A docking method, device and robot for a robot and a shelf

Abstract

The present invention relates to the technical field of mobile robots, and discloses a docking method, device and robot for a robot and a shelf. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively arranged on two side edges of the shelf. The docking method for the robot and the shelf includes: if a docking instruction for docking with the shelf is received, moving to a target area according to the docking instruction; detecting whether there is a shelf in the target area; if there is a shelf in the target area, searching for the first identification feature, the second identification feature and the second connecting member of the shelf; and controlling the movement of the robot according to the first identification feature and the second identification feature so as to dock the first connecting member with the second connecting member. This application can enable the robot to automatically identify the shelf and complete the docking, improving the operation efficiency of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and particularly to a method and device for docking a robot with a shelf and a robot. Background Art

[0002] With the development of technology and the improvement of people's living standards, robots have gradually entered people's lives. To improve the usage efficiency, robots integrate multiple functions, such as leading, greeting guests, delivering goods, and so on. Currently, there is a cargo hold inside the robot for storing goods, so that the robot can deliver goods. In the prior art, the robot is only equivalent to a chassis, and the robot is used to drill under the shelf, support the shelf and tow it away. How to accurately dock the robot with the shelf is a key factor in improving the picking efficiency of the robot. Summary of the Invention

[0003] To solve the above technical problems, embodiments of the present invention provide a method and device for docking a robot with a shelf and a robot, so as to solve the problem of how to realize the docking of the robot with the shelf and improve the working efficiency of the robot.

[0004] To solve the above technical problems, a technical solution adopted in an embodiment of the present invention is: to provide a method for docking a robot with a shelf, the robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively arranged on two side edges of the shelf. The method includes:

[0005] If a docking instruction for docking with the shelf is received, move to a target area according to the docking instruction;

[0006] Detect whether the shelf exists in the target area;

[0007] If the shelf exists in the target area, search for the first identification feature, the second identification feature and the second connecting member on the shelf;

[0008] Control the movement of the robot according to the first identification feature and the second identification feature, so as to dock the first connecting member with the second connecting member.

[0009] In some embodiments, the docking instruction carries information about the target area;

[0010] The step of if a docking instruction for docking with the shelf is received, move to a target area according to the docking instruction includes:

[0011] If a docking instruction broadcast by the shelf or a docking instruction sent by a scheduling device is received, use the first position in the target area as the destination, and plan a path to obtain a first path;

[0012] Locate and navigate to the first position according to the first path.

[0013] In some embodiments, the first identification feature, the second identification feature, and the second connecting member are respectively located on different sides of the shelf;

[0014] Searching for the first identification feature, the second identification feature, and the second connecting member located on the shelf includes:

[0015] Moving around the shelf within a preset distance from the shelf with the shelf as the center;

[0016] Scanning the shelf with a lidar located on the side of the robot during the movement;

[0017] When the first identification feature, the second identification feature, and the second connecting member are simultaneously recognized in a laser frame obtained by the lidar, the first identification feature, the second identification feature, and the second connecting member are searched.

[0018] In some embodiments, the method further includes:

[0019] When the robot has completed one full circle of movement and still has not searched for the first identification feature, the second identification feature, and the second connecting member, communicate with the shelf;

[0020] Send a feature display instruction to the shelf. When the shelf receives the feature display instruction, the shelf extends the first identification feature and the second identification feature outward and sends a confirmation instruction to the robot;

[0021] When receiving the confirmation instruction, the robot moves around the shelf again and continues to scan the shelf with the lidar located on the side of the robot during the movement.

[0022] In some embodiments, controlling the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member with the second connecting member includes:

[0023] Adjust the posture of the robot according to the position of the second connecting member so that the first connecting member faces the second connecting member;

[0024] Scan both sides of the shelf with the lidars on both sides of the robot respectively so that the lidars on both sides of the robot respectively obtain the first identification feature and the second identification feature;

[0025] Continuously adjust the posture of the robot according to the distances between the first identification feature and the second identification feature respectively obtained by the lidar sensors on both sides of the robot to reach the target posture;

[0026] Control the robot to move linearly to dock the first connecting member and the second connecting member.

