Autonomous mobile robot, device to be docked, logistics docking system and docking method

Abstract

The application relates to an autonomous mobile robot, a docking device, a logistics docking system and a docking method. The autonomous mobile robot comprises a first docking part used for docking with a second docking part of a docking device to be docked with the autonomous mobile robot, wherein the shape of the first docking part is complementary to the shape of the second docking part, and the first docking part is provided with at least one first width gradient zone. According to the scheme of the application, in the docking process of the autonomous mobile robot and the docking device, an expensive sensor does not need to be used, the cost is low. Moreover, a large amount of data does not need to be collected and complex control does not need to be performed, time is saved, and the docking speed is improved.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, specifically to an autonomous mobile robot (AMR), a docking device, a logistics docking system, and a docking method. Background Technology

[0002] In many logistics applications (such as the entire process of transporting raw materials from the manufacturing plant warehouse to the production line and to finished products, and the automated material handling process in warehousing and production lines), it is necessary to dock autonomous mobile robots or their superstructures with the material platforms (such as conveyor belts, rollers, pallets, racks, shelves, etc.) of the devices to be docked, and high docking accuracy is required. Typically, the error must be controlled within 5mm.

[0003] In known logistics docking systems, sensors are typically used to correct the positions of both the autonomous mobile robot and the docking device during the docking process. However, conventional sensors cannot meet the high accuracy requirements, and high-precision sensors are expensive. Furthermore, achieving precise docking using high-precision sensors requires extensive data acquisition and complex control based on that data, resulting in a lengthy docking time and slow docking speed.

[0004] Therefore, there is a need to provide autonomous mobile robots, docking devices, logistics docking systems, and docking methods to address or at least mitigate some of the disadvantages present in the aforementioned prior art. Summary of the Invention

[0005] In a first aspect of the invention, an autonomous mobile robot is provided. The autonomous mobile robot includes a first docking portion for docking with a second docking portion of a docking device to be docked with the autonomous mobile robot. The shape of the first docking portion is complementary to the shape of the second docking portion, and the first docking portion is provided with at least one first width gradient region.

[0006] Optionally, the first mating portion is a protrusion that mates with the second mating portion, which is formed as a recess, and the width of the protrusion gradually decreases along the protruding direction.

[0007] Optionally, the protrusion is configured to be smaller than the recess to be mated with the protrusion.

[0008] Optionally, the cross-section of the first width gradient region is one of a triangle, a semicircle, or an ellipse.

[0009] Optionally, the autonomous mobile robot includes a chassis and an upper platform connected above the chassis, with the first docking part disposed on the upper platform.

[0010] Optionally, the first docking part is detachably connected to the upper platform.

[0011] Optionally, the autonomous mobile robot is used for lateral docking with the device to be docked, and the autonomous mobile robot includes at least one steering wheel.

[0012] In a second aspect of the invention, a docking device is provided, the docking device including a material platform. The docking device is used in conjunction with the aforementioned autonomous mobile robot, and includes a second docking portion for docking with a first docking portion, the second docking portion having at least one second width gradient region.

[0013] Optionally, the second docking part can be detachably connected to the material platform.

[0014] In a third aspect of the invention, a logistics docking system is provided. The logistics docking system includes: an autonomous mobile robot as described above; and a docking device as described above.

[0015] Optionally, at least one of the contact surfaces of the first mating portion and the second mating portion is a smooth surface or is provided with a rolling contact portion.

[0016] Optionally, the first docking portion and / or the second docking portion are provided with a contact detection device and / or an alignment detection device.

[0017] In a fourth aspect of the invention, a docking method is provided. The docking method is used in the aforementioned logistics docking system. The docking method includes: coarse docking: controlling the autonomous mobile robot to move towards the device to be docked until the first docking portion contacts the second docking portion; docking detection: determining whether the first docking portion and the second docking portion are precisely docked; and physical docking: when the first docking portion and the second docking portion are not precisely docked, controlling the autonomous mobile robot to move towards the device to be docked until the first docking portion and the second docking portion are precisely docked. In the physical docking step, when the first width gradient area of ​​the first docking portion contacts the second width gradient area of ​​the second docking portion, the first docking portion and the second docking portion interact to physically correct the deviation of the first docking portion.

