Autonomous Mobile Robot, Control Method, Control Device, Equipment and Medium

Abstract

Embodiments of the present application disclose an autonomous mobile robot, a control method, a control device, a device and a medium. The autonomous mobile robot includes a vehicle body assembly, a rotating assembly, a tow hook and at least one pushing assembly; the rotating assembly is rotatably connected to the vehicle body assembly, and the tow hook is connected to the rotating assembly; the fixed end of the pushing assembly is connected to the vehicle body assembly, the movable end of the pushing assembly is slidably connected to the fixed end of the pushing assembly, and the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly. The autonomous mobile robot disclosed in the embodiments of the present application can autonomously adjust the angle between the material vehicle and the autonomous mobile robot, avoid the swing of the material vehicle during the towing process due to an excessive angle, and ensure the integrity of the materials carried by the material vehicle and the integrity of the material vehicle itself.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to an autonomous mobile robot, a control method, a control device, a device and a medium. Background Art

[0002] With the development of science and technology, autonomous mobile robots (AMRs) have gradually become well-known to people. Autonomous mobile robots can execute preset related tasks according to preset programs without manual operation and intervention, so they are widely used in industrial production. For example, an autonomous mobile robot can autonomously tow a material cart to complete the material transportation task.

[0003] Although an autonomous mobile robot can autonomously tow a material cart, during the towing process, the angle between the material cart and the autonomous mobile robot may be relatively large. Since the existing autonomous mobile robots cannot autonomously adjust the angle between the material cart and the autonomous mobile robot, the material cart may swing during being towed due to the excessive angle, resulting in the dropping of the materials carried by the material cart or the damage of the material cart itself. Summary of the Invention

[0004] To solve the problems in the related art, embodiments of the present application provide an autonomous mobile robot, a control method, a control device, a device and a medium.

[0005] In a first aspect, embodiments of the present application provide an autonomous mobile robot, which includes a vehicle body assembly, a rotating assembly, a towing hook, and at least one pushing assembly;

[0006] The rotating assembly is rotatably connected to the vehicle body assembly, and the towing hook is connected to the rotating assembly;

[0007] The fixed end of the pushing assembly is connected to the vehicle body assembly, the movable end of the pushing assembly is slidably connected to the fixed end of the pushing assembly, and the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly.

[0008] In combination with the first aspect, in a first implementation manner of the first aspect, the autonomous mobile robot includes a first pushing assembly and a second pushing assembly that are symmetrically arranged on both sides of the rotating assembly respectively;

[0009] The movable end of the first pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly toward one side of the vehicle body assembly;

[0010] The movable end of the second pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly toward the other side of the vehicle body assembly.

[0011] In combination with the first aspect, in the second implementation manner of the first aspect of the present application, the rotating component includes a resistance portion, and the movable end of the pushing component can abut against the resistance portion.

[0012] In combination with the second implementation manner of the first aspect of the present application, in the third implementation manner of the first aspect of the present application, it is characterized in that the resistance portion is arranged on the upper surface of the rotating component along the central axis of the rotating component, or the resistance portion is arranged on the lower surface of the rotating component along the central axis of the rotating component.

[0013] In combination with the second implementation manner of the first aspect of the present application, in the fourth implementation manner of the first aspect of the present application, the movable end of the pushing component includes a pushing plate, and the pushing plate can abut against the resistance portion.

[0014] In combination with the first aspect, in the fifth implementation manner of the first aspect of the present application, the autonomous mobile robot further includes at least one pushing component sensor, the pushing component sensor is connected to the vehicle body component, and the pushing component sensor is used to detect the distance between the fixed end and the movable end of the pushing component.

[0015] In combination with the first aspect, in the sixth implementation manner of the first aspect of the present application, the autonomous mobile robot further includes a rotating component sensor, the rotating component sensor is arranged below the rotating component along the central axis of the vehicle body component and is connected to the vehicle body component;

[0016] The rotating component sensor is used to detect whether the rotating component moves away from above the rotating component sensor.

[0017] In combination with the sixth implementation manner of the first aspect of the present application, in the seventh implementation manner of the first aspect of the present application, the rotating component includes a rotating sensor identification component, the rotating sensor identification component is connected to the lower surface of the rotating component, and the rotating sensor identification component is arranged along the central axis of the rotating component;

[0018] The rotating component sensor is used to detect whether the rotating sensor identification component moves away from above the rotating component sensor.

