WO2024065206A1

WO2024065206A1 - Robot charging movement control device and system

Info

Publication number: WO2024065206A1
Application number: PCT/CN2022/121857
Authority: WO
Inventors: 黄阳; 田安洋
Original assignee: 深圳汉阳科技有限公司
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2024-04-04

Abstract

The present application discloses a robot charging movement control device and system. The robot charging movement control device comprises a receiving module and a control module. The receiving module is used for receiving electromagnetic waves, determining electromagnetic wave intensity distribution information according to the electromagnetic waves, and sending the electromagnetic wave intensity distribution information to the control module, the electromagnetic waves being emitted by an emitting module arranged in a preset control area. The control module is used for correcting, according to the received electromagnetic wave intensity distribution information, a current motion state of a robot to be charged, and according to a correction result, controlling said robot to move. Thus, the problem that a robot cannot accurately find a charging area during charging movement is effectively avoided, and the charging efficiency of the robot is effectively improved.

Description

Robot charging mobile control device and system

Technical Field

The present application relates to the field of robot control technology, and in particular to a robot charging movement control device and system.

Background technique

As a device that can automatically handle related tasks, the garden robot needs to have the ability to automatically charge when the battery is low, so as to maximize the automation of work and reduce the probability of human intervention. Therefore, the garden robot needs to know the relative position between itself and the charging area, so as to plan the route and move autonomously. The current charging control of the garden robot is achieved through GPS navigation, but the charging area of the garden robot is generally set up near the house, and the GPS signal near the house will be greatly weakened due to multipath effects, occlusion effects, etc., resulting in inaccurate positioning, and thus unable to accurately control the garden robot to reach the charging area, resulting in low charging efficiency of the garden robot.

The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art.

technical problem

The main purpose of the present application is to provide a robot charging mobile control device and system, aiming to solve the technical problem that the prior art cannot accurately control the garden robot to reach the charging area, resulting in low charging efficiency of the garden robot.

Technical Solutions

To achieve the above-mentioned purpose, the present application provides a robot charging movement control device, the robot charging movement control device comprising: a receiving module and a control module;

The receiving module is used to receive electromagnetic waves, determine electromagnetic wave intensity distribution information according to the electromagnetic waves, and send the electromagnetic wave intensity distribution information to the control module, wherein the electromagnetic waves are emitted by the transmitting module arranged in a preset control area;

The control module is used to correct the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and control the movement of the robot to be charged according to the correction result.

Optionally, the control module is further used to determine the current position of the robot to be charged according to the received electromagnetic wave intensity distribution information;

The control module is further configured to determine, when the current position is not in the preset control area, position difference information between the current position and the preset control area according to the electromagnetic wave intensity distribution information;

The control module is further used to correct the current motion state of the robot to be charged according to the position difference information, and control the robot to be charged according to the correction result.

Optionally, the electromagnetic wave intensity distribution information includes: electromagnetic wave intensity information and electromagnetic wave distribution information;

The control module is further configured to determine the electromagnetic wave intensity difference according to the electromagnetic wave intensity information and determine the electromagnetic wave distribution difference according to the electromagnetic wave distribution information when the current position is not in the preset control area;

The control module is further used to determine the position difference information between the current position and the preset control area according to the electromagnetic wave intensity difference and the electromagnetic wave distribution difference.

Optionally, the electromagnetic wave intensity distribution information includes: first electromagnetic wave intensity distribution information and second electromagnetic wave intensity distribution information;

The control module is further configured to obtain electromagnetic wave difference information between the first electromagnetic wave intensity distribution information and the second electromagnetic wave intensity distribution information when the current position is not in the preset control area;

The control module is further used to determine the position difference information between the current position and the preset control area according to the electromagnetic wave difference information.

Optionally, the receiving module includes a resonant circuit and an amplifying circuit;

The resonant circuit is used to receive the electromagnetic wave and feed back a voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifier circuit is used to amplify the voltage signal when receiving the voltage signal;

The amplifying circuit is further used to filter the amplified voltage signal to obtain electromagnetic wave intensity distribution information, and send the electromagnetic wave intensity distribution information to the control module.

