, which is not limited in this embodiment of the present application.
  • the first inductor is located in the middle position, and when the first distance or the second distance is less than or equal to the first preset distance threshold, it indicates the yaw of the robot relative to the direction of the midline between the first energized coil and the second energized coil The angle is larger.
  • Step 506 then exit the coverage area of the first energized coil or the coverage area of the second energized coil.
  • Step 507 re-enter the coverage area of the first energized coil or the coverage area of the second energized coil.
  • step 504 it can be judged whether the robot meets the retreat condition, and if so, the robot is controlled to exit the coverage area of the first energized coil or the coverage area of the second energized coil, and Add 1 to the number of retreats, and then control the robot to enter the coverage area of the first energized coil or the coverage area of the second energized coil, and return to repeat steps 503-507 until the robot does not meet the preset retreat conditions.
  • step 507 when step 507 is executed, the first inductor does not enter the coverage area of the first energization coil, or the coverage area of the second energization coil, but directly enters the first energization coil and the second energization coil. In the case where the midline between the two energized coils is located, in this case, step 503 does not need to be performed.
  • step 504 when step 504 is executed, there may be situations where the first inductor is still at the middle position after the robot advances a preset distance, and in this case, subsequent step 508 may be directly executed.
  • Step 508 according to the first distance and the second distance, control the robot to return to the charging pile from the intermediate position.
  • the robot can be controlled to return from the middle position according to the first distance and the second distance Charging pile.
  • FIG. 18 is a flow chart of another method for returning a robot to a charging pile provided in an embodiment of the present application.
  • Figure 19-26 is a schematic diagram of the positional relationship between the robot and the charging pile. Wherein 1 simply represents the first inductor 11 , the second inductor 12 and the third inductor 13 .
  • step 601 in order to make the robot return to the charging pile, after the robot drives to the vicinity of the charging pile (step 601) (refer to Figure 19 for the positional relationship between the robot and the charging pile), it can continue to control the robot to move forward (step 602) , and during the forward process of the robot, the induction data of the first inductor to the first energized coil and the second energized coil, the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil Induction data, combined with the induction data of the first inductor to the first energized coil and the second energized coil and the first distance and the second distance, determine whether the first inductor switches from the non-charging pile area to the charging pile area (step 603 ).
  • the robot can be controlled to turn right (step 606) (refer to Figure 21 for the positional relationship between the robot and the charging pile), until the first inductor is in the middle position or Outside the charging pile (step 607), stop the rotation operation of the robot, and then control the robot to advance a preset distance (step 608) (refer to Figure 22 for the positional relationship between the robot and the charging pile).
  • the robot may continue to be controlled to rotate in a direction close to the middle position (step 609), until the first inductor is at the middle position (step 610), wherein, when the first inductor is located within the coverage of the first energized coil , then control the robot to turn right (refer to Figure 23 for the positional relationship between the robot and the charging pile), so that the first inductor is located in the middle position. Turn left so that the first inductor is in the middle. Then the number of times of backing up of the robot can be obtained, and it is judged whether the number of backing up of the robot is less than or equal to a preset number of times threshold (step 611 ).
  • the robot is controlled to move back (step 612) until the first inductor exits the coverage of the first energized coil, or the coverage of the second energized coil (step 613) ( Refer to FIG. 24 for the positional relationship between the robot and the charging pile), and then control the robot to advance (return to step 605, 623 or 614).
  • step 605 the robot can continue to perform step 605;
  • step 615 may be performed continuously; in the case where the robot runs to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil, step 624 may be performed continuously.
  • the robot can be directly controlled to return to the charging pile from the middle position (step 626) (refer to Figure 25 for the positional relationship between the robot and the charging pile) until the return to the pile is successful (the robot and the charging pile For the positional relationship between charging piles, refer to block diagram 26).
  • the robot can be controlled to turn left (step 615), until the first inductor is located in the middle position or outside the charging pile (step 616), the rotation operation of the robot is stopped, and then the robot is controlled to advance a preset distance (step 617) .
  • the robot may continue to be controlled to rotate in a direction close to the middle position (step 618), until the first inductor is at the middle position (step 619), wherein, in the case where the first inductor is located within the coverage of the first energized coil , the robot is controlled to turn right so that the first inductor is located in the middle position, and when the first inductor is located within the coverage of the second energized coil, the robot is controlled to turn left so that the first inductor is located in the middle position. Then, the number of backwards of the robot can be obtained, and it is judged whether the number of backwards is less than or equal to a preset threshold (step 620).