[0019] In combination with the first aspect and any one of the first to seventh implementation manners of the first aspect, in the eighth implementation manner of the first aspect of the present application, the autonomous mobile robot further includes a sliding component;

[0020] The fixed end of the sliding component is connected to the rotating component, the sliding end of the sliding component is connected to the tow hook, and the fixed end of the sliding component is slidably connected to the sliding end of the sliding component, so that the sliding end of the sliding component can rise or fall relative to the fixed end of the sliding component.

[0021] Combined with the eighth implementation manner of the first aspect of the present application, in the ninth implementation manner of the first aspect of the present application, the autonomous mobile robot further includes a pressing plate connected to the sliding end of the sliding component, and the pressing plate faces the groove of the towing hook.

[0022] Combined with the ninth implementation manner of the first aspect of the present application, in the tenth implementation manner of the first aspect of the present application, the pressing plate is detachably connected to the sliding end of the sliding component, and the towing hook is detachably connected to the sliding end of the sliding component.

[0023] Combined with any one of the first aspect, the first to seventh implementation manners of the first aspect, in the eleventh implementation manner of the first aspect of the present application, the towing hook further includes a clamping portion, and the clamping portion is detachably connected to the side wall of the groove of the towing hook.

[0024] Combined with any one of the first aspect, the first to seventh implementation manners of the first aspect, in the twelfth implementation manner of the first aspect of the present application, the autonomous mobile robot further includes a towing hook sensor;

[0025] The towing hook sensor is connected to the towing hook and is used to detect whether the rack is embedded in the groove of the towing hook.

[0026] In a second aspect, an embodiment of the present application provides an autonomous mobile robot control method, which is used to control the autonomous mobile robot according to any one of the first aspect, the first to twelfth implementation manners of the first aspect. The method includes:

[0027] Obtain the path navigation information of the autonomous mobile robot;

[0028] Obtain the curvature of the driving path according to the path navigation information;

[0029] Control at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

[0030] Combined with the second aspect, in the first implementation manner of the second aspect of the present application, controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes:

[0031] When it is determined that the driving path is a straight line according to the curvature of the driving path, control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold of the included angle.

[0032] Combined with the second aspect, in the second implementation manner of the second aspect of the present application, controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes:

[0033] When it is determined that the driving path is a curve according to the curvature of the driving path, the active end of the pushing component is controlled to be separated from the rotating component.

[0034] Combined with the second aspect, in the third implementation manner of the second aspect of the present application, before obtaining the path navigation information of the autonomous mobile robot, the method further includes:

[0035] Obtain the locking detection information of the material cart;

[0036] When it is determined that the material cart is locked incorrectly according to the locking detection information of the material cart, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component;

[0037] Control the autonomous mobile robot to lock the material cart, and obtain the locking detection information of the material cart again;

[0038] Obtain the path navigation information of the autonomous mobile robot, including:

[0039] When it is determined that the material cart is locked correctly according to the locking detection information of the material cart, obtain the path navigation information.

[0040] Combined with the second aspect, in the fourth implementation manner of the second aspect of the present application, the method further includes:

[0041] Obtain the unlocking detection information of the material cart;

[0042] When it is determined that the material cart is unlocked incorrectly according to the unlocking detection information of the material cart, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component.

[0043] In a third aspect, an embodiment of the present application provides an autonomous mobile robot control device, including:

[0044] A navigation module configured to obtain path navigation information of the autonomous mobile robot;

[0045] A curvature acquisition module configured to acquire the curvature of the driving path according to the path navigation information;

[0046] A control module configured to control at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

[0047] In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory and a processor; wherein, the memory is used to store one or more computer instructions, and one or more computer instructions are executed by the processor to implement the method according to any one of the second aspect, the first to fourth implementation manners of the second aspect.

[0048] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, characterized in that when the computer instructions are executed by a processor, the methods according to any one of the second aspect, the first implementation manner to the fourth implementation manner of the second aspect are implemented.