Optionally, the resonant circuit includes a first resonant circuit and a second resonant circuit; the voltage signal includes a first voltage signal and a second voltage signal;

The first resonant circuit is further used to receive the electromagnetic wave and feed back a first voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifying circuit is further configured to amplify the first voltage signal when receiving the first voltage signal;

The second resonant circuit is further used to receive the electromagnetic wave and feed back a second voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifying circuit is further configured to amplify the second voltage signal when receiving the second voltage signal;

The amplifier circuit is also used to perform signal comparison after filtering the amplified first voltage signal and the amplified second voltage signal, determine the electromagnetic wave intensity distribution information according to the signal comparison result, and send the electromagnetic wave intensity distribution information to the control module.

Optionally, the first resonant circuit and the second resonant circuit are respectively installed on the left and right sides of the robot to be charged, and the distance between the first resonant circuit and the second resonant circuit does not exceed 140 mm.

In addition, to achieve the above-mentioned purpose, the present application also proposes a robot charging movement control system, the robot charging movement control device includes a transmitting module, and the above-mentioned robot charging movement control device, wherein the transmitting module is installed in a preset control area.

Optionally, the transmitting module includes a waveform generating circuit and a transmitting coil;

The waveform generating circuit is used to generate an AC square wave;

The transmitting coil is used to generate a corresponding electromagnetic wave according to the AC square wave and transmit the electromagnetic wave.

Optionally, the transmitting coil comprises two coil segments extending along the planar direction of the preset control area, wherein the two coil segments are arranged at an interval, and the spacing between the two coil segments along the planar direction of the preset control area does not exceed 150 mm.

Beneficial Effects

The present application discloses a robot charging movement control device, which includes: a receiving module and a control module; the receiving module is used to receive electromagnetic waves, determine electromagnetic wave intensity distribution information according to the electromagnetic waves, and send the electromagnetic wave intensity distribution information to the control module, wherein the electromagnetic waves are emitted by a transmitting module set in a preset control area; the control module is used to correct the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and control the movement of the robot to be charged according to the correction result; since the receiving module in the present application determines the electromagnetic wave intensity distribution information according to the electromagnetic wave intensity distribution information received by the transmitting module set in the preset control area, and then sends the electromagnetic wave intensity distribution information to the control module, the control module corrects the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and controls the movement of the robot to be charged according to the correction result, thereby accurately controlling the robot to be charged to go to the charging area in the preset control area for charging, thereby effectively avoiding the problem that the robot cannot accurately find the charging area when charging and moving, and effectively improving the charging efficiency of the robot.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a first embodiment of a robot charging movement control device of the present application;

FIG2 is a schematic diagram of the structure of a receiving module in the first embodiment of the robot charging movement control device of the present application;

FIG3 is a schematic diagram of the structure of a resonant circuit on a robot to be charged in the first embodiment of the robot charging movement control device of the present application;

FIG4 is a schematic structural diagram of a robot charging movement control device in a first embodiment of the robot charging movement control system of the present application;

FIG5 is a schematic diagram of the structure of a transmitting module in the first embodiment of the robot charging mobile control system of the present application;

FIG6 is a schematic diagram of the structure of a transmitting module and a receiving module in the first embodiment of the robot charging mobile control system of the present application;

FIG. 7 is a schematic diagram of the operation of the transmitting coil in the first embodiment of the robot charging and mobile control system of the present application.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Embodiments of the present application

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

The existing method of controlling the garden robot to move for charging cannot accurately control the garden robot to reach the charging area, resulting in low charging efficiency of the garden robot.

In view of this, the present application proposes a robot charging movement control device, wherein Figures 1 to 3 are schematic diagrams of a robot charging movement control device provided by the present application.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of the structure of a first embodiment of a robot charging and moving control device of the present application, wherein the robot charging and moving control device comprises: a receiving module and a control module;

It should be noted that this embodiment is applied to a robot to be charged that needs to be controlled for charging movement (for example, a garden robot). The receiving module may be an electromagnetic wave sensor installed in the garden robot. For example, the receiving module may be composed of a resonant circuit and an amplifying circuit, and the LC resonant circuit may be composed of an inductor and a capacitor. The receiving module is used to detect and receive electromagnetic waves. When the receiving module receives the electromagnetic waves, it determines the electromagnetic wave intensity distribution information of the current location of the robot to be charged based on the electromagnetic waves. The above-mentioned electromagnetic wave intensity distribution information may be the electromagnetic wave intensity information of the current location of the robot to be charged and the range distribution information of the electromagnetic waves.