[0027] In some embodiments, the method further includes:

[0028] When the tensile force between the first connecting member and the second connecting member is greater than or equal to a preset tensile force value, control the shelf to drive forward to assist in boosting the robot.

[0029] To solve the above technical problems, another technical solution adopted in the embodiments of the present invention is: provide a docking device for a robot and a shelf. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and the two sides of the shelf are respectively provided with a first identification feature and a second identification feature. The device includes:

[0030] A moving module, configured to move to a target area according to the docking instruction if a docking instruction for docking with the shelf is received;

[0031] A detection module, configured to detect whether the shelf exists in the target area;

[0032] A searching module, configured to search for the first identification feature, the second identification feature, and the second connecting member of the shelf if the shelf exists in the target area;

[0033] A control module, configured to control the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member and the second connecting member.

[0034] In some embodiments, the docking instruction carries information about the target area;

[0035] The moving module is further configured to:

[0036] If a docking instruction broadcast by the shelf or a docking instruction sent by a scheduling device is received, plan a path with the first position in the target area as the destination to obtain a first path;

[0037] Locate and navigate to the first position according to the first path.

[0038] To solve the above technical problems, another technical solution adopted in the embodiments of the present invention is: to provide a robot, including: at least one processor, and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the docking method between the robot and the shelf as described above.

[0039] To solve the above technical problems, still another technical solution adopted in the embodiments of the present invention is: to provide a readable storage medium, the readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, the steps of the docking method between the robot and the shelf as described above are implemented.

[0040] Embodiments of the present invention provide a docking method, device and robot between a robot and a shelf. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively provided on two side edges of the shelf. In this application, first, if a docking instruction for docking with the shelf is received, it moves to the target area according to the docking instruction, then detects whether there is a shelf in the target area, and then if there is a shelf in the target area, searches for the first identification feature, the second identification feature and the second connecting member of the shelf, and finally controls the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member with the second connecting member. The technical solution of this application can enable the robot to automatically identify the shelf and complete the docking, improving the operation efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0042] Figure 1 is a schematic flow chart of a docking method between a robot and a shelf provided by an embodiment of the present invention;

[0043] Figure 2 is a schematic application scenario diagram corresponding to the docking method between a robot and a shelf provided by an embodiment of the present invention;

[0044] Figure 3 is a schematic flow chart of a method for moving to a target area according to the docking instruction provided by an embodiment of the present invention;

[0045] Figure 4 is a schematic flow chart of a method for searching for the first identification feature, the second identification feature and the second connecting member of the shelf provided by an embodiment of the present invention;

[0046] Figure 5 It is a schematic diagram of another application scenario corresponding to the method for a robot to dock with a shelf provided by an embodiment of the present invention;

[0047] Figure 6 It is a schematic flowchart of another method provided by an embodiment of the present invention for searching for the first identification feature, the second identification feature, and the second connecting member on the shelf;

[0048] Figure 7 It is a schematic flowchart of the method provided by an embodiment of the present invention for docking the first connecting member with the second connecting member;

[0049] Figure 8 It is a schematic structural diagram of a docking device between a robot and a shelf provided by an embodiment of the present invention;

[0050] Figure 9 It is a schematic structural diagram of a robot provided by an embodiment of the present invention. Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division from that in the device schematic diagram or a different order from that in the flowchart.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0054] Please refer to Figure 1 , Figure 1 It is a schematic flowchart of a method for a robot to dock with a shelf provided by an embodiment of the present invention. A method for a robot to dock with a shelf, the robot is provided with a first connecting member, the shelf is provided with a second connecting member, and the two sides of the shelf are respectively provided with a first identification feature and a second identification feature. The method includes:

[0055] Step S1: if a docking instruction to dock with the shelf is received, move to a target area according to the docking instruction.

[0056] The two sides of the shelf are respectively provided with a first identification feature and a second identification feature, and further, the first identification feature and the second identification feature are retractable. The first connecting member and the second connecting member are matched in structure, and are used for the robot to be attached to, bound to, or untied from the shelf.

