Traction control method, device, equipment and storage medium

Abstract

The embodiment of the present application provides a traction control method, device, equipment and storage medium. When the traction control device moves forward, if the fixed part of the delivery vehicle body is located between two mechanical arms and within the arm length range of each mechanical arm, the real-time relative position of the fixed part and each mechanical arm is obtained. When the real-time relative position of the fixed part and each mechanical arm is that the fixed part is at the preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body and the traction control device. This technical solution does not require manual intervention, and can also ensure the docking efficiency and docking firmness of the traction control body and the delivery vehicle body, reducing labor costs and improving delivery efficiency.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of warehousing and logistics, and in particular to a traction control method, device, equipment and storage medium. Background Art

[0002] With the development of artificial intelligence technology, robots that can be used in various scenarios have emerged. For example, a traction robot is a handling robot used in the warehousing field, which can transport the target item to the target location based on the received handling instructions. At present, the traction robot includes a detachable traction control body and a delivery vehicle body. Before the traction robot performs the handling, the traction control body and the delivery vehicle body need to be docked first.

[0003] In the related art, the docking method of the traction control body and the delivery vehicle body is mainly manual docking. Specifically, the traction control body and the delivery vehicle body are manually moved to the target docking area, and in the target docking area, the operator fixes the delivery vehicle body to the traction control body to achieve docking. After the docked traction control body and the delivery vehicle body have completed the delivery task, the operator separates them.

[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the manual docking method of the traction control body and the delivery vehicle body requires human participation, high labor costs, and low delivery efficiency. Summary of the invention

[0005] The embodiments of the present application provide a traction control method, device, equipment and storage medium to solve the problem of low delivery efficiency caused by high labor costs in the docking process between the existing traction control body and the delivery vehicle body.

[0006] According to a first aspect of the present application, an embodiment of the present application provides a traction control method, including:

[0007] During the forward movement of the traction control device, determining whether the fixed portion of the delivery vehicle body is located between two mechanical arms of the traction control device;

[0008] When it is determined that the fixing portion is located between the two mechanical arms and within the arm length range of each mechanical arm, obtaining a real-time relative position of the fixing portion and each mechanical arm;

[0009] When the real-time relative position between the fixing portion and each mechanical arm is that the fixing portion is at a preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body and the traction control device.

[0010] In a possible design of the first aspect, each mechanical arm is provided with a ranging sensor array, wherein the ranging sensor array includes a plurality of ranging sensors arranged in sequence;

[0011] Accordingly, when it is determined that the fixing portion is located between the two mechanical arms and within the arm length range of each mechanical arm, obtaining the real-time relative position of the fixing portion and each mechanical arm includes:

[0012] When it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, real-time position information of sensors output by the distance detection sensor array is obtained, wherein the real-time position information of the sensors is the serial number information of the distance measuring sensors located in the same straight line as the fixed part;

[0013] The real-time relative position of the fixing part and each robot arm is determined according to the real-time point position information of the sensor.

[0014] Optionally, pressure sensors are also provided on both sides of the distance sensor array on each robotic arm;

[0015] Accordingly, controlling the two mechanical arms to fix the delivery vehicle body and the traction control device includes:

[0016] Controlling the two mechanical arms to move toward each other so that the fixing portion contacts the two mechanical arms;

[0017] Obtaining a pressure value of the fixing portion on each robotic arm detected by a pressure sensor on each robotic arm;

[0018] When the pressure value of the fixing part on each mechanical arm reaches the preset pressure threshold, the relative position of the delivery vehicle body and the traction control device is kept unchanged.

[0019] In another possible design of the first aspect, the method further includes:

[0020] Obtain the delivery route information of the target delivery task;

[0021] Based on the delivery route information, the traction control device to which the delivery vehicle body is fixed is controlled to execute the target delivery task.

[0022] In another possible design of the first aspect, the method further includes:

[0023] During the forward movement of the traction control device, obtaining a field of view image captured by a camera assembly, wherein the field of view image includes the delivery vehicle body;

[0024] Performing image recognition on the field of view image to determine the position of the delivery vehicle;

[0025] Based on the position of the delivery vehicle body and the real-time position of the traction control device, the running direction of the traction control device is adjusted so that the delivery vehicle body and the traction control device are in the same straight line.

[0026] According to a second aspect of the present application, an embodiment of the present application provides a traction control device, including:

[0027] a processing module, used to determine whether the fixed portion of the delivery vehicle body is located between two mechanical arms of the traction control device during the forward movement of the traction control device;

[0028] an acquisition module, for acquiring a real-time relative position of the fixing portion and each of the mechanical arms when it is determined that the fixing portion is located between the two mechanical arms and is within the arm length range of each mechanical arm;

[0029] The control module is used to control the two mechanical arms to fix the delivery vehicle body and the traction control device when the real-time relative position of the fixing part and each mechanical arm is that the fixing part is at the preset target position of each mechanical arm.

[0030] In a possible design of the second aspect, each mechanical arm is provided with a ranging sensor array, wherein the ranging sensor array includes a plurality of ranging sensors arranged in sequence;

[0031] Accordingly, the acquisition module is specifically used for:

[0032] When it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, real-time position information of sensors output by the distance detection sensor array is obtained, wherein the real-time position information of the sensors is the serial number information of the distance measuring sensors located in the same straight line as the fixed part;

[0033] The real-time relative position of the fixing part and each robot arm is determined according to the real-time point position information of the sensor.

[0034] Optionally, pressure sensors are also provided on both sides of the distance sensor array on each robotic arm;

[0035] Accordingly, the control module is specifically used for:

[0036] Controlling the two mechanical arms to move toward each other so that the fixing portion contacts the two mechanical arms;

[0037] Obtaining a pressure value of the fixing portion on each robotic arm detected by a pressure sensor on each robotic arm;

[0038] When the pressure value of the fixing part on each mechanical arm reaches the preset pressure threshold, the relative position of the delivery vehicle body and the traction control device is kept unchanged.

[0039] In another possible design of the second aspect, the acquisition module is further used to acquire delivery route information of the target delivery task;

[0040] The control module is further used to control the traction control device fixed with the delivery vehicle body to execute the target delivery task based on the delivery route information.

[0041] In another possible design of the second aspect, the acquisition module is further used to acquire a field of view image captured by a camera assembly during the forward movement of the traction control device, wherein the field of view image includes the delivery vehicle body;

[0042] The processing module is used to perform image recognition on the field of view image to determine the position of the delivery vehicle;

[0043] The control module is further used to adjust the running direction of the traction control device based on the position of the delivery vehicle body and the real-time position of the traction control device, so that the delivery vehicle body and the traction control device are in the same straight line.