[0018] Optionally, the power of the autonomous mobile robot in the physical docking step is greater than the power of the autonomous mobile robot in the rough docking step.

[0019] Optionally, the docking detection includes detecting whether a first detection point of the first docking part is in contact with and / or aligned with a corresponding second detection point of the second docking part, and determining that the first docking part and the second docking part are precisely docked when the first detection point is in contact with and / or aligned with the second detection point.

[0020] According to the present invention, during the docking process between the autonomous mobile robot and the docking device, there is no need to use expensive sensors, resulting in lower costs. Furthermore, it eliminates the need for extensive data collection and complex control, saving time and increasing docking speed. Attached Figure Description

[0021] The technical and industrial significance of the features, advantages, and exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals indicate like elements, and wherein:

[0022] Figure 1 A vertical cross-sectional schematic diagram of a logistics docking system according to a preferred embodiment of the present invention is shown, wherein the autonomous mobile robot and the docking device are in an un-docked state;

[0023] Figure 2 A vertical cross-sectional schematic diagram of a logistics docking system according to a preferred embodiment of the present invention is shown, wherein an autonomous mobile robot and a docking device are in the process of docking, and the first docking part of the autonomous mobile robot is exactly in the correct position when docking begins.

[0024] Figure 3 A horizontal cross-sectional schematic diagram of a logistics docking system according to a preferred embodiment of the present invention is shown, wherein an autonomous mobile robot and a docking device are in the process of docking, and the first docking part of the autonomous mobile robot is deviated from the accurate position when docking begins;

[0025] Figure 4 A vertical cross-sectional schematic diagram of a logistics docking system according to a preferred embodiment of the present invention is shown, wherein an autonomous mobile robot and a docking device are in a docked state; and

[0026] Figure 5 A schematic flowchart of a docking method according to a preferred embodiment of the present invention is shown. Detailed Implementation

[0027] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is for illustrative purposes only and is not intended to limit the invention or its applications or uses. Furthermore, the dimensions and proportions of the components in the drawings are merely schematic and do not strictly correspond to actual products.

[0028] The present invention provides an autonomous mobile robot 100, a docking device 200 used in conjunction with the autonomous mobile robot 100, and a logistics docking system 10 including the autonomous mobile robot 100 and the docking device 200. Figure 1 A vertical cross-sectional schematic diagram of a logistics docking system 10 according to a preferred embodiment of the present invention is shown, wherein the autonomous mobile robot 100 and the docking device 200 are in an un-docked state. Figure 2 A vertical cross-sectional schematic diagram of a logistics docking system 10 according to a preferred embodiment of the present invention is shown, wherein an autonomous mobile robot 100 and a docking device 200 are in a docking state, and the first docking part 140 of the autonomous mobile robot 100 is exactly in the correct position when docking begins. Figure 3 A horizontal cross-sectional schematic diagram of a logistics docking system 10 according to a preferred embodiment of the present invention is shown, wherein an autonomous mobile robot 100 and a docking device 200 are in a docking state, and the first docking part 140 of the autonomous mobile robot 100 is deviated from the accurate position when docking begins. Figure 4 A vertical cross-sectional schematic diagram of a logistics docking system 10 according to a preferred embodiment of the present invention is shown, wherein the autonomous mobile robot 100 and the docking device 200 are in a docked state. The following will be combined with... Figures 1 to 4 The present invention describes in detail a logistics docking system 10 according to a preferred embodiment of the present invention, the autonomous mobile robot 100 included in the logistics docking system 10, and the docking device 200.