[0057] In this embodiment, the robot first receives a docking instruction from a terminal or a server. Then, the robot performs path planning according to the shelf location and goes to the vicinity of the shelf location. The target area is the area of the shelf location.

[0058] The terminal may be, but is not limited to, a smart phone, a personal computer, a laptop, a tablet computer, a portable wearable device, etc. The number of the robots may be one or more. The server may be implemented as an independent server or a server cluster consisting of multiple servers.

[0059] Specifically, the robot may rely on SLAM (Simultaneous Localization And Mapping) to obtain location information and navigation.

[0060] Step S2: Detect whether the shelf exists in the target area.

[0061] Specifically, when the robot is about to reach the vicinity of the target area, for example, when the distance between the robot and the target area is less than a preset distance, it detects whether the shelf exists in the target area. If the shelf exists in the target area, the robot starts the docking mode. If the shelf does not exist in the target area, the robot feeds back the information that the shelf is not in the target area to the terminal or server and waits for the next instruction, which may include returning by the original route, waiting in place, etc.

[0062] Step S3: If the shelf exists in the target area, search for the first identification feature, the second identification feature and the second connector located on the shelf.

[0063] See also Figure 2 , Figure 2 Schematic diagram of an application scenario corresponding to the method for docking a robot and a shelf provided in an embodiment of the present invention. Figure 2As shown, the robot 30 is provided with a main radar 31, side radars 32 are respectively arranged on both sides of the robot 30, the robot 30 is provided with a first connecting member 33, the shelf 40 is provided with a second connecting member 41, identification features 42 are respectively arranged on both sides of the shelf 40, and the identification features 42 include a first identification feature and a second identification feature.

[0064] Both the main radar 31 and the side radars 32 can be used to obtain the positions of the robot 30 and the shelf 40, search for the second connecting member 41, and search for the first identification feature and the second identification feature. The first connecting member 33 and the second connecting member 41 can be connected.

[0065] Step S4: Control the movement of the robot according to the first identification feature and the second identification feature, so as to dock the first connecting member with the second connecting member.

[0066] A docking method for a robot and a shelf provided by an embodiment of the present application. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively arranged on both sides of the shelf. The method includes: First, if a docking instruction for docking with the shelf is received, move to the target area according to the docking instruction; then detect whether the shelf exists in the target area; then, if the shelf exists in the target area, search for the first identification feature, the second identification feature, and the second connecting member on the shelf; finally, control the movement of the robot according to the first identification feature and the second identification feature, so as to dock the first connecting member with the second connecting member. The docking method for the robot and the shelf can adjust the poses of the robot and the shelf only based on the first identification feature and the second identification feature, has a simple structure, saves costs, and can automatically adjust the posture of the robot according to the method of the embodiment of the present application, so that the robot can automatically identify the shelf and complete the docking, improving the operation efficiency of the robot.

[0067] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a method for moving to a target area according to the docking instruction provided by an embodiment of the present invention. The docking instruction carries information about the target area. As Figure 3 shown, if a docking instruction for docking with the shelf is received, moving to the target area according to the docking instruction includes:

[0068] Step S11: When a docking instruction broadcast by the shelf or a docking instruction sent by a scheduling device is received, use the first position in the target area as the destination, and plan a path to obtain a first path.

[0069] Specifically, the shelf and the robot can establish communication to enable the shelf to broadcast a docking instruction to the robot, where the docking instruction is an instruction for instructing the robot to dock with the shelf. The scheduling device can be, but is not limited to, a smartphone, a personal computer, a laptop, a tablet computer, a portable wearable device, or other devices capable of sending a docking instruction to the robot. The first position of the target area is generally the position point closest to the robot in the target area or a position point preset in the target area, and the first path is the path planned by the robot from its position to the first position.

[0070] Step S12: Locate and navigate to the first position according to the first path.

[0071] Please refer to Figure 4 , Figure 4 FIG. is a schematic flowchart of a method for searching for the first identification feature, the second identification feature, and the second connecting member located on the shelf according to an embodiment of the present invention. The first identification feature, the second identification feature, and the second connecting member are respectively located on different sides of the shelf. As Figure 4 shown, searching for the first identification feature, the second identification feature, and the second connecting member located on the shelf includes:

[0072] Step S31: Move around the shelf within a preset distance from the shelf with the shelf as the center.