[0044] According to a third aspect of the present application, an embodiment of the present application provides a traction control device, comprising: a traction control body, a control device disposed in the traction control body, and two mechanical arms disposed on both sides of the traction control body;

[0045] The control device is used to determine whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device according to the position of the delivery vehicle body and the real-time position of the traction control device during the process of the traction control device moving forward, and when it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, obtain the real-time relative position of the fixed part and each mechanical arm;

[0046] The two mechanical arms are used to fix the delivery vehicle body and the traction control device under the control of the control device when the real-time relative position of the fixing part and each mechanical arm is that the fixing part is at the preset target position of each mechanical arm.

[0047] In a possible design of the third aspect, each mechanical arm is provided with a ranging sensor array, wherein the ranging sensor array includes a plurality of ranging sensors arranged in sequence;

[0048] The distance measuring sensor array is used to detect the distance when the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, and output the real-time position information of the sensor, wherein the real-time position information of the sensor is the serial number information of the distance measuring sensor located in the same straight line as the fixed part;

[0049] The control device is also used to determine the real-time relative position of the fixing part and each robotic arm according to the real-time point information of the sensor.

[0050] Optionally, pressure sensors are also provided on both sides of the distance sensor array on each robotic arm;

[0051] The control device is also used to control the two robotic arms to move toward each other so that the fixed part contacts the two robotic arms when the real-time relative position between the fixed part and each robotic arm is that the fixed part is at a preset target position of each robotic arm;

[0052] The pressure sensor is used to detect the pressure value of the fixing part on each robot arm;

[0053] The control device is also used to keep the relative position of the delivery vehicle body and the traction control device unchanged when the pressure value of the fixing part on each mechanical arm reaches a preset pressure threshold.

[0054] In another possible design of the third aspect, the control device is further used to control the traction control device to which the delivery vehicle body is fixed to perform the target delivery task based on the acquired delivery route information of the target delivery task.

[0055] In yet another possible design of the third aspect, the traction control device further includes: a camera assembly;

[0056] The camera assembly is used to capture a field of view image when the traction control device moves forward, and the field of view image includes the delivery vehicle body;

[0057] The control device is also used to perform image recognition on the field of view image to determine the position of the delivery vehicle body, and based on the position of the delivery vehicle body and the real-time position of the traction control device, adjust the running direction of the traction control device so that the delivery vehicle body and the traction control device are in the same straight line.

[0058] According to a fourth aspect of the present application, this embodiment provides a delivery device, comprising: a delivery vehicle body and the traction control device described in the third aspect above.

[0059] According to the fifth aspect of the present application, this embodiment provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect above.

[0060] According to the sixth aspect of the present application, this embodiment provides a computer program product, including: a computer program, which is used to implement the method described in the first aspect when executed by a processor.

[0061] The traction control method, device, equipment and storage medium provided by the embodiment of the present application obtain the real-time relative position of the fixed part and each mechanical arm when the fixed part of the delivery vehicle body is located between two mechanical arms and within the arm length range of each mechanical arm during the forward movement of the traction control device. When the real-time relative position of the fixed part and each mechanical arm is that the fixed part is at the preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body and the traction control device. This technical solution does not require manual intervention and can also ensure the docking efficiency and docking firmness of the traction control body and the delivery vehicle body, reducing labor costs and improving delivery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0063] Figure 1 An appearance diagram of a distribution device provided in an embodiment of the present application;

[0064] Figure 2 for Figure 1 Schematic diagram of application scenarios of the distribution equipment shown;

[0065] Figure 3 A schematic diagram of the structure of a traction control device provided in an embodiment of the present application;

[0066] Figure 4 A front view of a mechanical arm in a traction control device provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of the structure of another traction control device provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of a flow chart of a first embodiment of a traction control method provided in an embodiment of the present application;

[0069] Figure 7 A schematic diagram of a flow chart of a second embodiment of a traction control method provided in an embodiment of the present application;

[0070] Figure 8 A schematic structural diagram of an embodiment of a traction control device provided in an embodiment of the present application.

[0071] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0073] With the expansion of robot application areas, robot delivery capability has become one of the important functions that many service robots need to have, such as handling robots in shopping malls and supermarkets, traction robots that perform delivery functions in warehouses, etc. At present, in order to improve the efficiency of robot use and delivery, the traction robots used in warehousing usually include a traction control body and a delivery vehicle body. When it is necessary to perform a delivery task, the traction control body and the delivery vehicle body are first assembled, and then the assembled delivery equipment is used to perform tasks such as handling and delivery.

[0074] Based on the introduction of the background technology, it can be known that the related technology adopts a manual docking method to dock the traction control body and the delivery vehicle body. However, the intelligent level of this solution is low, manual participation is required, the labor cost is high, and the delivery efficiency is low.

[0075] In addition, in the related art, the traction control body can also realize the assembly of the traction control body and the delivery vehicle body based on its own navigation system. Specifically, the traction robot uses the laser radar set on the traction control body to determine the position information of the delivery vehicle body to be docked, and then uses the navigation system to control the traction control body to move to the position of the delivery vehicle body to be docked, thereby realizing the docking of the delivery robot body with the delivery vehicle body. However, since the positioning accuracy achieved by the laser radar and navigation system on the delivery robot body is usually a few centimeters, it cannot meet the docking accuracy of the traction control body and the delivery vehicle body, which will result in low docking efficiency and low docking firmness between the traction control body and the delivery vehicle body.

[0076] In response to the above-mentioned problems existing in the relevant technologies, the technical conception process of the technical scheme of the present application is as follows: Based on the process of practical operation, the inventor learned that the relative position relationship between the traction control body and the delivery vehicle body can be determined by the camera assembly arranged on the traction control body, and in the process of docking the traction control body and the delivery vehicle body, if the real-time positions of the traction control body and the delivery vehicle body and the docking pressure during the docking process between the delivery vehicle body and the traction control body can be accurately obtained, the docking efficiency and docking firmness of the traction control body and the delivery vehicle body can be improved. At the same time, no manual participation is required, which reduces labor costs and improves delivery efficiency.