[0029] like Figures 1 to 4 As shown, the logistics docking system 10 includes an autonomous mobile robot 100 and docking devices 200 that are to dock with the autonomous mobile robot 100. The docking devices 200 work in conjunction with the autonomous mobile robot 100. The autonomous mobile robot 100 can perform lifting docking, front docking, and side docking with the docking devices 200. The docking devices 200 typically include material platforms, such as conveyor belts, rollers, pallets, racks, and shelves. After the autonomous mobile robot 100 docks with the docking devices 200, it can achieve automated handling of heavy materials in warehousing or production lines, shelf handling, automated warehousing systems, and automated loading and unloading of roller conveyors. The logistics docking system 10 can include multiple docking devices 200, which can share the same autonomous mobile robot 100 or be equipped with individual autonomous mobile robots 100.

[0030] like Figure 1 , Figure 2 and Figure 4As shown, the autonomous mobile robot 100 includes a chassis 110. A moving device 120 is disposed below the chassis 110, which can move or rotate under the drive of a drive unit (not shown). The drive unit may be disposed within the chassis 110. The moving device 120 may be wheels, tracks, etc. When the autonomous mobile robot 100 is used for lateral docking with a device 200 to be docked, the autonomous mobile robot 100 includes at least one steering wheel. Turning is achieved by steering the steering wheel, thereby enabling the autonomous mobile robot 100 to travel laterally for lateral docking with the device 200 to be docked. The autonomous mobile robot 100 may also include a superstructure platform 130 disposed above the chassis 110. The superstructure platform 130 may include lifting devices, rollers, etc. The superstructure platform 130 may be integrated with the chassis 110. Preferably, the superstructure platform 130 can be detachably connected to the chassis 110 so that the superstructure platform 130 can be replaced as needed, thereby allowing different superstructure platforms 130 to share the same chassis 110.

[0031] According to the concept of the present invention, such as Figures 1 to 4As shown, the autonomous mobile robot 100 includes a first docking part 140, and the docking device 200 includes a second docking part 240. The first docking part 140 and the second docking part 240 can be respectively disposed at any suitable location on the autonomous mobile robot 100 and the docking device 200. For example, the first docking part 140 can be disposed on the upper platform 130 of the autonomous mobile robot 100, and the second docking part 240 can be disposed on the material platform of the docking device 200. Preferably, the first docking part 140 can be detachably connected to the upper platform 130 of the autonomous mobile robot 100 or other components. Similarly, preferably, the second docking part 240 can be detachably connected to the material platform or other components of the docking device 200. The first docking part 140 is used to dock with the second docking part 240 along the docking direction D, thereby realizing the docking of the autonomous mobile robot 100 and the docking device 200. The "docking direction" refers to the direction in which the first docking part 140 of the autonomous mobile robot 100 moves toward the second docking part 240 of the docking device 200 during the docking process. The shape of the first mating portion 140 is complementary to the shape of the second mating portion 240. For example, one of the first mating portion 140 and the second mating portion 240 can be a protrusion, and the other can be a recess. It should be noted that the term "complementary" as used herein can include "completely complementary," meaning that their outlines and sizes are completely or just matched, or it can include "approximately complementary," meaning that their outlines are matched, but they can be slightly spaced apart after mating. The complementarity of the first mating portion 140 and the second mating portion 240 makes the mating between them more reliable. The first mating portion 140 is provided with at least one first width gradient area, that is, an area whose width gradually changes. The cross-section of the first width gradient area can be any of a triangle, a semicircle, or an ellipse. It is understood that the second mating portion 240, which is complementary to the shape of the first mating portion 140, is also provided with at least one second width gradient area to match the first width gradient area of ​​the first mating portion 140. The cross-section of the second width gradient area can also be any of a triangle, a semicircle, or an ellipse. It should be noted that the term "width" as used herein refers to the dimension in the plane containing the mating direction D, in the direction perpendicular to the mating direction D. Specifically, in such Figures 1 to 4 In the embodiment shown, "width" refers to the dimension in the horizontal plane perpendicular to the docking direction D.