[0073] The preset distance is a pre-set distance, such as 1 meter, 1.5 meters, etc.

[0074] The robot moves in a clockwise or counterclockwise circular motion around the shelf with the shelf as the center.

[0075] Step S32: Scan the shelf with a lidar located on the side of the robot during the movement.

[0076] The side lidar of the robot is the lidar located on the side of the robot.

[0077] When the robot moves around the shelf, the side lidar scans the shelf at preset intervals, such as every 0.1 second.

[0078] Step S33: When the first identification feature, the second identification feature, and the second connecting member are simultaneously recognized in a laser frame obtained by the lidar, the first identification feature, the second identification feature, and the second connecting member are searched for.

[0079] Identify the first identification feature, the second identification feature, and the second connecting member in each laser frame obtained by the side radar. When the first identification feature, the second identification feature, and the second connecting member are simultaneously identified in a laser frame obtained by the lidar, determine the positions of the first identification feature, the second identification feature, and the second connecting member on the shelf.

[0080] Please refer to Figure 5 , Figure 5 which is another schematic diagram of an application scenario corresponding to the docking method between the robot and the shelf provided by the embodiments of the present invention. As Figure 5 shown, when the robot 30 activates the docking mode, the robot 30 moves around the shelf 40 based on the preset distance, which is a circular motion in the figure. At the same time, the side radar of the robot 30 scans the shelf to search for the first identification feature, the second identification feature, and the second connecting member 41 in the feature identification 42.

[0081] Please refer to Figure 6 , Figure 6 which is a schematic flowchart of another method for searching for the first identification feature, the second identification feature, and the second connecting member located on the shelf provided by the embodiments of the present invention. As Figure 6 shown, the method further includes:

[0082] Step S35: When the robot completes one circle of movement and still fails to search for the first identification feature, the second identification feature, and the second connecting member, communicate with the shelf.

[0083] Step S36: Send a feature display instruction to the shelf. When the shelf receives the feature display instruction, the shelf extends the first identification feature and the second identification feature outward and sends a confirmation instruction to the robot.

[0084] Specifically, when the first identification feature and the second identification feature are not obvious, resulting in the radar on both sides of the robot being unable to detect the first identification feature and the second identification feature, the robot can establish temporary communication with the shelf to send a feature display instruction to the shelf, so that the shelf extends the first identification feature and the second identification feature outward through the feature display instruction. After the shelf extends the first identification feature and the second identification feature outward, the shelf sends a confirmation instruction to the robot, and the confirmation instruction is to confirm that the first identification feature and the second identification feature of the shelf have been extended outward.

[0085] Step S37: When receiving the determination instruction, the robot moves around the shelf again, and during the movement, continues to scan the shelf through the lidar located on the side of the robot.

[0086] After the robot receives the determination instruction, the robot moves around the shelf again, and during the movement, continues to scan the shelf through the lidar located on the side of the robot. Until the first identification feature and the second identification feature can be detected by the radar of the robot, and then the robot connects the first connector and the second connector according to the first identification feature and the second identification feature, realizing that when the first identification feature and the second identification feature are not obvious and the radar of the robot cannot detect the first identification feature and the second identification feature, the docking between the robot and the shelf can still be successfully completed.

[0087] Please refer to Figure 7 , Figure 7 is a schematic flowchart of the method for docking the first connector and the second connector provided by the embodiment of the present invention. As Figure 7 shown, the controlling the robot to move according to the first identification feature and the second identification feature to dock the first connector and the second connector includes:

[0088] Step S41: Adjust the posture of the robot according to the position of the second connector so that the first connector faces the second connector.

[0089] Step S42: Scan both sides of the shelf respectively by the lidars on both sides of the robot so that the lidars on both sides of the robot respectively obtain the first identification feature and the second identification feature.

[0090] When the first connector of the robot faces the second connector of the shelf, as Figure 2 shown, the lidars on both sides of the robot respectively obtain the first identification feature and the second identification feature.