The above-mentioned control module can be a module installed on the robot to be charged for controlling the motion state of the robot to be charged and controlling the movement of the robot to be charged. The control module can receive and read the electromagnetic wave intensity distribution information sent by the receiving module, and then process the above-mentioned electromagnetic wave intensity distribution information, correct the current motion state of the robot to be charged according to the processing result, and control the movement of the robot to be charged according to the correction result.

The preset control area may be a pre-set area for controlling the charging movement of the robot to be charged. A transmitting module for transmitting electromagnetic waves may be pre-installed or set in the preset control area. The transmitting module may include a waveform generating circuit for generating an AC square wave and a transmitting coil for generating electromagnetic waves according to the AC square wave and transmitting the electromagnetic waves. The area range of the preset control area may be set by the coil area and coil contour shape of the transmitting coil. For example, the transmitting coil may include two coil segments extending along the plane direction of the preset control area, wherein the two coil segments are arranged at intervals, and the spacing along the plane direction of the preset control area does not exceed 150 mm.

It should be understood that in order to effectively prevent the robot to be charged from deviating from the route during the process of moving to the charging area, the receiving module in this embodiment receives the electromagnetic waves emitted by the transmitting module set in the preset control area, determines the electromagnetic wave intensity distribution information based on the electromagnetic waves, and sends the electromagnetic wave intensity distribution information to the control module. The control module corrects the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and controls the movement of the robot to be charged according to the correction result, thereby effectively avoiding the problem that the robot cannot accurately find the charging area when moving for charging, and effectively improving the charging efficiency of the robot.

In a specific implementation, the receiving module may include a resonant circuit and an amplifying circuit, wherein the resonant circuit may be a first resonant circuit and a second resonant circuit, and the first resonant circuit and the second resonant circuit may be two resonant circuits respectively installed on the left and right sides of the body of the robot to be charged, and the first resonant circuit and the second resonant circuit respectively receive electromagnetic waves on the left and right sides of the body of the robot to be charged, thereby determining the electromagnetic wave intensity distribution information on the left and right sides of the body of the robot to be charged, and the amplifying circuit amplifies the electromagnetic wave intensity distribution information on the left and right sides of the body of the robot to be charged, and sends the processed electromagnetic wave intensity distribution information to the control module, and the control module determines whether the left and right sides of the robot to be charged are in a preset control area according to the processed electromagnetic wave intensity distribution information.

For example, when the robot to be charged deviates to the left, the left side of the robot to be charged will leave the preset control area, and the right side of the robot to be charged will stay inside the transmitting coil, causing the electromagnetic wave intensity of the right side of the robot to be charged to be much greater than that of the left side. At this time, the control module determines that the left side of the robot to be charged is offset based on the electromagnetic wave intensity distribution information sent by the receiving module, corrects the motion state of the robot to be charged, and controls the robot to be charged to deviate to the right based on the correction result, thereby returning the moving route of the robot to be charged to the normal state.

Furthermore, in order to accurately correct the motion state of the robot to be charged, the control module is further used to determine the current position of the robot to be charged according to the received electromagnetic wave intensity distribution information;

It should be noted that the current position can be the current position of the robot to be charged relative to the charging area, or the current position of the robot to be charged within the preset control area. The above position difference information can be the distance information and coordinate information of the current position difference between the robot to be charged and the preset control area.

It should be understood that the robot charging movement control device may include a GPS module, which is used to obtain the current GPS positioning information of the robot to be charged; the control module is also used to determine whether the robot to be charged is currently in a preset control area according to the received electromagnetic wave intensity distribution information. When the current position is not in the preset control area, (that is, when the control module determines that the current electromagnetic wave of the robot to be charged is weak according to the electromagnetic wave intensity distribution information, it is determined that the robot to be charged is not in the preset control area) receive the GPS positioning information sent by the above-mentioned GPS module, determine the current position of the robot to be charged, obtain the positioning information of the preset control area, determine the position difference information between the robot to be charged and the preset control area according to the positioning information of the preset control area and the current GPS positioning information of the robot to be charged, correct the current motion state of the robot to be charged according to the position difference information, and control the robot to be charged according to the correction result (that is, guide the robot to be charged to the preset control area according to the position difference information), then correct the current motion state of the robot to be charged according to the electromagnetic wave intensity distribution information, and control the robot to be charged according to the correction result until the robot to be charged reaches the charging area for charging.