[0049] In an embodiment of the present application, the autonomous mobile robot includes a vehicle body assembly, a rotating assembly, a tow hook, and at least one pushing assembly. The rotating assembly is rotatably connected to the vehicle body assembly, the tow hook is connected to the rotating assembly, the fixed end of the pushing assembly is connected to the vehicle body assembly, the movable end of the pushing assembly is slidably connected to the fixed end of the pushing assembly, and the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly, driving the tow hook to rotate horizontally relative to the vehicle body assembly. At this time, if the material cart is locked by the tow hook, the material cart can also rotate horizontally relative to the vehicle body assembly, thereby achieving the purpose of adjusting the angle between the material cart and the autonomous mobile robot. Therefore, the autonomous mobile robot provided by the embodiment of the present application can autonomously adjust the angle between the material cart and the autonomous mobile robot, avoiding the swing of the material cart during towing due to an excessive angle, and ensuring the integrity of the materials carried by the material cart and the integrity of the material cart itself.

[0050] It should be understood that the above general description and subsequent detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In conjunction with the drawings, through the following detailed description of non-limiting embodiments, other features, objects, and advantages of the present application will become more apparent. In the drawings:

[0052] Figure 1 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown;

[0053] Figure 2 A partial top view of an autonomous mobile robot according to an embodiment of the present application is shown;

[0054] Figure 3 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown;

[0055] Figure 4 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown;

[0056] Figure 5 A partial structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown;

[0057] Figure 6 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown;

[0058] Figure 7 A flowchart showing a method for controlling an autonomous mobile robot according to an embodiment of the present disclosure;

[0059] Figure 8 A flowchart showing a method for controlling an autonomous mobile robot according to an embodiment of the present disclosure;

[0060] Figure 9 A flowchart showing a method for controlling an autonomous mobile robot according to an embodiment of the present disclosure;

[0061] Figure 10 A structural block diagram showing an apparatus for controlling an autonomous mobile robot according to an embodiment of the present disclosure;

[0062] Figure 11 A structural block diagram showing an electronic device according to an embodiment of the present disclosure;

[0063] Figure 12 A schematic structural diagram showing a computer system suitable for implementing the control of an autonomous mobile robot according to an embodiment of the present disclosure. Detailed implementation manners

[0064] Hereinafter, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for clarity, parts irrelevant to the description of the exemplary embodiments are omitted in the drawings.

[0065] In the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the labels, numbers, steps, actions, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other labels, numbers, steps, actions, components, parts, or combinations thereof.

[0066] In addition, it should be noted that, without conflict, the embodiments in the present application and the labels in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0067] When considering the application scenarios of the embodiments of the present application, the inventors studied the scenario of moving materials, and the inventors studied the following related technical solutions for moving materials.

[0068] In one solution, in industrial production, an autonomous mobile robot can be used to autonomously tow a material cart. During use, when the tow hook of the autonomous mobile robot is locked with the material cart, the autonomous mobile robot can move autonomously, thereby towing the material cart to move through the material cart, so as to achieve the purpose of autonomously towing the material cart without manual operation, saving human resources and bringing great convenience to industrial production.

[0069] However, in actual use, when the autonomous mobile robot autonomously drags the material cart, the angle between the material cart and the autonomous mobile robot may be relatively large. Since the existing autonomous mobile robots cannot autonomously adjust the angle between the material cart and the autonomous mobile robot, the material cart may swing during the towing process due to the excessive angle, resulting in the dropping of the materials carried by the material cart or damage to the material cart itself.

[0070] According to the technical solution provided by the embodiment of the present application, the embodiment of the present application provides an autonomous mobile robot, which includes a vehicle body assembly, a rotating assembly, a towing hook, and at least one pushing assembly; the rotating assembly is rotatably connected to the vehicle body assembly, and the towing hook is connected to the rotating assembly; the fixed end of the pushing assembly is connected to the vehicle body assembly, the movable end of the pushing assembly is slidably connected to the fixed end of the pushing assembly, and the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly.

[0071] In the embodiment of the present application, the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly, thereby driving the towing hook to rotate horizontally relative to the vehicle body assembly. At this time, if the material cart is locked by the towing hook, the material cart can also rotate horizontally relative to the vehicle body assembly, so as to achieve the purpose of adjusting the angle between the material cart and the autonomous mobile robot. Therefore, the autonomous mobile robot provided by the embodiment of the present application can autonomously adjust the angle between the material cart and the autonomous mobile robot, avoid the swing of the material cart during the towing process due to the excessive angle, and ensure the integrity of the materials carried by the material cart and the integrity of the material cart itself.