[0091] Step S43: Continue to adjust the posture of the robot to reach the target posture according to the distances between the first identification feature and the second identification feature respectively obtained by the lidars on both sides of the robot.

[0092] Specifically, the attitude of the robot is adjusted according to the distances between the first identification feature and the second identification feature respectively obtained by the lidar sensors on both sides of the robot, so as to reach the target attitude. The target attitude means that the first connecting member faces the second connecting member and the distances between the first identification feature and the second identification feature respectively obtained by the lidar sensors on both sides of the robot are the same.

[0093] Step S44: Control the robot to move linearly to dock the first connecting member and the second connecting member.

[0094] In this embodiment, during the process of the robot moving towards the shelf, by adjusting the attitude of the robot, the distances between the first identification feature and the second identification feature respectively obtained by the lidar sensors on both sides of the robot are made the same, so that the robot moves vertically towards the shelf and realizes a faster and more accurate docking.

[0095] In some embodiments, the method for the robot to dock with the shelf further includes: when the tensile force between the first connecting member and the second connecting member is greater than or equal to a preset tensile force value, control the shelf to drive forward to assist in boosting the robot.

[0096] Specifically, a tensile force sensing device is provided in the robot or the shelf to obtain the tensile force between the first connecting member and the second connecting member. When the tensile force between the first connecting member and the second connecting member is greater than or equal to a preset tensile force value (the preset tensile force value can be determined according to actual needs), the robot or the shelf controls the shelf to drive forward to assist in boosting the robot, so as to complete the docking between the robot and the shelf.

[0097] An embodiment of the present invention provides a method for a robot to dock with a shelf. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively provided on both sides of the shelf. This method first, if a docking instruction to dock with the shelf is received, moves to the target area according to the docking instruction, then detects whether there is a shelf in the target area, and then, if there is a shelf in the target area, searches for the first identification feature, the second identification feature, and the second connecting member of the shelf, and finally, according to the first identification feature and the second identification feature, controls the robot to move to dock the first connecting member and the second connecting member. In the embodiment of the present invention, the attitude of the robot can be automatically adjusted, so that the robot can automatically identify the shelf and complete the docking, improving the operation efficiency of the robot.

[0098] Please refer to Figure 8 , Figure 8It is a schematic structural diagram of a docking device between a robot and a shelf provided by an embodiment of the present invention. The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and a first identification feature and a second identification feature are respectively provided on two side edges of the shelf. As Figure 8 shown, the docking device 100 between the robot and the shelf includes: a moving module 101, a detection module 102, a searching module 103, and a control module 104.

[0099] Among them, the moving module 101 is configured to move to a target area according to the docking instruction if a docking instruction for docking with the shelf is received. The detection module 102 is configured to detect whether the shelf exists in the target area. The searching module 103 is configured to search for the first identification feature, the second identification feature, and the second connecting member of the shelf if the shelf exists in the target area. The control module 104 is configured to control the movement of the robot according to the first identification feature and the second identification feature, so as to dock the first connecting member with the second connecting member.

[0100] In some embodiments, the docking instruction carries information of the target area, and the moving module 101 is further configured to: when receiving the docking instruction broadcast by the shelf or the docking instruction sent by the scheduling device, take the first position in the target area as the destination, plan a path to obtain a first path, and then navigate to the first position according to the first path.

[0101] In some embodiments, the first identification feature, the second identification feature, and the second connecting member are respectively located on different sides of the shelf, and the searching module 102 is further configured to: move around the shelf within a preset distance from the shelf with the shelf as the center; scan the shelf with a lidar located on the side of the robot during the movement; when the first identification feature, the second identification feature, and the second connecting member are simultaneously recognized in a laser frame obtained by the lidar, the first identification feature, the second identification feature, and the second connecting member are searched.

[0102] In some embodiments, the searching module 102 is further configured to: when the robot completes one circle of movement and still fails to search for the first identification feature, the second identification feature, and the second connecting member, communicate with the shelf; send a feature display instruction to the shelf, where when the shelf receives the feature display instruction, the shelf extends the first identification feature and the second identification feature outward and sends a confirmation instruction to the robot; when receiving the confirmation instruction, the robot moves around the shelf again and continues to scan the shelf with the lidar located on the side of the robot during the movement.