[0077] Based on the above technical conception process of the technical solution of the present application, the embodiment of the present application provides a traction control method. During the process of the traction control device moving forward, it is determined whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device. When it is determined that the fixed part is located between the two mechanical arms and is within the arm length range of each mechanical arm, the real-time relative position of the fixed part and each mechanical arm is obtained. When the real-time relative position of the fixed part and each mechanical arm is that the fixed part is at the preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body to the traction control device. This technical solution can obtain the real-time relative position of the fixed part of the delivery vehicle body and each mechanical arm during the docking process between the traction control device and the delivery vehicle body, without the need for manual intervention, and can also ensure the docking efficiency and docking firmness of the traction control body and the delivery vehicle body, thereby reducing labor costs and improving delivery efficiency.

[0078] For example, Figure 1 This is an appearance diagram of a distribution device provided in an embodiment of the present application. Figure 1 As shown, the distribution device may include: a traction control device 11 and a distribution vehicle body 12. The traction control device 11 may include a traction control body 110 and two mechanical arms 111 arranged on both sides of the traction control body 110. The distribution vehicle body 12 has a fixing portion 121 and a carrying area 122. The traction control device 11 is fixed by the two mechanical arms 111 and the fixing portion 121 of the distribution vehicle body 12 to achieve docking of the traction control device 11 with the distribution vehicle body 12. The carrying area 122 of the distribution vehicle body 12 is used to carry items to be distributed, etc.

[0079] Optionally, in an embodiment of the present application, the traction control device 11 may further include a camera assembly 113. The camera assembly 113 is used to calibrate the position when the traction control device 11 and the delivery vehicle body 12 are docked.

[0080] Understandably, Figure 1The traction control device 11 shown is illustrated as a type of traction robot, and the delivery vehicle body is illustrated as a cart with upper and lower load-bearing areas. The embodiment of the present application does not limit the specific appearance of the traction control device 11 and the delivery vehicle body 12, which can be set according to actual scenarios.

[0081] For example, Figure 2 for Figure 1 The schematic diagram of the application scenario of the distribution equipment shown in FIG. Figure 2 As shown, the application scenario may include: a map space 200 formed by multiple delivery locations, and a loading area O located on the map space 200.

[0082] For example, Figure 2 As shown, the map space 200 is formed by delivery position A to delivery position H. The space between any two configuration positions can form multiple operating channels in the horizontal direction or the vertical direction. There is an intersection between two adjacent operating channels, so that the transportation equipment can move from one operating channel to another operating channel.

[0083] Optionally, the loading area O may be located at Figure 2 In the upper left area of ​​the map space 200 shown, the traction control device 11 and the delivery vehicle body 12 can be docked and fixed in the loading area O, so that after docking, the items carried on the carrying area 122 of the delivery vehicle body 12 can be transported to the target delivery location through the traction control device 11.

[0084] For example, in this embodiment, after the traction control device 11 is docked with the delivery vehicle 12, the delivery task can be automatically performed on the operation channel included in the map space 200 based on the received delivery instruction to transport the items carried by the delivery vehicle 12 to the designated delivery location. The embodiment of the present application does not limit the specific operation route of the delivery device.

[0085] In practical applications, the distribution equipment can perform distribution tasks in a fixed area. For example, Figure 2 As shown in the figure, after the delivery equipment is deployed to the new working environment, it needs to rely on its own navigation system to establish Figure 2 The working environment map shown in the figure has delivery locations A, B and other delivery locations marked on the map. Because it involves the docking of the traction control device 11 with the delivery vehicle body 12, it is necessary to delineate a loading area O on the working environment map of the delivery equipment. When the delivery equipment needs to perform a delivery task, the traction control device 11 and the delivery vehicle body 12 included in the delivery equipment will both enter the loading area O to achieve the docking of the traction control device 11 with the delivery vehicle body 12.

[0086] Optionally, the distribution equipment can be operated in different scene spaces, such as smart security monitoring scenes, smart medical scenes, warehousing and logistics scenes, etc. The traction control device 11 included in the distribution equipment can be various devices with traction functions, such as unmanned transport vehicles or handling robots, etc. The embodiment of the present application does not limit the specific implementation of the traction control device 11 and the distribution vehicle body 12, and different distribution equipment can be selected according to different scenes.

[0087] It can be understood that the application scenario diagram is only an exemplary description of the application scenario applicable to the traction control method. The embodiment of the present application does not limit the number of devices or device types included in the application scenario. It can also include other devices or objects according to actual needs, which will not be elaborated here.

[0088] The traction control device provided in the embodiment of the present application can execute the traction control method provided in the embodiment of the present application, and can solve the technical problems existing in the prior art. The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0089] Figure 3 This is a schematic diagram of the structure of a traction control device provided in an embodiment of the present application. Figure 1 The delivery device shown in the figure explains the docking principle of the traction control device 11 and the delivery vehicle body 12. Figure 1 and Figure 3 As shown, the traction control device 11 may include: a traction control body 110 , a control device 112 disposed in the traction control body 110 , and two mechanical arms 111 disposed on both sides of the traction control body 110 .

[0090] In an embodiment of the present application, the control device 112 is used to determine whether the fixed portion 121 of the delivery vehicle body 12 is located between the two mechanical arms 111 of the traction control device 11 according to the position of the delivery vehicle body 12 and the real-time position of the traction control device 11 during the process of the traction control device 11 moving forward, and when it is determined that the fixed portion 121 is located between the two mechanical arms 111 and within the arm length range of each mechanical arm 111, obtain the real-time relative position of the fixed portion 121 and each mechanical arm 111;

[0091] Correspondingly, the two robotic arms 111 are used to fix the delivery vehicle body 12 and the traction control device 11 under the control of the control device 112 when the real-time relative position of the fixing part 121 and each robotic arm 111 is that the fixing part 121 is at the preset target position of each robotic arm 111.

[0092] For example, when the traction control device 11 and the delivery vehicle 12 need to cooperate to perform the delivery task, the traction control device 11 and the delivery vehicle 12 first enter the following Figure 2 The loading area O of the map space 200 shown in the figure is then connected with the traction control device 11 and the delivery vehicle body 12, and the delivery task is performed after the connection is completed.

[0093] Exemplarily, during the docking process between the traction control device 11 and the delivery vehicle 12, the control device 112 first obtains its own position by relying on its own navigation system, and then, when it is determined that the delivery vehicle 12 is within the field of view of the traction control device 11, identifies the delivery vehicle to be docked through the unique identifier installed on the delivery vehicle 12, and then controls the power system to generate drive, so that the traction control device 11 moves forward. Optionally, the control device 112 can identify the delivery vehicle to be docked through a QR code or image recognition method installed on the delivery vehicle 12, and the embodiment of the present application does not limit the method for the control device 112 to identify the delivery vehicle.