  • the robot can be controlled to retreat (step 621) until the first inductor exits the coverage of the first energized coil or the coverage of the second energized coil (step 622), Then control the robot to advance (return to execute steps 605, 623 or 614).
  • the robot can continue to perform step 605;
  • step 615 may be performed continuously; in the case where the robot runs to the middle position where the first inductor is located on the midline between the first energized coil and the second energized coil, step 624 may be performed continuously.
  • the robot may be directly controlled to return to the charging pile from the intermediate position (step 626 ).
  • the second in the case that an inductor is located at the middle position (step 623) on the midline between the first energized coil and the second energized coil the robot can be directly controlled to advance a preset distance (step 624), after the robot advances a preset distance , it can be judged whether the first inductor is still in the middle position (step 625), if yes, then control the robot to return to the charging pile from the middle position (step 626).
  • step 624 After the robot advances a preset distance (step 624 ), if the first inductor is located at the first energized coil, step 605 and subsequent processes are executed. After the robot advances a predetermined distance (step 624 ), if the first inductor is located at the second energized coil, step 614 and subsequent processes are executed.
  • the robot can return to the charging pile only by using the induction data of the inductor, which reduces the hardware design complexity and software algorithm complexity of the robot returning to the pile, thereby reducing the cost, and through
  • the pose of the robot is adjusted several times, so that the first inductor is located in the middle of the center line between the first energized coil and the second energized coil, so that the robot can accurately return to the charging pile, further improving the success rate of returning to the pile.
  • the embodiment of the present application further proposes a device for returning the robot to the charging pile.
  • Fig. 27 is a structural diagram of a device for returning a robot to a charging pile provided in an embodiment of the present application.
  • the middle position of the first end of the robot is provided with a first inductor, a second inductor and a third inductor; the first inductor is arranged perpendicular to the ground; the second inductor and the third inductor are arranged parallel to the ground, and It is symmetrically arranged on both sides of the first inductor in the lateral direction, and the first energization coil and the second energization coil are arranged symmetrically on the charging pile.
  • the device 4 for the robot returning to the charging pile proposed in the embodiment of the present application may include: a first control module 41 , a determination module 42 and a second control module 43 . in:
  • the first control module 41 is used to control the robot to run to the center line between the first energized coil and the second energized coil according to the induction data of the first inductor to the first energized coil and the second energized coil the middle position;
  • a determination module 42 configured to determine the first distance between the second inductor and the first energized coil according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil a second distance between the third inductor and the second energized coil;
  • the second control module 43 is configured to control the robot to return to the charging pile from the intermediate position according to the first distance and the second distance.
  • the first control module 41 is configured to:
  • the robot When it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined according to the first distance and the second distance that the robot meets the preset return conditions, the robot is controlled to approach the middle position direction to the middle position.
  • the first control module 41 is also used to:
  • the robot is controlled:
  • Step 1 Rotate towards the middle position to the middle position or outside the charging pile;
  • Step 2 Advance the preset distance and rotate to the middle position in the direction close to the middle position;
  • Step 3 When it is determined that the robot satisfies the preset backward conditions, exit the coverage area of the first energized coil or the coverage area of the second energized coil, and enter the coverage area of the first energized coil or the second energized coil again coverage area;
  • Step 4 Repeat the first step to the third step until the robot does not meet the backward condition.
  • the back-off condition includes: the number of back-off times is less than or equal to a preset threshold, and/or, the first distance or the second distance is less than or equal to the first preset distance threshold.
  • the preset return condition includes: the angle between the robot and the intermediate position is less than or equal to the preset angle threshold, and/or the first distance and the second distance are less than a second preset distance threshold;
  • the way of determining the angle between the robot and the intermediate position is to determine the distance between the second inductor and the third inductor according to the first distance, the second distance, and the distance between the second inductor and the third inductor.
  • the angle between the connecting line and the intermediate position determine the angle between the robot and the intermediate position according to the preset angle value and the angle between the connecting line and the intermediate position.
  • the second control module 43 is configured to:
  • the values of the energized currents of the first energized coil and the second energized coil are the same, and the directions of the energized currents of the first energized coil and the second energized coil are opposite.
  • the robot is a lawnmower.
  • the device for returning the robot to the charging pile controls the robot to run until the first inductor is located between the first energized coil and the second energized coil according to the induction data of the first inductor on the first energized coil and the second energized coil.
  • the middle position on the center line between the coils according to the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, determine the distance between the second inductor and the first energized coil The first distance and the second distance between the third inductor and the second energized coil, and then according to the first distance and the second distance, the robot is controlled to return to the charging pile from the middle position.