[0032] Thus, when the autonomous mobile robot 100 needs to dock with the docking device 200, the autonomous mobile robot 100 moves to an area close to the docking device 200, so that the first docking part 140 of the autonomous mobile robot 100 is approximately aligned with the second docking part 240 of the docking device 200. This process can be achieved with the aid of lidar and / or vision sensors. Lidar and / or vision sensors are less expensive than high-precision sensors. Subsequently, the autonomous mobile robot 100 moves forward relative to the docking device 200 along the docking direction D. It should be noted that the directional terms such as "front," "back," "left," and "right" used in this document are relative to the direction of movement of the autonomous mobile robot 100 towards the docking device 200 along the docking direction D. Assuming a person is sitting on the autonomous mobile robot 100 facing the docking direction D, the direction the person is facing (i.e., the docking direction D) is "front," and the opposite direction is "back." The person's left side is "left," and the right side is "right."

[0033] like Figure 2 As shown, if the autonomous mobile robot 100 moves to an area close to the docking device 200 and begins docking, and the first docking portion 140 of the autonomous mobile robot 100 is in the correct position, then the autonomous mobile robot 100 continues to move forward along the docking direction D until the first docking portion 140 contacts the second docking portion 240, thus achieving precise docking of the first docking portion 140 and the second docking portion 240. Before the first docking portion 140 and the second docking portion 240 are precisely docked, the first docking portion 140 will not contact the second docking portion 240.

[0034] like Figure 3As shown, if the first docking part 140 of the autonomous mobile robot 100 is not in the accurate position when it moves to the area near the docking device 200 and begins to dock with the docking device 200, for example, it is slightly to the right, then when the autonomous mobile robot 100 continues to move forward along the docking direction D, when the first docking part 140 and the second docking part 240 just come into contact, the first docking part 140 is located to the right of the accurate position, and the right side of the first docking part 140 of the autonomous mobile robot 100 first contacts the right side of the second docking part 240 of the docking device 200. When the first width gradient area of ​​the first docking part 140 contacts the second width gradient area on the right side of the second docking part 240, the autonomous mobile robot 100 continues to move forward along the docking direction D toward the device 200 to be docked. The first docking part 140 will be subjected to a force F perpendicular to the contact surface after the first docking part 140 and the second docking part 240 come into contact. This force can be decomposed into a first component force F1 perpendicular to the docking direction D and pointing to the left, and a second component force F2 opposite to the docking direction D. The first component force F1 can push the first docking part 140 to the left, thereby achieving physical correction, so that the first docking part 140 moves forward along the docking direction D and moves to the left toward the accurate position, thereby achieving precise docking between the first docking part 140 and the second docking part 240. In this process, there is no need to use expensive sensors, resulting in lower costs. Moreover, it does not require a large amount of data collection or complex control, saving time and increasing docking speed.

[0035] As described above, one of the first docking portion 140 and the second docking portion 240 can be a protrusion, and the other can be a recess. Preferably, in this embodiment, the protrusion is provided on the autonomous mobile robot 100, and the width of the protrusion gradually decreases along the protrusion direction to form a first width gradient zone, while the recess is provided on the device to be docked 200. That is, the first docking portion 140 is a protrusion, and the second docking portion 240 is formed as a recess. During the docking process, the first docking portion 140 of the autonomous mobile robot 100 typically moves along the docking direction D toward the second docking portion 240 of the device to be docked 200, while the second docking portion 240 typically remains stationary. Therefore, setting the first docking portion 140 as a protrusion facilitates docking and physical correction during the docking process.

[0036] The size of the protrusion (i.e., the first mating portion 140) can be configured to be smaller than or equal to the size of the recess (i.e., the second mating portion 240) to which it will mate. Preferably, the size of the protrusion is slightly smaller than the size of the recess to which it will mate. This facilitates fine-tuning of the protrusion's position after mating, resulting in more precise mating.