[0094] Optionally, during the process of the traction control device 11 moving forward, the control device 112 can also analyze in real time the position of the delivery vehicle body 12 and the real-time position of the traction control device 11, and determine whether the fixed part 121 of the delivery vehicle body 12 enters the area between the two mechanical arms 111 of the traction control device 11. If so, the real-time relative position of the fixed part 121 and the two mechanical arms 111 is obtained. When the real-time relative position of the fixed part 121 and each mechanical arm 111 is determined to be that the fixed part 121 is at the preset target position of each mechanical arm 111, the mechanical arm 111 is controlled to fix the delivery vehicle body 12 and the traction control device 11, thereby realizing the docking of the delivery vehicle body 12 and the traction control device 11.

[0095] The traction control device provided in the embodiment of the present application is provided with a control device in the traction control body and two mechanical arms on both sides of the traction control body. The control device obtains the real-time relative position of the fixed part and each mechanical arm when it determines that the fixed part of the delivery vehicle body is located between the two mechanical arms and within the arm length range of each mechanical arm according to the acquired position of the delivery vehicle body and the real-time position of the traction control device. When the real-time relative position of the fixed part and each mechanical arm is that the fixed part is at the preset target position of each mechanical arm, the delivery vehicle body and the traction control device are fixed under the control of the control device. This technical solution improves the docking efficiency and docking accuracy of the traction control device delivery vehicle body, and realizes the rapid and accurate docking of the traction control device and the delivery vehicle body.

[0096] Optional, Figure 4 This is a front view of a mechanical arm in a traction control device provided in an embodiment of the present application. Figure 4 As shown, each mechanical arm 111 is provided with a distance sensor array 114, and the distance sensor array 114 includes a plurality of distance sensors arranged in sequence;

[0097] The ranging sensor array 114 is used to perform distance detection when the fixed part 121 is located between the two robotic arms 111 and within the arm length range of each robotic arm 111, and output the sensor real-time point position information, which is the serial number information of the ranging sensor located in the same straight line as the fixed part 121.

[0098] Correspondingly, the control device 112 is also used to determine the real-time relative position of the fixing part 121 and each robot arm 111 according to the real-time point information of the sensor.

[0099] Optional, see Figure 4 The front view of the robot arm 111 is shown, and a ranging sensor array x1, x2, x3, ... xn is fixed at the middle position of each robot arm 111. Figure 4 In the figure, n distance measuring sensors are arranged in sequence for explanation. Each distance measuring sensor is used to detect whether the fixed part 121 of the delivery vehicle body 12 is within its scannable range. When the fixed part 121 is within the scannable range of a certain distance measuring sensor, the distance measuring sensor generates a signal. Therefore, the real-time position information of the sensor output by the distance measuring sensor array 114 is the serial number information of the distance measuring sensor.

[0100] Accordingly, in this embodiment, when the traction control device 11 is docked with the delivery vehicle 12, and the delivery vehicle 12 enters the range of the two robotic arms 111, the ranging sensors of the ranging sensor array 114 all detect the position of the delivery vehicle 12, and enable the ranging sensor array 114 to output the real-time position information of the sensor (for example, xm, where xm is the position information of any one sensor from x1 to xn).

[0101] Optionally, the control device 112 is provided with a correspondence between the real-time point position information of the sensor and the real-time relative position. Thus, the control device 112 can determine the real-time relative position of the fixed part 121 of the delivery vehicle body 12 and each robotic arm 111 based on the real-time point position information of the sensor acquired from the ranging sensor array 114.

[0102] It can be understood that the ranging sensor can be various types of ranging sensors, for example, any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor and a radar ranging sensor. The embodiments of the present application do not limit the specific type of the ranging sensor.

[0103] In an embodiment of the present application, by providing a ranging sensor array on each robotic arm, the control device can accurately determine the real-time relative position of the fixed part of the delivery vehicle body and each robotic arm, thereby improving the accuracy of the docking timing and providing a prerequisite for subsequently improving the docking efficiency and docking accuracy of the traction control equipment delivery vehicle body.

[0104] Optionally, in the embodiments of the present application, Figure 4 As shown, pressure sensors 115 are also provided on both sides of the distance measuring sensor array 114 on each robot arm 111 .

[0105] Correspondingly, the control device 112 is also used to control the two robotic arms 111 to move toward each other when the real-time relative position of the fixed part 121 and each robotic arm 111 is that the fixed part 121 is at the preset target position of each robotic arm 111, so that the fixed part 121 contacts the two robotic arms 111; at this time, the pressure sensor 115 is used to detect the pressure value of the fixed part 121 on each robotic arm 111, and the control device 112 is also used to keep the relative position of the delivery vehicle body 12 and the traction control device 11 unchanged when the pressure value of the fixed part 121 on each robotic arm 111 reaches the preset pressure threshold.

[0106] In an embodiment of the present application, a raised pressure sensor may be installed on each robotic arm 111. When the ranging sensor array 114 is located at the center of the robotic arm 111, the above-mentioned pressure sensor 115 may be located on both sides of each robotic arm 111. In this way, when the fixed portion 121 of the delivery vehicle body 12 reaches the preset target position of the robotic arm 111, that is, the real-time relative position of the fixed portion 121 and each robotic arm 111 is when the fixed portion 121 is at the preset target position of each robotic arm 111, the robotic arm 111 may perform the operation of fixing the delivery vehicle body 12.

[0107] Specifically, in this embodiment, the two mechanical arms 111 can be extended and retracted in the lateral direction of the traction control device 11, thereby changing the relative distance between the two mechanical arms 111. The lateral direction refers to the direction perpendicular to the forward direction of the traction control device 11.

[0108] Optionally, the specific operation process of the control device 112 to fix the delivery vehicle body 12 is as follows: when the control device 112 controls the two robotic arms 111 to move toward each other, the relative distance between the two robotic arms 111 can be reduced. When the relative distance between the two robotic arms 111 is reduced to a certain distance, the fixing part 121 is in contact with both robotic arms 111. When the two robotic arms 111 continue to move toward each other, the pressure sensor 115 on each robotic arm 111 will be squeezed and output the pressure value of the fixing part 121 on each robotic arm 111, thereby determining the degree of fixation of the fixing part 121 and the two robotic arms 111.

