MODULE FIDUCIAL MARKERS FOR ROBOT NAVIGATION, ADDRESS MARKERS AND THE ASSOCIATED ROBOTS

Abstract

The present invention discloses a module for robot navigation, an address marker and an associated robot. The module divides a whole workspace area for robot traveling into a plurality of module areas, and each module area is internally provided with a first magnetic piece having a polarity of an N pole or an S pole and a second magnetic piece having a polarity different from the polarity of the first magnetic piece. The first magnetic piece is a first magnetic strip, and the second magnetic piece is a second magnetic strip. The first magnetic strip is arranged in the Y-axis direction, and the second magnetic strip is arranged in the X-axis direction. A third magnetic strip and a fourth magnetic strip are further included. The four strips are in cross arrangement. The polarity of the second magnetic strip, the polarity of the third magnetic strip and the polarity of the fourth magnetic strip are the same. A plurality of magnetic induction sensors and an address marker recognition device are installed at the bottom of the robot. The robot can travel forward or backward or turn to a target module area according to instructions and collected marker information. The module for robot navigation, the address marker and the associated robot according to the present invention have beneficial effects of reliable and accurate positioning, low cost and convenient maintenance.

Claims

1-19. (canceled)

20. A module for robot navigation, wherein the module divides a whole workspace area for robot traveling into a plurality of module areas, and each module area is internally provided with: a first magnetic strip wherein a top surface of the first magnetic strip has a polarity of an N pole or an S pole; a second magnetic strip, wherein a top surface of the second magnetic strip has a polarity different from the polarity of the first magnetic strip.

21. The module for robot navigation according to claim 20, further comprising a magnetic plate, wherein the magnetic plate is directly magnetized such that top surfaces of the first and second magnetic strips have the N pole or the S pole.

22. The module for robot navigation according to claim 21, wherein the magnetic plate occupies a portion of the module area.

23. The module for robot navigation according to claim 21, wherein the magnetic plate occupies a whole of the module area.

24. The module for robot navigation according to claim 21, wherein the magnetic plate is a low-remanence high-permeability material.

25. The module for robot navigation according to claim 21, further comprising a magnetic induction sensor.

26. The module for robot navigation according to claim 25, wherein the magnetic induction sensor comprises a hall effect sensor.

27. The module for robot navigation according to claim 25, wherein a width of the magnetic plate is greater than a width of the magnetic induction sensor.

28. The module for robot navigation according to claim 26, wherein the magnetic plate is positioned above the magnetic induction sensor.

29. The module for robot navigation according to claim 20, wherein the first magnetic strip is arranged in a Y-axis direction; and the second magnetic strip is arranged in an X-axis direction.

30. The module for robot navigation according to claim 29, further comprising a third magnetic strip arranged in an X-axis direction, wherein the polarity of the third magnetic strip is the same as the polarity of the second magnetic strip.

31. The module for robot navigation according to claim 30, further comprising a fourth magnetic strip arranged in a Y-axis direction, wherein the polarity of the fourth magnetic strip is the same as the polarity of the second magnetic strip and the polarity of the third magnetic strip.

32. The module for robot navigation according to claim 31, wherein the magnetic strips having different polarities do not intersect, and wherein the magnetic strips having the same polarity may or may not intersect.

33. The module for robot navigation according to claim 31, wherein the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic strip are in a cross arrangement.

34. The module for robot navigation according to claim 33, wherein distances between a cross center and the farthest ends of the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic strip are the same.

35. The module for robot navigation according to claim 20, wherein each module area is provided with a unique address marker, wherein the address marker is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID tag.

36. The module for robot navigation according to claim 20, wherein each module area is provided with a unique address marker, wherein the unique address marker is positioned between the first magnetic strip and the second magnetic strip.

37. A robot, configured for interacting with a module for robot navigation, wherein the module comprises a whole workspace area for robot traveling divided into a plurality of module areas, wherein each module area is provided with: a unique address marker; a first magnetic strip arranged in a Y-axis direction, wherein a top surface of the first magnetic strip has a polarity of an N pole or an S pole; and a second magnetic strip arranged in an X-axis direction, wherein a top surface of the second magnetic strip has a polarity different from the polarity of the first magnetic strip; wherein the unique address marker is positioned between the first and second magnetic strips, wherein the robot is provided with: a plurality of magnetic induction sensors and an address marker recognition device installed on a bottom thereof, wherein the plurality of magnetic induction sensors collects signals of magnetic strips having different polarities, wherein the address marker recognition device collects an address marker information, wherein the plurality of magnetic induction sensors and the address marker recognition device are connected to a robot controller, and wherein the robot travels to a target module area according to instructions and collected marker information.

38. The robot according to claim 37, wherein each module area is further provided with a magnetic plate, wherein the magnetic plate is directly magnetized such that top surfaces of the first and second magnetic strips have the N pole or the S pole,

39. The robot according to claim 37, wherein the robot includes a sorting robot, a transport robot, a loading/unloading robot or other types of traveling robots, and the robot is in wireless connection with a server such that after receiving instruction signals, the robot travels forward or backward or turns along a predetermined line to a target module area to perform a task such as loading or unloading cargo.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0041] FIG. 1 is a schematic structural diagram of arranging a first magnetic strip and a second first magnetic strip in a module according to the present invention.