[0037] Optionally, a contact detection device and / or an alignment detection device may be provided on the first docking portion 140 and / or the second docking portion 240 to detect whether the first docking portion 140 and the second docking portion 240 are precisely docked. The contact detection device and / or the alignment detection device may be provided at corresponding detection points on the first docking portion 140 and / or the second docking portion 240 to detect whether the corresponding detection points on the first docking portion 140 and / or the second docking portion 240 are in contact and / or aligned, thereby determining whether the first docking portion 140 and the second docking portion 240 are precisely docked. The contact detection device may be implemented, for example, through loop detection.

[0038] Optionally, at least one of the contact surfaces of the first mating portion 140 and the second mating portion 240 is a smooth surface to reduce the friction between the first mating portion 140 and the second mating portion 240 during the mating process. Optionally, at least one of the contact surfaces of the first mating portion 140 and the second mating portion 240 may be provided with a rolling contact portion. The rolling contact portion can be, for example, a universal ball. Through the rolling contact portion, the sliding friction between the first mating portion 140 and the second mating portion 240 can be converted into rolling friction, resulting in low friction and facilitating the mating of the first mating portion 140 and the second mating portion 240.

[0039] In another aspect of the present invention, a docking method for the above-described logistics docking system 10 is provided. Figure 5 A schematic flowchart of a docking method according to a preferred embodiment of the present invention is shown. The following will be combined with... Figure 5 A docking method according to a preferred embodiment of the present invention is described in detail.

[0040] like Figure 5 As shown, the docking method according to a preferred embodiment of the present invention mainly includes the following steps: S310: rough docking; S320: docking detection; and S330: physical docking.

[0041] In the S310 coarse docking step, the autonomous mobile robot 100 is controlled to move towards the docking device 200 until the first docking portion 140 of the autonomous mobile robot 100 contacts the second docking portion 240 of the docking device 200. The coarse docking process does not require expensive high-precision sensors. For example, the coarse docking process can be accomplished using lidar and / or vision sensors.

[0042] In the S320 docking detection step, it is determined whether the first docking part 140 of the autonomous mobile robot 100 is precisely docked with the second docking part 240 of the device to be docked 200. This step occurs when the first docking part 140 and the second docking part 240 just make contact. At the very beginning of the rough docking, the first docking part 140 of the autonomous mobile robot 100 may be in the exact position (e.g., Figure 2As shown), the autonomous mobile robot 100 continues to move forward along the docking direction D until the first docking part 140 contacts the second docking part 240, thus achieving precise docking of the first docking part 140 and the second docking part 240. Before the first docking part 140 and the second docking part 240 are precisely docked, the first docking part 140 will not contact the second docking part 240. That is, after the rough docking is completed, the first docking part 140 and the second docking part 240 are precisely docked. However, at the beginning of the rough docking, the first docking part 140 of the autonomous mobile robot 100 may not be in the accurate position, for example, it may be slightly to the right (e.g., ...). Figure 3 (As shown). In this situation, when the first docking part 140 and the second docking part 240 just make contact, the first docking part 140 will also deviate from the accurate position, and the first docking part 140 and the second docking part 240 will not be precisely docked. In this case, the physical docking step S330 is required, which will be described in detail below.

[0043] Determining whether the first mating portion 140 is precisely mated with the second mating portion 240 may include detecting whether a first detection point of the first mating portion 140 is in contact with and / or aligned with a corresponding second detection point of the second mating portion 240, and determining that the first mating portion 140 and the second mating portion 240 are precisely mated when the first detection point is in contact with and / or aligned with the second detection point. For example, the first detection point may be the tip of the first mating portion 140, which is formed as a protrusion, and correspondingly, the second detection point may be the center of the bottom of the recess of the second mating portion 240, which is formed as a recess. Of course, the first detection point and the second detection point may also be other corresponding parts of the first mating portion 140 and the second mating portion 240, respectively. Whether the first detection point is in contact with and / or aligned with the second detection point can be achieved by contact detection devices and / or alignment detection devices provided on the first mating portion 140 and / or the second mating portion 240 as described above. For example, the contact detection device can be implemented by loop detection.