[0072] Figure 1 The structural schematic diagram of the autonomous mobile robot according to an embodiment of the present application is shown, as Figure 1 shown, the autonomous mobile robot includes a vehicle body assembly 101, a rotating assembly 102, a towing hook 103, and at least one pushing assembly; the rotating assembly 102 is rotatably connected to the vehicle body assembly 101, the towing hook 103 is connected to the rotating assembly 102; the fixed end 1041 of the pushing assembly is connected to the vehicle body assembly 101, the movable end 1042 of the pushing assembly is slidably connected to the fixed end 1041 of the pushing assembly, and the movable end 1042 of the pushing assembly can abut against the rotating assembly 102 to push or pull the rotating assembly 102, so that the rotating assembly 102 rotates horizontally relative to the vehicle body assembly 101.

[0073] Among them, the pushing component can be an electric push rod. By controlling the forward rotation of the motor of the electric push rod, the movable end of the electric push rod can move in a direction away from the fixed end of the electric push rod; by controlling the reverse rotation of the motor of the electric push rod, the movable end of the electric push rod can move in a direction close to the fixed end of the electric push rod. The pushing component can also be a hydraulic push rod. By controlling the hydraulic pump or hydraulic cylinder of the hydraulic push rod, the movable end of the hydraulic push rod can be made to move in a direction away from the fixed end of the hydraulic push rod, or the movable end of the hydraulic push rod can be made to move in a direction close to the fixed end of the hydraulic push rod. The present application does not limit the specific implementation manner of the pushing component.

[0074] It should be noted that the movable end of the pushing component can both push and pull the rotating component; the movable end of the pushing component can also only push the rotating component.

[0075] For example, Figure 2 A partial top view of an autonomous mobile robot according to an embodiment of the present application is shown, as Figure 2 shown. The movable end 1042 of the pushing component includes a through hole 1043, and the rotating component 102 includes a protruding portion 1021, and the protruding portion 1021 is embedded in the through hole 1043. When the movable end 1042 of the pushing component moves in a direction close to the fixed end 1041 of the pushing component, the movable end 1042 of the pushing component can pull the rotating component 102 through the protruding portion 1021 embedded in the through hole 1043, so that the rotating component 102 rotates horizontally relative to the vehicle body component; when the movable end 1042 of the pushing component moves in a direction away from the fixed end 1041 of the pushing component, the movable end 1042 of the pushing component can push the rotating component 102 through the protruding portion 1021 embedded in the through hole 1043, so that the rotating component 102 rotates horizontally relative to the vehicle body component.

[0076] In the embodiment of the present application, the autonomous mobile robot includes a vehicle body component, a rotating component, a towing hook, and at least one pushing component, wherein the rotating component is rotatably connected to the vehicle body component, the towing hook is connected to the rotating component, the fixed end of the pushing component is connected to the vehicle body component, the movable end of the pushing component is slidably connected to the fixed end of the pushing component, and the movable end of the pushing component can abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component, so as to drive the towing hook to rotate horizontally relative to the vehicle body component. At this time, if the material truck is locked by the towing hook, the material truck can also rotate horizontally relative to the vehicle body component, so as to achieve the purpose of adjusting the included angle between the material truck and the autonomous mobile robot. Therefore, the autonomous mobile robot provided by the embodiment of the present application can autonomously adjust the included angle between the material truck and the autonomous mobile robot, avoid the material truck from swinging during the towing process due to an excessive included angle, and ensure the integrity of the materials carried by the material truck and the integrity of the material truck itself.

[0077] In one embodiment of the present application,Figure 3 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown. As Figure 3 shown, the autonomous mobile robot includes a first pushing component and a second pushing component symmetrically arranged on both sides of the rotating component 102 respectively; the movable end 1142 of the first pushing component can abut against the rotating component 102 to push or pull the rotating component 102, so that the rotating component 102 rotates horizontally relative to the vehicle body component 101 to one side of the vehicle body component 101; the movable end 1242 of the second pushing component can abut against the rotating component 102 to push or pull the rotating component 102, so that the rotating component 102 rotates horizontally relative to the vehicle body component 101 to the other side of the vehicle body component 101.