[0103] In some embodiments, the control module 104 is further configured to: adjust the posture of the robot according to the position of the second connecting member so that the first connecting member faces the second connecting member; scan both sides of the shelf respectively by the lidars on both sides of the robot, so that the lidars on both sides of the robot respectively obtain the first identification feature and the second identification feature; continue to adjust the posture of the robot according to the distances between the first identification feature and the second identification feature respectively obtained by the lidars on both sides of the robot to reach the target posture; control the robot to move linearly to dock the first connecting member and the second connecting member.

[0104] In some embodiments, the control module 104 is further configured to: when the tensile force between the first connecting member and the second connecting member is greater than or equal to a preset tensile force value, control the shelf to drive forward to assist in boosting the robot.

[0105] It should be noted that the docking device between the above-mentioned robot and the shelf can execute the docking method between the robot and the shelf provided by the embodiments of the present invention, and has corresponding functional modules and beneficial effects for executing the method. For the technical details not described in detail in the embodiments of the docking device between the robot and the shelf, reference can be made to the docking method between the robot and the shelf provided by the embodiments of the present invention.

[0106] Please refer to Figure 9 , Figure 9 which is a schematic structural diagram of a robot provided by an embodiment of the present invention. The robot 200 can be used to execute the docking method between the robot and the shelf as described above. As Figure 9 shown, the robot 200 includes:

[0107] One or more processors 201 and a memory 202, Figure 9 where one processor 201 is taken as an example.

[0108] The processor 201 and the memory 202 can be connected through a bus or other means, Figure 9 where connection through a bus is taken as an example.

[0109] The memory 202, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions / modules corresponding to the docking method between the robot and the shelf in the embodiments of the present invention (for example, attached Figure 8The mobile module 101, detection module 102, search module 103, and control module 104 shown). The processor 201 executes various functional applications and data processing of the docking device between the robot and the shelf by running non-volatile software programs, instructions, and modules stored in the memory 202, that is, implements the docking method between the robot and the shelf in the above method embodiments.

[0110] The memory 202 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the docking device between the robot and the shelf, etc. In addition, the memory 202 may include a high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 202 may optionally include a memory remotely provided relative to the processor 201, and these remote memories can be connected to the docking device between the robot and the shelf through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0111] One or more modules are stored in the memory 202. When executed by one or more processors 201, they execute the docking method between the robot and the shelf in any of the above method embodiments. For example, they execute the method steps S1 to S4 described above Figure 1 in Figure 3 the method steps S11 to S12 in Figure 4 the method steps S31 to S33 in Figure 6 the method steps S35 to S37 in Figure 7 the method steps S41 to S44 in Figure 8 to implement the functions of the modules 101 - 104 in

[0112] The above product can execute the docking method between the robot and the shelf provided in the embodiments of the present invention, and has corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in this embodiment, reference can be made to the docking method between the robot and the shelf provided in the embodiments of the present invention.

[0113] The embodiments of the present invention provide a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by an electronic device to execute the docking method between the robot and the shelf in any of the above method embodiments. For example, they execute the method steps S1 to S4 described above Figure 1 in Figure 3 the method steps S11 to S12 in Figure 4The method steps S31 to S33 in Figure 6 The method steps S35 to S37 in Figure 7 The method steps S41 to S44 in achieve Figure 8 The functions of modules 101 - 104 in