[0042] FIG. 2 is a schematic structural diagram of adding a third magnetic strip on the basis of FIG. 1.

[0043] FIG. 3 is a schematic structural diagram of adding a fourth magnetic strip on the basis of FIG. 2.

[0044] FIG. 4 is a schematic structural diagram illustrating that the magnetic strips having different polarities do not intersect and the magnetic strips having the same polarity may intersect in the module according to the present invention.

[0045] FIG. 5 is a schematic structural diagram of a robot traveling over a module fiducial marker according to the present invention.

[0046] FIG. 6 is a schematic structural diagram of magnetic strips, Hall effect sensors and a low-remanence high-permeability material plate according to the present invention.

[0047] FIG. 7 is a schematic structural diagram of the Hall effect sensors forming an II shape.

[0048] FIG. 8 is a schematic structural diagram of the Hall effect sensors forming a circular shape.

DESCRIPTION OF EMBODIMENTS

[0049] The present invention will be further described with reference to the accompanying drawings:

[0050] As shown in the drawing, Embodiment 1: modules for robot navigation divide a whole workspace area for robot travel into a plurality of module areas, and each module area is internally provided with:

[0051] a first magnetic piece having a polarity of North or South; and

[0052] a second magnetic piece having a polarity different from the polarity of the first magnetic piece.

[0053] The first magnetic piece is a first magnetic strip 1 and the second magnetic piece is a second magnetic strip 2.

[0054] The first magnetic strip 1 is arranged in the Y-axis direction; and the second magnetic strip 2 is arranged in the X-axis direction (as shown in FIG. 1).

[0055] Embodiment 2: on the basis of Embodiment 1, the following is further included:

[0056] a third magnetic strip 3 arranged in the X-axis direction, where the polarity of the third magnetic strip 3 is the same as the polarity of the second magnetic strip 2 (as shown in FIG. 2).

[0057] Embodiment 3: on the basis of Embodiment 2, the following is further included:

[0058] a fourth magnetic strip 4 arranged in the Y-axis direction, where the polarity of the fourth magnetic strip 4 is the same as the polarity of the second magnetic strip 2 and the polarity of the third magnetic strip 3 (as shown in FIG. 3).

[0059] The magnetic strips having different polarities do not intersect, and the magnetic strips having the same polarity may or may not intersect (as shown in FIG. 4).

[0060] The first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3 and the fourth magnetic strip 4 are in a cross formation.

[0061] The distances between the cross center and the farthest ends of the first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3 and the fourth magnetic strip 4 are the same.

[0062] The magnetic strips are directly attached to the module area, or each module area is provided with a magnetic material plate, and the magnetic material plate is directly magnetized to form the North-polarity or South-polarity magnetic strips.

[0063] The plurality of module areas is arranged in a matrix, and the module areas are square.

[0064] A module for robot navigation includes the module fiducial markers and further includes address markers 5. Each module area is provided with a unique address marker 5 (as shown in FIG. 5).

[0065] The address marker 5 is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID tag.

[0066] A robot travels over the markers and a plurality of magnetic induction sensors and an address marker recognition device are installed at the bottom of the robot. The plurality of magnetic induction sensors can collect signals of the magnetic strips having different polarities, and the address marker recognition device can collect the address markers. The plurality of magnetic induction sensors and the address marker recognition device are connected to a robot controller, and the robot can travel forward or backward or turn to a target module area according to instructions and collected marker information.

[0067] The magnetic induction sensors are the Hall effect sensors 6. The Hall effect sensors 6 are usually 0.5-2 cm away from the ground, and can collect signals of the magnetic strips in a non-contact mode. The Hall effect sensors 6 will have a different voltage output when collecting North-polarity or South-polarity magnetic signals.

[0068] The address marker recognition device is a camera or an RFID card reader.

[0069] The plurality of Hall effect sensors forms a square shape (as shown in FIG. 5), a rectangular shape, a circular shape (as shown in FIG. 8), an oval shape or a II shape (as shown in FIG. 7), and the address marker recognition device is located at a central position (as shown in FIG. 5).

[0070] As can be seen from FIGS. 5, 7 and 8, the robot can also be positioned without arranging the fourth magnetic strip 4 and the third magnetic strip 3.

[0071] A low-remanence high-permeability material plate 7 is further included. The Hall effect sensors 6 are installed close to the module area, and the low-remanence high-permeability material plate 7 is secured above the Hall effect sensors 6 and is close to the Hall effect sensors 6 (as shown in FIG. 6).

[0072] Usually, the low-remanence high-permeability material plate 7 is wider than the Hall effect sensor 6.

[0073] The robot includes a sorting robot, a transportation robot, a loading/unloading robot or other types of traveling robots. The robot is in wireless connection with a server. After receiving instruction signals, the robot travels forward or backward or turns along a predetermined line to a target module area to perform a task such as loading or unloading cargo.