[0109] Exemplarily, the control device 112 can obtain in real time the pressure value of the fixed part 121 on each robotic arm 111 output by the pressure sensor 115, and when it is determined that the pressure value of the fixed part 121 on each robotic arm 111 reaches a preset pressure threshold, the control device 112 controls the two robotic arms 111 to stop moving, keeping the relative position of the delivery vehicle body 12 and the traction control device 11 unchanged, thereby ensuring that the pressure between the two robotic arms 111 and the delivery vehicle body 12 is within a normal value range.

[0110] The traction control device provided in the embodiment of the present application provides a pressure sensor on each robotic arm, and uses the pressure sensor to detect the pressure value of the fixed part of the delivery vehicle body on each robotic arm, thereby providing a prerequisite for ensuring that the pressure between the two robotic arms and the delivery vehicle body is within a normal value range, avoiding the problem of low firmness caused by too small a pressure value between the delivery vehicle body and the traction control device, and at the same time, it can also avoid the phenomenon of damage to the robotic arm or the fixed part due to excessive pressure value between the robotic arm and the delivery vehicle body.

[0111] Furthermore, in an embodiment of the present application, the control device 112 is also used to control the traction control device 11 to which the delivery vehicle body 12 is fixed to execute the target delivery task according to the acquired delivery route information of the target delivery task.

[0112] For example, after the traction control device 11 and the delivery vehicle 12 are successfully docked, the traction control device 11 can drag the delivery vehicle 12 to perform the delivery task in the operable map space 200 .

[0113] In a possible design of the present application, the operator can pre-store the delivery route information of the target delivery task in the control device 112. When the control device 112 determines that the traction control device 11 and the delivery vehicle body 12 are fixed, the control device 112 can control the traction control device 11 fixed with the delivery vehicle body 12 to perform the target delivery task based on the delivery route information.

[0114] In another possible design of the present application, when the workstation operated by the operator receives a feedback signal from the control device 112 that the traction control device 11 and the delivery vehicle body 12 are fixedly connected, the operator can send a delivery instruction to the control device 112. The delivery instruction may include: the delivery route information of the target delivery task. Therefore, when the control device 112 receives the delivery instruction, it can execute the target delivery task based on the delivery route information of the target delivery task in the delivery instruction.

[0115] In the embodiments of the present application, the traction control device and the delivery vehicle body can achieve automatic docking, and the docking accuracy and firmness are high, thereby improving the delivery efficiency.

[0116] Optional, in the above Figure 4 Based on the embodiment shown, Figure 5 This is a schematic diagram of the structure of another traction control device provided in an embodiment of the present application. Figure 1 and Figure 5 As shown, in the embodiment of the present application, the traction control device 11 may further include: a camera component 113.

[0117] The camera assembly 113 is used to capture a field of view image when the traction control device 11 moves forward, and the field of view image includes the delivery vehicle body 12 .

[0118] The control device 112 is also used to perform image recognition on the field of view image, determine the position of the delivery vehicle 12, and adjust the running direction of the traction control device 11 based on the position of the delivery vehicle 12 and the real-time position of the traction control device 11 so that the delivery vehicle 12 and the traction control device 11 are in the same straight line.

[0119] In this embodiment, the other side of the traction control device 11 and the delivery vehicle body 12 may also be provided with a camera assembly, which can collect images of its field of view in real time, especially when the traction control device 11 moves forward, the camera assembly captures the real-time field of view image and transmits it to the control device 112. Optionally, the camera assembly may be a camera or other assembly with a camera function, which is not limited in this embodiment.

[0120] Accordingly, the control device 112 can perform image recognition on the received field of view image to determine whether the delivery vehicle body 12 is included in the field of view image.

[0121] As an example, when the control device 112 determines that the delivery vehicle 12 is included in the field of view image, it can determine the position of the delivery vehicle 12, and then combine the real-time position of the traction control device 11 to determine whether the delivery vehicle 12 and the traction control device 11 are on the same straight line.

[0122] Optionally, if the control device 112 determines that the delivery vehicle body 12 and the traction control device 11 are in the same straight line, the traction control device 11 may be controlled to continue moving so that the fixed portion 121 of the delivery vehicle body 12 enters between the two mechanical arms 111 of the traction control device 11 .

[0123] Optionally, if the control device 112 determines that the delivery vehicle body 12 and the traction control device 11 are not in the same straight line, the running direction of the traction control device 11 can be adjusted to make the delivery vehicle body 12 and the traction control device 11 in the same straight line, providing conditions for subsequent docking.

[0124] As another example, when the control device 112 determines that the delivery vehicle 12 is not included in the field of view image, it is necessary to adjust the running direction of the traction control device 11. First, the delivery vehicle 12 is located in the field of view image captured by the camera component 113, and then while the traction control device 11 is moving forward, the running direction of the traction control device 11 is adjusted to ensure that the delivery vehicle 12 and the traction control device 11 are in the same straight line.

[0125] It is understandable that, in actual applications, camera components may be provided in other directions of the traction control body 110. The other directions may be opposite to the docking direction, and the camera components in this direction detect objects or devices falling within the field of view.

[0126] The traction control device provided by the present application can achieve position calibration between the traction control device and the delivery vehicle body by using a camera assembly during the forward movement of the traction control device, thereby providing a prerequisite for accurate docking of the traction control device and the delivery vehicle body.

[0127] Further, see Figure 5 As shown, the traction control device 11 may further include a power system 116 and a navigation system 117. Optionally, the power system 116 and the navigation system 117 may be disposed inside the traction control device 11 or on the traction control device 11, which is not limited in this embodiment.

[0128] Optional, such as Figure 5 As shown, the power system 116 may include: a motor driver, an encoder, a motor, a reducer and a dynamometer. The motor driver is connected to the control device 112, the motor and the encoder respectively, the reducer is connected to the motor, and the dynamometer is connected to the reducer.

[0129] In the embodiment of the present application, when the traction control device 11 and the delivery vehicle body 12 need to be docked, the control device 112 can send a motion command to the power system. Specifically, the control device 112 sends a motion command to the motor driver, and the motor driver drives the motor to rotate after receiving the command, and drives the power wheel of the robot to move through the reducer transmission, so as to realize the robot's forward, backward, turn and other actions, and the encoder records the rotation state of the motor and feeds it back to the motor driver to realize feedback control.

[0130] Optional, such as Figure 5 As shown, the navigation system 117 may include: an inertial navigation unit and a laser radar, the coordinated use of the two can enable the traction control device 11 to build a map of the operating area and locate itself.