Furthermore, in order to effectively avoid the inability to enter the preset control area due to poor GPS signal when the robot to be charged is near the preset control area, the electromagnetic wave intensity distribution information in this embodiment includes: electromagnetic wave intensity information and electromagnetic wave distribution information;

It should be noted that the electromagnetic wave intensity information may be the radiation intensity of the electromagnetic wave received by the current position of the robot to be charged (i.e., the radiation flux density of the electromagnetic wave); the above-mentioned electromagnetic wave distribution information may be the wavelength frequency distribution of the electromagnetic wave received by the current position of the robot to be charged. The above-mentioned electromagnetic wave intensity difference may be the intensity difference between the electromagnetic wave intensity received by the first resonant circuit on the robot to be charged and the electromagnetic wave intensity received by the second resonant circuit. The above-mentioned electromagnetic wave distribution difference may be the frequency difference between the electromagnetic wave frequency distribution received by the first resonant circuit on the robot to be charged and the electromagnetic wave frequency distribution received by the second resonant circuit.

It should be understood that when the robot to be charged is not in the preset control area and is near the preset control area, the control module determines the difference between the electromagnetic wave received by the first resonant circuit and the electromagnetic wave received by the second resonant circuit based on the difference in electromagnetic wave intensity and the difference in electromagnetic wave distribution, thereby determining which side of the robot to be charged receives the stronger electromagnetic wave, thereby determining the position difference information between the current position and the preset control area, thereby controlling the robot to be charged to move to the side with the stronger electromagnetic wave. For example, if the electromagnetic wave received by the first resonant circuit on the left side is stronger, the robot to be charged is controlled to move to the left.

Further, in order to accurately determine which side of the body of the robot to be charged has a stronger electromagnetic wave received by the resonant circuit, thereby accurately determining the position difference information between the current position and the preset control area, the electromagnetic wave intensity distribution information in this embodiment includes: first electromagnetic wave intensity distribution information and second electromagnetic wave intensity distribution information;

It should be noted that the first electromagnetic wave intensity distribution information may be the electromagnetic wave intensity distribution information corresponding to the electromagnetic wave received by the resonant circuit on one side of the robot to be charged, and the second electromagnetic wave intensity distribution information may be the electromagnetic wave intensity distribution information corresponding to the electromagnetic wave received by the resonant circuit on the other side of the robot to be charged.

It should be understood that resonant circuits are respectively installed on both sides of the body of the robot to be charged, and the resonant circuits may include a first resonant circuit and a second resonant circuit, wherein the receiving module determines the first electromagnetic wave intensity distribution information according to the first electromagnetic wave received by the first resonant circuit, and the receiving module determines the second electromagnetic wave intensity distribution information according to the electromagnetic wave received by the second resonant circuit; the control module can determine the electromagnetic wave difference information according to the difference between the first electromagnetic wave intensity distribution information and the second electromagnetic wave intensity distribution information, so as to determine which side of the body of the robot to be charged has stronger electromagnetic waves, and correct the motion state of the robot to be charged according to the judgment result.

Further, in order to accurately process the received electromagnetic waves, referring to FIG. 2 , FIG. 2 is a schematic diagram of the structure of the receiving module in this embodiment. The receiving module in this embodiment includes a resonant circuit and an amplifying circuit;

It should be noted that the resonant circuit may be an LC resonant circuit composed of an inductor (L) and a capacitor (C), and the amplifying circuit may be a circuit for amplifying and filtering signals. The tiny voltage signal excited by the electromagnetic wave in the LC resonant circuit is amplified and filtered by the amplifying circuit to obtain the electromagnetic wave intensity distribution information.

Further, in order to accurately determine the difference in electromagnetic waves at the positions on both sides of the body of the robot to be charged, referring to FIG. 3 , FIG. 3 is a schematic diagram of the structure of the resonant circuit on the robot to be charged in this embodiment, and the resonant circuit in this embodiment includes a first resonant circuit and a second resonant circuit; the voltage signal includes a first voltage signal and a second voltage signal;

The first resonant circuit and the second resonant circuit are respectively installed on the left and right sides of the robot to be charged, and the distance between the first resonant circuit and the second resonant circuit does not exceed 140 mm.