[0078] Among them, as Figure 3 shown, the fixed end 1141 of the first pushing component is connected to the vehicle body component 101, and the fixed end 1241 of the second pushing component is connected to the vehicle body component 101. When the movable end 1142 of the first pushing component moves in a direction away from the fixed end 1141 of the first pushing component, the movable end 1142 of the first pushing component can abut against the rotating component 102 to push the rotating component 102, so that the rotating component 102 rotates horizontally relative to the vehicle body component 101 to one side of the vehicle body component 101 (i.e., the side where the fixed end 1241 of the second pushing component is located). When the movable end 1242 of the second pushing component moves in a direction away from the fixed end 1241 of the second pushing component, the movable end 1242 of the second pushing component can abut against the rotating component 102 to push the rotating component 102, so that the rotating component 102 rotates horizontally relative to the vehicle body component 101 to the other side of the vehicle body component 101 (i.e., the side where the fixed end 1141 of the first pushing component is located).

[0079] In the embodiment of the present application, the autonomous mobile robot includes a first pushing component and a second pushing component symmetrically arranged on both sides of the rotating component respectively; the movable end of the first pushing component can abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component to one side of the vehicle body component; the movable end of the second pushing component can abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component to the other side of the vehicle body component. By controlling the first pushing component and the second pushing component, the rotating component can be rotated horizontally relative to the vehicle body component to both sides of the vehicle body component respectively, so that the towing hook can drive the trolley locked by the towing hook to rotate horizontally relative to the vehicle body component to both sides of the vehicle body component respectively, enabling the autonomous mobile robot to accurately autonomously adjust the angle between the trolley and the autonomous mobile robot, and improving the accuracy of controlling the angle between the trolley and the autonomous mobile robot.

[0080] In an embodiment of the present application, Figure 4The structural schematic diagram of an autonomous mobile robot according to an embodiment of the present application is shown, as Figure 4 shown, the rotating assembly 102 includes a resistance portion 1022, and the movable end 1042 of the pushing assembly can abut against the resistance portion 1022.

[0081] Wherein, the shape of the resistance portion 1022 can be a cylinder or a cuboid, and the present application does not specifically limit the shape of the resistance portion 1022.

[0082] In the embodiment of the present application, the rotating assembly includes a resistance portion, and the movable end of the pushing assembly can abut against the resistance portion. By making the movable end of the pushing assembly abut against the resistance portion, it is possible to prevent the movable end of the pushing assembly from abutting against other parts of the rotating assembly, so that the movable end of the pushing assembly will not cause wear to other parts of the rotating assembly, and the reliability of the rotating assembly is improved.

[0083] In an embodiment of the present application, the resistance portion is disposed on the upper surface of the rotating assembly along the central axis of the rotating assembly, or the resistance portion is disposed on the lower surface of the rotating assembly along the central axis of the rotating assembly. For the sake of easy understanding, in the embodiment of the present application, as Figure 4 shown, taking the resistance portion 1022 being disposed on the upper surface of the rotating assembly 102 along the central axis of the rotating assembly 102 as an example for illustration.

[0084] In an embodiment of the present application, as Figure 4 shown, the movable end 1042 of the pushing assembly 102 includes a pushing plate 1342, and the pushing plate 1342 is used to abut against the resistance portion 1022.

[0085] In the embodiment of the present application, the movable end of the pushing assembly includes a pushing plate, and the pushing plate can abut against the resistance portion. By making the pushing plate of the pushing assembly abut against the resistance portion, it is possible to prevent the movable end of the pushing assembly from directly abutting against the rotating assembly, so that the movable end of the pushing assembly will not be worn, and the reliability of the moving assembly is improved.

[0086] In an embodiment of the present application, as Figure 4 shown, the autonomous mobile robot further includes at least one pushing assembly sensor 1051, the pushing assembly sensor 1051 is connected to the vehicle body assembly 101, and the pushing assembly sensor 1051 is used to detect the distance between the fixed end 1041 and the movable end 1042 of the pushing assembly.

[0087] Wherein, the pushing assembly sensor 1051 can be an infrared sensor or a photoelectric sensor, and the present application does not specifically limit the implementation manner of the pushing assembly sensor 1051.

[0088] In the embodiments of the present application, the autonomous mobile robot further includes at least one pushing component sensor. The pushing component sensor is connected to the vehicle body component, and the pushing component sensor is used to detect the distance between the fixed end and the movable end of the pushing component. According to the detection result of the pushing component sensor, the real-time angle of the included angle between the rotating component pushed by the movable end of the pushed component and the vehicle body component can be determined, so as to accurately control the included angle between the rotating component and the vehicle body component.