[0131] The traction control device provided in the embodiment of the present application, in addition to having a mechanical arm and a camera assembly, further includes a power system and a navigation system, which improves the intelligence level of the traction control device and lays a foundation for subsequently improving the delivery efficiency.

[0132] The above describes the structural schematic diagram and working principle schematic diagram of the delivery device and the traction control device provided by the embodiment of the present application. The following describes in detail the technical solution of the traction control method performed by the traction control device and how the technical solution of the present application solves the above technical problems with specific embodiments. For details not described in the following method embodiments, please refer to the description of the above embodiments, which are not limited here.

[0133] Figure 6 The flowchart of the first embodiment of the traction control method provided in the embodiment of the present application is shown in FIG. The traction control method is explained by taking the control device in the traction control device as the execution subject. Figure 6 As shown, the traction control method may include the following steps:

[0134] S601. During the process of the traction control device moving forward, determine whether the fixed portion of the delivery vehicle body is located between two mechanical arms of the traction control device.

[0135] In an embodiment of the present application, when the traction control device is docking with the delivery vehicle body, the control device of the traction control device first controls the traction control device to move forward, and in the process of the traction control device moving forward, the position of the delivery vehicle body and the real-time position of the traction control device can also be obtained, and then according to the position of the delivery vehicle body and the real-time position of the traction control device, it can be determined whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device.

[0136] It is understandable that before the traction control device is docked with the delivery vehicle, the control device can also use the camera assembly provided on the traction control body to collect the field of view image, determine the delivery vehicle through image recognition, and judge whether the delivery vehicle is within the field of view. If the delivery vehicle is not within the field of view, the running direction of the traction control device is adjusted to ensure that the delivery vehicle is within the field of view of the camera assembly.

[0137] Optionally, during the docking process between the traction control device and the delivery vehicle, the traction control device needs to move forward. Therefore, during the forward movement of the traction control device, the control device also obtains the field of view image taken by the camera component, which field of view image includes the delivery vehicle, and then performs image recognition on the field of view image to determine the position of the delivery vehicle. Finally, based on the position of the delivery vehicle and the real-time position of the traction control device, the running direction of the traction control device is adjusted to make the delivery vehicle and the traction control device in the same straight line.

[0138] Exemplarily, the control device can calibrate the relative position between the traction control device and the delivery vehicle body based on the field of view image captured by the camera assembly to ensure that the delivery vehicle body and the traction control device are in the same straight line. This can ensure that when the traction control device moves forward, the fixed part of the delivery vehicle body can enter between the two mechanical arms of the traction control device, laying a foundation for the fixation of the two.

[0139] S602: When it is determined that the fixed portion is located between the two robotic arms and within the arm length range of each robotic arm, obtain the real-time relative position of the fixed portion and each robotic arm.

[0140] For example, in the embodiments of the present application, referring to the above Figure 4 As shown in the structural schematic diagram of the robotic arm, each robotic arm is provided with a ranging sensor array, which includes a plurality of ranging sensors arranged in sequence; each ranging sensor can detect and determine the real-time relative position between the fixed part and the robotic arm during the docking process between the delivery vehicle body and the traction control device.

[0141] Accordingly, S602 can be implemented by the following steps:

[0142] A1. When it is determined that the fixed portion is located between the two robotic arms and within the arm length range of each robotic arm, the real-time position information of the sensors output by the distance detection sensor array is obtained.

[0143] The real-time position information of the sensor is the serial number information of the distance measuring sensor located in the same straight line as the fixed part.

[0144] A2. Determine the real-time relative position of the fixed part and each robotic arm based on the real-time position information of the above sensors.

[0145] In an embodiment of the present application, when the control device determines that the fixed portion is located between two robotic arms and within the arm length range of each robotic arm, or when the traction control device is docking with the delivery vehicle, the control device can control the ranging sensor array to start working.

[0146] Specifically, each ranging sensor included in the ranging sensor array is used to detect whether the fixed part of the delivery vehicle is within its scannable range. When the fixed part is within the scannable range of a certain ranging sensor, the real-time sensor point information output by the ranging sensor array is the serial number information of the ranging sensor.

[0147] Optionally, the control device may determine the real-time relative position of the fixed part of the delivery vehicle body and each robotic arm corresponding to the real-time point information of the sensor based on the correspondence between the real-time point information of the sensor and the real-time relative position.

[0148] S603: When the real-time relative position between the fixing part and each mechanical arm is that the fixing part is at a preset target position of each mechanical arm, control the two mechanical arms to fix the delivery vehicle body and the traction control device.

[0149] Illustratively, in an embodiment of the present application, as the traction control device moves forward, the distance between the traction control device and the delivery vehicle body gradually decreases. When the fixed part of the delivery vehicle body enters the arm length range between the two robotic arms, and the real-time relative position of the fixed part and each robotic arm is exactly that the fixed part is at the preset target position of each robotic arm, the control device can control the two robotic arms to fix the delivery vehicle body and the traction control device together.

[0150] Optional, see above Figure 4 As shown, pressure sensors are also provided on both sides of the distance sensor array on each robot arm, and the pressure sensors can detect the pressure value of the fixing part on each robot arm.

[0151] Accordingly, in S603, controlling the two mechanical arms to fix the delivery vehicle body and the traction control device can be achieved in the following manner:

[0152] B1. Control the two robotic arms to move toward each other so that the fixed part contacts the two robotic arms;

[0153] B2. Obtain the pressure value of the fixed part on each robotic arm detected by the pressure sensor on each robotic arm;

[0154] B3. When the pressure value of the fixed part on each robot arm reaches the preset pressure threshold, the relative position of the delivery vehicle body and the traction control device is kept unchanged.

[0155] Illustratively, in this embodiment, when the control device determines that the fixed part is at the preset target position of each robotic arm based on the sensor point information output by the ranging sensor array on the robotic arm, the two robotic arms can be controlled to move toward each other by reducing the vertical distance between the two robotic arms so that the fixed part contacts the two robotic arms. In this way, the pressure sensor on each robotic arm will output the pressure value of the fixed part on each robotic arm when squeezed, so that the control device can obtain the pressure value from the pressure sensor.

[0156] Optionally, in order to avoid the pressure value between the robot arm and the fixed part being too large or too small, a preset pressure threshold for the docking between the two is set in the control device. When the control device determines that the pressure value of the fixed part on each robot arm reaches the preset pressure threshold based on the acquired pressure value, the robot arm is controlled to stop moving, thereby keeping the relative position of the delivery vehicle body and the traction control device unchanged, that is, keeping the pressure value of the fixed part on each robot arm unchanged.