It should be noted that the resonant circuit is divided into two parts, the left side and the right side, including the first resonant circuit and the second resonant circuit. The first resonant circuit and the second resonant circuit are respectively installed on the left and right sides of the robot body to be charged, and the distance between the first resonant circuit and the second resonant circuit does not exceed 140mm. The resonant circuit selects appropriate inductance and capacitance values to determine the center resonant frequency fc of the LC resonant circuit. If the frequency of the electromagnetic wave emitted by the transmitting module is f, then when fc=f, the LC resonant frequency can just detect and receive the electromagnetic wave emitted by the transmitting module. The tiny voltage signal excited by the electromagnetic wave in the LC resonant circuit is amplified and filtered by the amplifier circuit to obtain the electromagnetic wave intensity distribution information.

The robot charging movement control device described in this embodiment includes: a receiving module and a control module; the receiving module is used to receive electromagnetic waves, determine electromagnetic wave intensity distribution information according to the electromagnetic waves, and send the electromagnetic wave intensity distribution information to the control module, and the electromagnetic waves are emitted by a transmitting module set in a preset control area; the control module is used to correct the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and control the movement of the robot to be charged according to the correction result; because the receiving module in the present application determines the electromagnetic wave intensity distribution information according to the electromagnetic wave intensity distribution information received by the transmitting module set in the preset control area, and then sends the electromagnetic wave intensity distribution information to the control module, the control module corrects the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and controls the movement of the robot to be charged according to the correction result, so as to accurately control the robot to be charged to go to the charging area in the preset control area for charging, thereby effectively avoiding the problem that the robot cannot accurately find the charging area when charging and moving, and effectively improving the charging efficiency of the robot.

The present application also proposes a robot charging mobile control system, wherein Figures 4 to 7 are schematic diagrams of an embodiment of the robot charging mobile control system provided by the present application, referring to Figure 4, which is a schematic diagram of the structure of a robot charging mobile control device, the robot charging mobile control device includes a transmitting module, and the above-mentioned robot charging mobile control device, wherein the transmitting module is installed in a preset control area.

5 , which is a schematic diagram of the structure of a transmitting module, wherein the transmitting module includes a waveform generating circuit and a transmitting coil;

The waveform generating circuit is used to generate an AC square wave;

Referring to Figure 6, Figure 6 is a schematic diagram of the structure of the transmitting module and the receiving module, the transmitting coil includes two coil segments extending along the planar direction of the preset control area, wherein the two coil segments are arranged at intervals, and the spacing along the planar direction of the preset control area does not exceed 150mm.

It should be noted that the transmitting module consists of a waveform generating circuit and a transmitting coil. The waveform generating circuit can generate an AC square wave with an amplitude of A and a frequency of f. The AC square wave forms a loop through the transmitting coil, thereby exciting electromagnetic waves around the transmitting coil. When the distance between the long sides of the rectangle surrounded by the transmitting coil is less than 150mm, the electromagnetic wave intensity inside the coil is significantly greater than that outside the coil.

It should be understood that in order to improve the accuracy of controlling the charging movement of the robot to be charged and reduce the installation cost, the transmitting module is installed in the preset control area. The transmitting module includes a waveform generating circuit and a transmitting coil. The waveform generating circuit generates an AC square wave. The AC square wave forms a loop through the transmitting coil, thereby exciting electromagnetic waves around the transmitting coil. Referring to Figure 7, Figure 7 is a schematic diagram of the operation of the transmitting coil. The electromagnetic waves inside the transmitting coil are superimposed on each other, and the external electromagnetic waves cancel each other out. Since the coil coverage of the transmitting coil is consistent with the area coverage of the preset control area, when the robot to be charged is in the preset control area, it can receive electromagnetic waves. When the width of the transmitting coil does not exceed 150mm, the electromagnetic wave intensities inside and outside the coil are obviously different and evenly distributed. By adjusting the width of the transmitting coil and the spacing between the receiving end sensors, the final positioning accuracy can be controlled.

In this embodiment, the robot charging movement control device includes a transmitting module and the above-mentioned robot charging movement control device, wherein the transmitting module is installed in a preset control area, and electromagnetic waves are emitted by the transmitting module, so that the electromagnetic waves are received by the receiving module to obtain electromagnetic wave intensity distribution information corresponding to the electromagnetic waves, and the motion state of the robot to be charged is accurately corrected according to the electromagnetic wave intensity distribution information through the control module, and the movement of the robot to be charged is controlled according to the correction result, so that the robot to be charged is accurately moved to the charging area for charging, thereby effectively improving the charging efficiency.