  • the embodiment of the present application also proposes a robot 2 .
  • Fig. 28 is a structural diagram of a robot provided by an embodiment of the present application.
  • the robot 2 may include the line-following sensor 10 and the robot body 30 shown in FIGS. 1 and 2 .
  • the robot body 30 includes: a processor 310 , a controller 320 connected to the processor 310 , and a driving device 330 connected to the controller 320 .
  • line following sensor 10 is arranged on the middle position of the first end of robot body 30;
  • Processor 310 is connected with line following sensor 10, according to the sensing data of each inductor in line following sensor 10, determines the energization between robot body 30 and horizontal setting.
  • the controller 320 determines the movement information of the robot body 30 according to the relative position information;
  • the driving device 330 drives the robot body 30 to move according to the movement information.
  • the robot 2 may be, for example, a lawnmower or a sweeping robot
  • the driving device 330 may be, for example, a driving wheel of a robot such as a lawnmower or a sweeping robot.
  • the first inductor 110 in the line tracking sensor 10 needs to be set perpendicular to the ground
  • the second inductor 120 and the third The inductor 130 needs to be arranged parallel to the ground. Therefore, when the line following sensor 10 is installed on the robot 2, no matter how it is installed, it is necessary to ensure that the first inductor in the installed line following sensor 10 is perpendicular to the ground. And the second inductor 120 and the third inductor 130 are parallel to the ground.
  • the first end may be the front end of the robot body 30, and the line tracking sensor 10 may be placed horizontally on the upper surface of the front end of the robot body 30, or horizontally pasted on the side of the front end of the robot body 30, or
  • the line-following sensor 10 can be installed in the middle of the front end of the robot body 30 in other ways to ensure that the first inductor in the installed line-following sensor 10 is perpendicular to the ground, while the second inductor 120 and the third inductor 130 is only required to be parallel to the ground.
  • the processor 310 can determine the inner and outer relationship between the first inductor 110 in the line following sensor 10 and the energized coil according to the first sensing data transmitted by the first inductor 110 in the line following sensor 10, according to the line following
  • the second induction data transmitted by the second inductor 120 in the sensor 10 determines the distance relationship between the second inductor 120 and the energized coil, and according to the third induction data transmitted by the third inductor 130 in the line following sensor 10, A distance relationship between the third inductor 130 and the energized coil is determined.
  • the processor 310 can determine the relationship between the robot main body 30 and the horizontally arranged energized coils. relative position information. Further, the controller 320 can determine how the robot body 30 should move according to the relative position information of the robot body 30 and the horizontally arranged energized coil according to actual needs, and transmit the movement information to the driving device 330, so that the driving device 330 can drive The information drives the robot body 30 to move.
  • the horizontally set energized coil can be the energized coil surrounded by the boundary guide lines of the mowing area, or it can be the energized coil set on the chassis of the charging pile.
  • the coil, wherein the energized coil may be arranged on the upper surface or the lower surface of the chassis of the charging pile, which is not limited in the present application.
  • each inductance in the line-following sensor 10 The setting position of the inductor is also known, and the processor 310 of the robot body 30 can determine the inner and outer relationship between the first inductor 110 and the energized coil according to the first induction data transmitted by the first inductor 110 in the line following sensor 10 According to the second induction data transmitted by the second inductor 120 in the line following sensor 10, the distance relationship between the second inductor 120 and the energized coil is determined, and according to the second induction data transmitted by the third inductor 130 in the line following sensor 10 Three sensing data, determine the distance relationship between the third inductor 130 and the energized coil, so that the robot 2 can, through the processor 310, according to the inner and outer relationship between the first inductor 110 and the energize
  • the robot 2 can use the processor 310 to determine the second inductor 110 according to the relationship between the inside and outside of the first inductor 110 and the energized coil.
  • the distance relationship between the inductor 120 and the energized coil, the distance relationship between the third inductor 130 and the energized coil, and the arrangement of the first inductor 110, the second inductor 120 and the third inductor 130 on the robot body 30 Position determine the relative position relationship between the robot body 30 and the charging pile area, such as whether it is located in the charging pile area or outside the charging pile area, what is the distance from the energizing wire of the energizing coil set on the charging pile chassis, etc., and then realize The accurate positioning of the lawn mower when returning to the charging pile enables the lawn mower to accurately return to the pile when it is not mowing the lawn, such as when the grass is mowed or needs to be charged.
  • the embodiment of the present application also proposes a robot 2 .
  • Fig. 29 is a structural diagram of another robot provided by the embodiment of the present application.