[0044] Determining whether the first docking part 140 is precisely docked with the second docking part 240 can also be achieved by judging whether the autonomous mobile robot 100 can still move forward relative to the docking device 200 along the docking direction D after the first docking part 140 and the second docking part 240 make contact. If the autonomous mobile robot 100 can continue to move along the docking direction D after the first docking part 140 and the second docking part 240 make contact, it is determined that the first docking part 140 is not precisely docked with the second docking part 240. If the autonomous mobile robot 100 cannot continue to move along the docking direction D after the first docking part 140 and the second docking part 240 make contact, it is determined that the first docking part 140 has been precisely docked with the second docking part 240.

[0045] In the S330 physical docking step, the autonomous mobile robot 100 is controlled to move towards the docking device 200 until the first docking part 140 and the second docking part 240 are precisely docked. In the S330 physical docking step, when the first width gradient area of ​​the first docking part 140 contacts the second width gradient area of ​​the second docking part 240, the first docking part 140 and the second docking part 240 interact to physically correct the first docking part 140. During this physical correction process, the interaction between the first docking part 140 and the second docking part 240 is as described above. Figure 3 The detailed descriptions will not be repeated here for the sake of brevity.

[0046] During the physical docking step S330, the interaction between the first docking part 140 and the second docking part 240 for physical correction may cause the movement of the autonomous mobile robot 100 to transform into complex movements such as rotation. This could result in the first docking part 140 of the autonomous mobile robot 100 not being parallel to the second docking part 240 of the device to be docked after precise docking. Optionally, after precise docking of the first docking part 140 and the second docking part 240, the position of the autonomous mobile robot 100 can be fine-tuned to make the first docking part 140 and the second docking part 240 parallel, resulting in more precise docking.

[0047] Optionally, the movement speed (first speed) of the autonomous mobile robot 100 in the S310 coarse docking step can be different from the movement speed (second speed) of the autonomous mobile robot 100 in the S330 physical docking step. Preferably, the second speed is less than the first speed. In the S310 coarse docking step, the autonomous mobile robot 100 moving towards the docking device 200 at a larger first speed can increase the speed of the entire docking process and save time; while in the S330 physical docking step, the first docking part 140 of the autonomous mobile robot 100 moves forward towards the second docking part 240 along the docking direction D, and also moves left or right towards the accurate position to achieve physical correction. Therefore, the smaller second speed can further improve the docking accuracy of the first docking part 140 and the second docking part 240.

[0048] Preferably, the power of the autonomous mobile robot 100 in the physical docking step S330 is greater than that in the rough docking step S310, so as to better utilize the interaction force of the contact surfaces and achieve precise docking.

[0049] In summary, the docking method according to the present invention eliminates the need for expensive sensors, resulting in lower costs. Furthermore, it eliminates the need for extensive data acquisition and complex control, saving time and increasing docking speed.

[0050] In this specification, whenever "exemplary embodiment," "preferred embodiment," "one embodiment," etc., are mentioned, it means that the specific feature, structure, or characteristic described with respect to that embodiment is included in at least one embodiment of the invention. The appearance of these terms in different places in this specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described with respect to any embodiment / implementation, it should be understood that those skilled in the art can also implement such feature, structure, or characteristic in other embodiments of all described embodiments.

[0051] The embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications and substitutions can be applied to the above embodiments without departing from the scope of the present invention.