[0157] Furthermore, in an embodiment of the present application, the control device may also obtain delivery route information of a target delivery task, and based on the delivery route information, control a traction control device fixed with a delivery vehicle body to execute the target delivery task.

[0158] Exemplarily, after the traction control device is fixed to the delivery vehicle body, the control device can operate in the constructed map space based on the received delivery route information of the target delivery task to use the delivery vehicle body to move the items to be delivered to the target location.

[0159] Optionally, the delivery route information of the target delivery task may be received before the delivery vehicle and the traction control device are docked, or may be received after the delivery vehicle and the traction control device are docked. The embodiment of the present application does not limit the timing of receiving the delivery route information of the target delivery task.

[0160] The traction control method provided in the embodiment of the present application determines whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device during the forward movement of the traction control device. When it is determined that the fixed part is located between the two mechanical arms and is within the arm length range of each mechanical arm, the real-time relative position of the fixed part and each mechanical arm is obtained. Finally, when the real-time relative position of the fixed part and each mechanical arm is that the fixed part is at the preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body and the traction control device. In this technical solution, the control device can obtain the real-time relative position of the mechanical arm of the traction control device and the fixed part of the delivery vehicle body, so as to realize the automatic and accurate docking of the traction control device and the delivery vehicle body, and improve the docking efficiency on the basis of reducing the docking cost.

[0161] Based on the above analysis, Figure 7 The flowchart of the second embodiment of the traction control method provided in the present application is shown in FIG. In this embodiment, the traction control device is a robot and the delivery vehicle body is a two-layer frame for explanation. Figure 7 As shown, the process of the traction control device performing the docking task is as follows:

[0162] C1. The robot and delivery vehicle enter the loading area.

[0163] For example, when the robot receives a delivery task, it first relies on its own navigation system to obtain its own position, and then autonomously plans a path back to the loading area O in combination with an established global map of the working environment.

[0164] It is understandable that the delivery vehicle to be docked by the robot is also located in the loading area O. Optionally, when there are multiple delivery vehicles in the loading area O, the robot can identify the delivery vehicle to be docked by an image recognition method or a QR code of the surface identity posted on the delivery vehicle. The embodiment of the present application does not limit the identification method of the delivery vehicle to be docked, which can be determined according to the actual scenario and will not be elaborated here.

[0165] C2. Camera-assisted position calibration on the robot.

[0166] Optionally, imaging components, such as cameras, may be provided at the front and rear of the robot, so that after the robot reaches the loading area O, the delivery vehicle will enter the field of view of the camera behind the robot. After the robot identifies the delivery vehicle, the robot can rely on the field of view image obtained by the camera to calibrate its position with the delivery vehicle so that the delivery vehicle is facing the robot, that is, the delivery vehicle and the robot are in the same straight line.

[0167] C3. Guidance for docking based on the distance sensor array and pressure sensor set on the robotic arm.

[0168] For example, when the delivery vehicle is facing the robot, the robot and the delivery vehicle begin to dock. When the delivery vehicle enters the range of the robot's mechanical arm, the ranging sensor array on the mechanical arm is triggered. The robot's control device determines the real-time relative position of the delivery vehicle and the robot based on the real-time sensor point information fed back by the ranging sensor array, so that the delivery vehicle reaches the preset target position of the mechanical arm.

[0169] When the delivery vehicle reaches the preset target position of the robotic arm, the control device can control the robot's robotic arm to apply pressure to the delivery vehicle to fix the delivery vehicle. When the delivery vehicle comes into contact with the robotic arm, the pressure sensor located on the robotic arm will be triggered. The control device controls the pressure level of the robotic arm according to the value feedback from the pressure sensor, so that the robot completes the fixation of the delivery vehicle.

[0170] C4. After the robot successfully docks with the delivery vehicle, it performs the delivery task.

[0171] Optionally, once the robot successfully docks with the delivery vehicle, it can perform the delivery task in the constructed map space based on the received delivery route information.

[0172] The details and beneficial effects not described in this embodiment can be found in the description of the above embodiments and will not be described again here.

[0173] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0174] Figure 8 This is a schematic diagram of the structure of the traction control device embodiment provided in the present application. Figure 8 Said traction control device may include:

[0175] The processing module 801 is used to determine whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device during the process of the traction control device moving forward;

[0176] An acquisition module 802 is used to acquire a real-time relative position of the fixed part and each mechanical arm when it is determined that the fixed part is located between the two mechanical arms and is within the arm length range of each mechanical arm;

[0177] The control module 803 is used to control the two robotic arms to fix the delivery vehicle body and the traction control device when the real-time relative position of the fixing part and each robotic arm is that the fixing part is at a preset target position of each robotic arm.

[0178] In a possible design of an embodiment of the present application, a distance measuring sensor array is provided on each mechanical arm, and the distance measuring sensor array includes a plurality of distance measuring sensors arranged in sequence;

[0179] Accordingly, the acquisition module 802 is specifically used for:

[0180] When it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, real-time position information of sensors output by the distance detection sensor array is obtained, wherein the real-time position information of the sensors is the serial number information of the distance measuring sensors located in the same straight line as the fixed part;

[0181] The real-time relative position of the fixing part and each robot arm is determined according to the real-time point position information of the sensor.

[0182] Optionally, pressure sensors are also provided on both sides of the distance sensor array on each robotic arm;

[0183] Accordingly, the control module 803 is specifically used for:

[0184] Controlling the two mechanical arms to move toward each other so that the fixing portion contacts the two mechanical arms;

[0185] Obtaining a pressure value of the fixing portion on each robotic arm detected by a pressure sensor on each robotic arm;

[0186] When the pressure value of the fixing part on each mechanical arm reaches the preset pressure threshold, the relative position of the delivery vehicle body and the traction control device is kept unchanged.

[0187] In another possible design of the embodiment of the present application, the acquisition module 802 is further used to acquire the delivery route information of the target delivery task;

[0188] The control module 803 is further configured to control the traction control device to which the delivery vehicle body is fixed to execute the target delivery task based on the delivery route information.

[0189] In another possible design of the embodiment of the present application, the acquisition module 802 is further used to acquire a field of view image captured by a camera assembly during the forward movement of the traction control device, wherein the field of view image includes the delivery vehicle body;

[0190] The processing module 801 is used to perform image recognition on the field of view image to determine the position of the delivery vehicle;

[0191] The control module 803 is further used to adjust the running direction of the traction control device based on the position of the delivery vehicle body and the real-time position of the traction control device, so that the delivery vehicle body and the traction control device are in the same straight line.

