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.

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.