Claims

1. An autonomous mobile robot, characterized in that, The autonomous mobile robot includes a first docking part, which is used to dock with a second docking part of a docking device to be docked with the autonomous mobile robot. The shape of the first docking part is complementary to the shape of the second docking part, and the first docking part is provided with at least one first width gradient area. The first docking part and / or the second docking part are provided with a contact detection device and / or an alignment detection device to detect whether the first detection point of the first docking part is in contact with and / or aligned with the corresponding second detection point of the second docking part, and to determine that the first docking part and the second docking part are precisely docked when the first detection point is in contact with and / or aligned with the second detection point. When the first docking part and the second docking part are not precisely docked, the first width gradient area is configured to contact the second width gradient area of ​​the second docking part and interact with the second docking part to generate a component force through physical contact to physically correct the first docking part. During the docking process between the first docking part and the second docking part: the autonomous mobile robot moves toward the device to be docked until the first docking part and the second docking part come into contact; and when the first docking part and the second docking part are not precisely docked, the autonomous mobile robot moves toward the device to be docked to perform physical correction until the first docking part and the second docking part are precisely docked, wherein, during the physical correction, the power of the autonomous mobile robot is greater than the power of the autonomous mobile robot moving toward the device to be docked until the first docking part and the second docking part come into contact.

2. The autonomous mobile robot according to claim 1, characterized in that, The first mating portion is a protrusion that mates with the second mating portion, which is formed as a concave portion, and the width of the protrusion gradually decreases along the protruding direction.

3. The autonomous mobile robot according to claim 2, characterized in that, The protrusion is sized to be smaller than the recess to be mated with it.

4. The autonomous mobile robot according to any one of claims 1 to 3, characterized in that, The cross-section of the first width gradient zone is one of triangle, semicircle, or ellipse.

5. The autonomous mobile robot according to any one of claims 1 to 3, characterized in that, The autonomous mobile robot includes a chassis and an upper platform connected above the chassis, with the first docking part disposed on the upper platform.

6. The autonomous mobile robot according to claim 5, characterized in that, The first docking part is detachably connected to the upper platform.

7. The autonomous mobile robot according to any one of claims 1 to 3, characterized in that, The autonomous mobile robot is used for lateral docking with the device to be docked, and the autonomous mobile robot includes at least one steering wheel.

8. A logistics docking system, characterized in that, The logistics docking system includes: An autonomous mobile robot, wherein the autonomous mobile robot is an autonomous mobile robot according to any one of claims 1 to 7; and The docking device includes a material platform and is used in conjunction with the autonomous mobile robot. The docking device includes a second docking part for docking with the first docking part, and the second docking part is provided with at least one second width gradient area.

9. The logistics docking system according to claim 8, characterized in that, The second docking part is detachably connected to the material platform.

10. The logistics docking system according to claim 8, characterized in that, At least one of the contact surfaces of the first docking portion and the second docking portion is a smooth surface or is provided with a rolling contact portion.

11. A docking method, characterized in that, The docking method is used in the logistics docking system according to any one of claims 8 to 10, the docking method comprising: Rough docking: Control the autonomous mobile robot to move toward the docking device until the first docking part contacts the second docking part; Docking detection: Determining whether the first docking part and the second docking part are precisely docked; and Physical docking: When the first docking part and the second docking part are not precisely docked, the autonomous mobile robot is controlled to move toward the device to be docked until the first docking part and the second docking part are precisely docked; In the physical docking step, when the first width gradient area of ​​the first docking part comes into contact with the second width gradient area of ​​the second docking part, the first docking part and the second docking part interact to physically correct the deviation of the first docking part.

12. The docking method according to claim 11, characterized in that, In the physical docking step, the power of the autonomous mobile robot is greater than that in the rough docking step.

13. The docking method according to claim 11, characterized in that, The docking detection includes detecting whether the first detection point of the first docking part is in contact with and / or aligned with the corresponding second detection point of the second docking part, and determining that the first docking part and the second docking part are precisely docked when the first detection point is in contact with and / or aligned with the second detection point.

Images