[0192] The device provided in the embodiment of the present application can be used to execute the technical solution described in the method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0193] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or physically separated. Moreover, these modules can be all implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware.

[0194] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0195] Optionally, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method described in the above method embodiment.

[0196] Optionally, according to an embodiment of the present application, the present application also provides a computer program product, including: a computer program, the computer program is stored in a readable storage medium, at least one processor of the traction control device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the traction control device executes the solution provided by any of the above embodiments.

[0197] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0198] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A traction control method, It is characterized in that include: During the forward movement of the traction control device, determining whether the fixed portion of the delivery vehicle body is located between two mechanical arms of the traction control device; each mechanical arm is provided with a distance sensor array, and the distance sensor array includes a plurality of distance sensors arranged in sequence; When it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, real-time position information of sensors output by the distance detection sensor array is obtained, wherein the real-time position information of the sensors is the serial number information of the distance measuring sensors located in the same straight line as the fixed part; Determine the real-time relative position of the fixing part and each robotic arm according to the real-time point information of the sensor; When the real-time relative position between the fixing portion and each mechanical arm is that the fixing portion is at a preset target position of each mechanical arm, the two mechanical arms are controlled to fix the delivery vehicle body and the traction control device.

2. The method according to claim 1, It is characterized in that Pressure sensors are also provided on both sides of the distance sensor array on each mechanical arm; Accordingly, controlling the two mechanical arms to fix the delivery vehicle body and the traction control device includes: Controlling the two mechanical arms to move toward each other so that the fixing portion contacts the two mechanical arms; Obtaining a pressure value of the fixing portion on each robotic arm detected by a pressure sensor on each robotic arm; When the pressure value of the fixing part on each mechanical arm reaches the preset pressure threshold, the relative position of the delivery vehicle body and the traction control device is kept unchanged.

3. The method according to any one of claims 1 to 2, It is characterized in that The method further comprises: Obtain the delivery route information of the target delivery task; Based on the delivery route information, the traction control device to which the delivery vehicle body is fixed is controlled to execute the target delivery task.

4. The method according to any one of claims 1 to 2, It is characterized in that The method further comprises: During the forward movement of the traction control device, obtaining a field of view image captured by a camera assembly, wherein the field of view image includes the delivery vehicle body; Performing image recognition on the field of view image to determine the position of the delivery vehicle; Based on the position of the delivery vehicle body and the real-time position of the traction control device, the running direction of the traction control device is adjusted so that the delivery vehicle body and the traction control device are in the same straight line.

5. A traction control device, It is characterized in that include: a processing module, used to determine whether the fixed portion of the delivery vehicle body is located between two mechanical arms of the traction control device during the forward movement of the traction control device; an acquisition module, for acquiring a real-time relative position of the fixing portion and each of the mechanical arms when it is determined that the fixing portion is located between the two mechanical arms and is within the arm length range of each mechanical arm; A control module, configured to control the two mechanical arms to fix the delivery vehicle body and the traction control device when the real-time relative position between the fixing portion and each mechanical arm is that the fixing portion is at a preset target position of each mechanical arm; Each mechanical arm is provided with a distance measuring sensor array, wherein the distance measuring sensor array comprises a plurality of distance measuring sensors arranged in sequence; The acquisition module is specifically used to acquire the real-time position information of the sensors output by the ranging sensor array for distance detection when it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, wherein the real-time position information of the sensors is the serial number information of the ranging sensors located in the same straight line as the fixed part; The real-time relative position of the fixing part and each robot arm is determined according to the real-time point position information of the sensor.

6. A traction control device, It is characterized in that include: A traction control body, a control device disposed in the traction control body, and two mechanical arms disposed on both sides of the traction control body; The control device is used to determine whether the fixed part of the delivery vehicle body is located between the two mechanical arms of the traction control device according to the position of the delivery vehicle body and the real-time position of the traction control device during the process of the traction control device moving forward, and when it is determined that the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, obtain the real-time relative position of the fixed part and each mechanical arm; The two mechanical arms are used to fix the delivery vehicle body and the traction control device under the control of the control device when the real-time relative position between the fixing part and each mechanical arm is that the fixing part is at the preset target position of each mechanical arm; Each mechanical arm is provided with a distance measuring sensor array, wherein the distance measuring sensor array comprises a plurality of distance measuring sensors arranged in sequence; The distance measuring sensor array is used to detect the distance when the fixed part is located between the two mechanical arms and within the arm length range of each mechanical arm, and output the real-time position information of the sensor, wherein the real-time position information of the sensor is the serial number information of the distance measuring sensor located in the same straight line as the fixed part; The control device is also used to determine the real-time relative position of the fixing part and each robotic arm according to the real-time point information of the sensor.

7. The traction control device according to claim 6, It is characterized in that Pressure sensors are also provided on both sides of the distance sensor array on each mechanical arm; The control device is also used to control the two robotic arms to move toward each other so that the fixed part contacts the two robotic arms when the real-time relative position between the fixed part and each robotic arm is that the fixed part is at a preset target position of each robotic arm; The pressure sensor is used to detect the pressure value of the fixing part on each robot arm; The control device is also used to keep the relative position of the delivery vehicle body and the traction control device unchanged when the pressure value of the fixing part on each mechanical arm reaches a preset pressure threshold.

8. The traction control device according to any one of claims 6 to 7, It is characterized in that The control device is also used to control the traction control device fixed with the delivery vehicle body to execute the target delivery task according to the acquired delivery route information of the target delivery task.

9. The traction control device according to any one of claims 6 to 7, It is characterized in that Also includes: Camera components; The camera assembly is used to capture a field of view image when the traction control device moves forward, and the field of view image includes the delivery vehicle body; The control device is also used to perform image recognition on the field of view image to determine the position of the delivery vehicle body, and based on the position of the delivery vehicle body and the real-time position of the traction control device, adjust the running direction of the traction control device so that the delivery vehicle body and the traction control device are in the same straight line.

10. A distribution device, It is characterized in that include: A delivery vehicle body and a traction control device as described in any one of claims 6-9.

11. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 4 when executed by a processor.

12. A computer program product, include: A computer program, characterized in that when the computer program is executed by a processor, it is used to implement the method according to any one of claims 1 to 4.

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