[0114] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] Through the description of the above embodiments, those of ordinary skill in the art can clearly understand that each embodiment can be implemented by means of software plus a general - purpose hardware platform, and of course, it can also be implemented by hardware. Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer - readable storage medium. When the program is executed, it can include the processes of the embodiments of the above - mentioned methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read - only memory (ROM), or a random access memory (RAM), etc.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A docking method between a robot and a shelf, characterized in that, The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and the two sides of the shelf are respectively provided with a first identification feature and a second identification feature. The first identification feature, the second identification feature, and the second connecting member are respectively located on different sides of the shelf. The method includes: If a docking instruction for docking with the shelf is received, move to the target area according to the docking instruction; Detect whether the shelf exists in the target area; If the shelf exists in the target area, search for the first identification feature, the second identification feature, and the second connecting member of the shelf; Control the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member with the second connecting member; The searching for the first identification feature, the second identification feature, and the second connecting member of the shelf includes: taking the shelf as the center, moving around the shelf within a preset distance from the shelf; scanning the shelf with a lidar located on the side of the robot during the movement; when the first identification feature, the second identification feature, and the second connecting member are simultaneously recognized in a laser frame obtained by the lidar, the first identification feature, the second identification feature, and the second connecting member are searched; When the robot completes one circle of movement and still fails to search for the first identification feature, the second identification feature, and the second connecting member, communicate with the shelf; send a feature display instruction to the shelf, where when the shelf receives the feature display instruction, the shelf extends the first identification feature and the second identification feature outward and sends a confirmation instruction to the robot; when the confirmation instruction is received, the robot moves around the shelf again and continues to scan the shelf with the lidar located on the side of the robot during the movement.

2. The method according to claim 1, characterized in that, The docking instruction carries information about the target area; The step of if a docking instruction for docking with the shelf is received, move to the target area according to the docking instruction includes: If a docking instruction broadcast by the shelf or a docking instruction sent by a scheduling device is received, take the first position in the target area as the destination and plan a path to obtain a first path; Locate and navigate to the first position according to the first path.

3. The method according to claim 1, characterized in that The step of control the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member with the second connecting member includes: Adjust the posture of the robot according to the position of the second connecting member so that the first connecting member faces the second connecting member; Scan the two sides of the shelf with the lidars on both sides of the robot respectively so that the lidars on both sides of the robot respectively obtain the first identification feature and the second identification feature; Continue to adjust the posture of the robot according to the distances between the first identification feature and the second identification feature respectively obtained by the lidars on both sides of the robot to reach the target posture; Control the robot to move linearly to dock the first connecting member and the second connecting member.

4. The method according to claim 1, wherein The method further includes: When the tensile force between the first connecting member and the second connecting member is greater than or equal to a preset tensile force value, control the shelf to drive forward to assist in boosting the robot.

5. A docking device for a robot and a shelf, characterized in that, The robot is provided with a first connecting member, the shelf is provided with a second connecting member, and the two sides of the shelf are respectively provided with a first identification feature and a second identification feature. The first identification feature, the second identification feature, and the second connecting member are respectively located on different sides of the shelf. The device includes: A moving module, configured to move to a target area according to the docking instruction if a docking instruction for docking with the shelf is received; A detection module, configured to detect whether the shelf exists in the target area; A searching module, configured to search for the first identification feature, the second identification feature, and the second connecting member located on the shelf if the shelf exists in the target area; A control module, configured to control the movement of the robot according to the first identification feature and the second identification feature to dock the first connecting member with the second connecting member; The searching module is further configured to: move around the shelf within a preset distance from the shelf with the shelf as the center; scan the shelf with a lidar located on the side of the robot during the movement; and search for the first identification feature, the second identification feature, and the second connecting member when the first identification feature, the second identification feature, and the second connecting member are simultaneously recognized in a laser frame obtained by the lidar; When the robot completes one circle of movement and still fails to search for the first identification feature, the second identification feature, and the second connecting member, communicate with the shelf; send a feature display instruction to the shelf, where when the shelf receives the feature display instruction, the shelf extends the first identification feature and the second identification feature outward and sends a confirmation instruction to the robot; when the confirmation instruction is received, the robot moves around the shelf again and continues to scan the shelf with the lidar located on the side of the robot during the movement.

6. The device according to claim 5, characterized in that The docking instruction carries information about the target area; The moving module is further configured to: If a docking instruction broadcast by the shelf or a docking instruction sent by a scheduling device is received, plan a path to obtain a first path with the first position in the target area as the destination; Locate and navigate to the first position according to the first path.

7. A robot, characterized in that, Includes: At least one processor, and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the docking method of the robot and the shelf according to any one of claims 1-4.

8. A readable storage medium, characterized in that, The readable storage medium stores computer-executable instructions, which, when executed, implement the steps of the docking method of the robot and the shelf according to any one of claims 1-4.

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