  • a first inductor 110, a second inductor 120 and a third inductor 120 are arranged in the middle of the first end of the robot 2; the first inductor 110 is arranged vertically to the ground; the second inductor 120 and the third inductor 130 are arranged parallel to the ground, and arranged laterally and symmetrically on both sides of the first inductor 110, the robot 2 may also include at least one processor 310 (one processor is used as an example in the figure for illustration), and At least one processor 310 is communicatively connected to the memory 22, the memory 22 stores instructions that can be executed by the at least one processor 310, and the instructions are executed by the at least one processor 310, so that the at least one processor 310 can perform the implementation as described in the above-mentioned embodiments. The method of returning the robot to the charging pile is shown.
  • the embodiment of the present application also proposes a computer-readable storage medium on which a computer program is stored, and the program is executed by a processor to realize the method for returning the robot to the charging pile as shown in the above-mentioned embodiments .
  • the embodiments of the present application further propose a computer program product, including a computer program, and when the computer program is executed by a processor, the method for returning the robot to the charging pile as shown in the above embodiments is implemented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente demande se rapporte au domaine technique des robots et concerne un capteur de patrouille de ligne et un procédé et un dispositif pour renvoyer un robot à une pile de charge. Le capteur de patrouille de ligne comprend : une première bobine d'induction, un seconde bobine d'induction et une troisième bobine d'induction. La première bobine d'induction est disposée perpendiculairement à la terre, et des premières données d'induction mesurées sont utilisées pour déterminer une relation « intérieur-extérieur » entre la première bobine d'induction et une bobine d'alimentation disposée horizontalement ; la seconde bobine d'induction et la troisième bobine d'induction sont disposées parallèlement à la terre et sont disposées transversalement et symétriquement sur deux côtés de la première bobine d'induction ; des secondes données d'induction mesurées par la seconde bobine d'induction sont utilisées pour déterminer une relation de distance entre la seconde bobine d'induction et la bobine d'alimentation ; des troisièmes données d'induction mesurées par la troisième bobine d'induction sont utilisées pour déterminer une relation de distance entre la troisième bobine d'induction et la bobine d'alimentation.
PCT/CN2022/093486 2021-05-18 2022-05-18 Capteur de patrouille de ligne et procédé et dispositif pour renvoyer un robot à une pile de charge WO2022242667A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202110540645.4 2021-05-18
CN202110540645.4A CN115933624A (zh) 2021-05-18 2021-05-18 机器人的返回充电桩的方法、装置、机器人及存储介质
CN202121067933.4 2021-05-18
CN202121067933.4U CN216099032U (zh) 2021-05-18 2021-05-18 巡线传感器以及机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1659490A (zh) * 2002-06-07 2005-08-24 电气联合股份有限公司 电导引系统
EP2939514A1 (fr) * 2014-04-30 2015-11-04 LG Electronics, Inc. Robot pour tondre le gazon et son procédé de commande
CN108120434A (zh) * 2017-12-20 2018-06-05 东风汽车集团有限公司 一种agv轨迹纠偏方法、系统及双导航系统
CN108549393A (zh) * 2018-06-22 2018-09-18 洛阳理工学院 定轨循迹车系统及定轨循迹方法
CN108931240A (zh) * 2018-03-06 2018-12-04 东南大学 一种基于电磁感应的路径循迹传感器和循迹方法
CN111465315A (zh) * 2018-02-07 2020-07-28 常州格力博有限公司 对接机器人割草机的系统和方法
CN216099032U (zh) * 2021-05-18 2022-03-22 未岚大陆(北京)科技有限公司 巡线传感器以及机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1659490A (zh) * 2002-06-07 2005-08-24 电气联合股份有限公司 电导引系统
EP2939514A1 (fr) * 2014-04-30 2015-11-04 LG Electronics, Inc. Robot pour tondre le gazon et son procédé de commande
CN108120434A (zh) * 2017-12-20 2018-06-05 东风汽车集团有限公司 一种agv轨迹纠偏方法、系统及双导航系统
CN111465315A (zh) * 2018-02-07 2020-07-28 常州格力博有限公司 对接机器人割草机的系统和方法
CN108931240A (zh) * 2018-03-06 2018-12-04 东南大学 一种基于电磁感应的路径循迹传感器和循迹方法
CN108549393A (zh) * 2018-06-22 2018-09-18 洛阳理工学院 定轨循迹车系统及定轨循迹方法
CN216099032U (zh) * 2021-05-18 2022-03-22 未岚大陆(北京)科技有限公司 巡线传感器以及机器人

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