Claims

A robot charging movement control device, characterized in that the robot charging movement control device comprises: a receiving module and a control module;

The receiving module is used to receive electromagnetic waves, determine electromagnetic wave intensity distribution information according to the electromagnetic waves, and send the electromagnetic wave intensity distribution information to the control module, wherein the electromagnetic waves are emitted by the transmitting module arranged in a preset control area;

The control module is used to correct the current motion state of the robot to be charged according to the received electromagnetic wave intensity distribution information, and control the movement of the robot to be charged according to the correction result.
The robot charging movement control device according to claim 1, characterized in that the control module is further used to determine the current position of the robot to be charged according to the received electromagnetic wave intensity distribution information;

The control module is further configured to determine, when the current position is not in the preset control area, position difference information between the current position and the preset control area according to the electromagnetic wave intensity distribution information;

The control module is further used to correct the current motion state of the robot to be charged according to the position difference information, and control the robot to be charged according to the correction result.
The robot charging movement control device according to claim 2, characterized in that the electromagnetic wave intensity distribution information includes: electromagnetic wave intensity information and electromagnetic wave distribution information;

The control module is further configured to determine the electromagnetic wave intensity difference according to the electromagnetic wave intensity information and determine the electromagnetic wave distribution difference according to the electromagnetic wave distribution information when the current position is not in the preset control area;

The control module is further used to determine the position difference information between the current position and the preset control area according to the electromagnetic wave intensity difference and the electromagnetic wave distribution difference.
The robot charging movement control device according to claim 3, characterized in that the electromagnetic wave intensity distribution information includes: first electromagnetic wave intensity distribution information and second electromagnetic wave intensity distribution information;

The control module is further configured to obtain electromagnetic wave difference information between the first electromagnetic wave intensity distribution information and the second electromagnetic wave intensity distribution information when the current position is not in the preset control area;

The control module is further used to determine the position difference information between the current position and the preset control area according to the electromagnetic wave difference information.
The robot charging movement control device according to claim 1, characterized in that the receiving module includes a resonant circuit and an amplifying circuit;

The resonant circuit is used to receive the electromagnetic wave and feed back a voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifier circuit is used to amplify the voltage signal when receiving the voltage signal;

The amplifying circuit is further used to filter the amplified voltage signal to obtain electromagnetic wave intensity distribution information, and send the electromagnetic wave intensity distribution information to the control module.
The robot charging movement control device according to claim 5, characterized in that the resonant circuit includes a first resonant circuit and a second resonant circuit; the voltage signal includes a first voltage signal and a second voltage signal;

The first resonant circuit is further used to receive the electromagnetic wave and feed back a first voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifying circuit is further configured to amplify the first voltage signal when receiving the first voltage signal;

The second resonant circuit is further used to receive the electromagnetic wave and feed back a second voltage signal to the amplifying circuit according to the received electromagnetic wave;

The amplifying circuit is further configured to amplify the second voltage signal when receiving the second voltage signal;

The amplifier circuit is also used to perform signal comparison after filtering the amplified first voltage signal and the amplified second voltage signal, determine the electromagnetic wave intensity distribution information according to the signal comparison result, and send the electromagnetic wave intensity distribution information to the control module.
The robot charging movement control device according to claim 6 is characterized in that the first resonant circuit and the second resonant circuit are respectively installed on the left and right sides of the robot to be charged, and the distance between the first resonant circuit and the second resonant circuit does not exceed 140 mm.
A robot charging and moving control system, characterized in that the robot charging and moving control device comprises a transmitting module, and the robot charging and moving control device as described in any one of claims 1 to 7, wherein the transmitting module is installed in a preset control area.
The robot charging and moving control system according to claim 8, characterized in that the transmitting module comprises a waveform generating circuit and a transmitting coil;

The waveform generating circuit is used to generate an AC square wave;

The transmitting coil is used to generate a corresponding electromagnetic wave according to the AC square wave and transmit the electromagnetic wave.
The robot charging and mobile control system according to claim 9 is characterized in that the transmitting coil includes two coil segments extending along the planar direction of the preset control area, wherein the two coil segments are arranged at intervals, and the spacing along the planar direction of the preset control area does not exceed 150 mm.