[0089] In an embodiment of the present application, as Figure 4 shown, the autonomous mobile robot further includes a rotating component sensor 1052. The rotating component sensor 1052 is arranged below the rotating component 102 along the central axis of the vehicle body component 101 and is connected to the vehicle body component 101; the rotating component sensor 1052 is used to detect whether the rotating component 102 moves away from above the rotating component sensor 1052.

[0090] Among them, the rotating component sensor 1052 can be an infrared sensor or an optoelectronic sensor. The present application does not make specific limitations on the implementation manner of the rotating component sensor 1052.

[0091] In the embodiments of the present application, the autonomous mobile robot further includes a rotating component sensor. The rotating component sensor is arranged below the rotating component along the central axis of the vehicle body component and is connected to the vehicle body component; the rotating component sensor is used to detect whether the rotating component moves away from above the rotating component sensor. According to the detection result of the rotating component sensor, it can be determined whether the rotating component is on the central axis of the vehicle body component, that is, it can be determined whether the rotating component returns to the correct position, so that the autonomous mobile robot can more accurately autonomously adjust the included angle between the material vehicle and the autonomous mobile robot according to the detection result.

[0092] In an embodiment of the present application, Figure 5 shows a partial structural schematic diagram of an autonomous mobile robot according to an embodiment of the present application. As Figure 5 shown, the rotating component 102 includes a rotating sensor identification component 1053. The rotating sensor identification component 1053 is connected to the lower surface of the rotating component 102, and the rotating sensor identification component 1053 is arranged along the central axis of the rotating component 102; the rotating component sensor 1052 is used to detect whether the rotating sensor identification component 1053 moves away from above the rotating component sensor 1052.

[0093] In the embodiments of the present application, the rotating assembly includes a rotating sensor identification assembly. The rotating sensor identification assembly is connected to the lower surface of the rotating assembly and is arranged along the central axis of the rotating assembly. The rotating assembly sensor is used to detect whether the rotating sensor identification assembly moves away from above the rotating assembly sensor. According to the detection result of the rotating assembly sensor, it can be determined whether the central axis of the rotating assembly coincides with the central axis of the vehicle body assembly, that is, it can be determined whether the rotating assembly returns to the correct position, improving the accuracy of determining whether the rotating assembly returns to the correct position, so that the autonomous mobile robot can more precisely autonomously adjust the angle between the material truck and the autonomous mobile robot according to this detection result.

[0094] In one embodiment of the present application, Figure 6 A schematic structural diagram of an autonomous mobile robot according to an embodiment of the present application is shown, as Figure 6 shown, the autonomous mobile robot further includes a sliding assembly. The fixed end 1061 of the sliding assembly is connected to the rotating assembly 102, the sliding end 1062 of the sliding assembly is connected to the tow hook 103, and the fixed end 1061 of the sliding assembly is slidably connected to the sliding end 1062 of the sliding assembly, so that the sliding end 1062 of the sliding assembly can rise or fall relative to the fixed end 1061 of the sliding assembly.

[0095] Among them, the sliding assembly may include a motor. By controlling the motor to rotate forward, the sliding end 1062 of the sliding assembly can rise relative to the fixed end 1061 of the sliding assembly; by controlling the motor to rotate in reverse, the sliding end 1062 of the sliding assembly can fall relative to the fixed end 1061 of the sliding assembly. The sliding assembly may also include a hydraulic pump or a hydraulic cylinder. By controlling the hydraulic pump or the hydraulic cylinder, the sliding end 1062 of the sliding assembly can be made to rise relative to the fixed end 1061 of the sliding assembly, or the sliding end 1062 of the sliding assembly can be made to fall relative to the fixed end 1061 of the sliding assembly. The present application does not limit the specific implementation manner of the sliding assembly.

[0096] In the embodiments of the present application, the autonomous mobile robot further includes a sliding assembly. The fixed end of the sliding assembly is connected to the rotating assembly, the sliding end of the sliding assembly is connected to the tow hook, and the fixed end of the sliding assembly is slidably connected to the sliding end of the sliding assembly, so that the sliding end of the sliding assembly can rise or fall relative to the fixed end of the sliding assembly. By controlling the sliding end of the sliding assembly to rise or fall relative to the fixed end of the sliding assembly, the tow hook connected to the sliding end of the sliding assembly can autonomously lock or unlock the material truck, reducing the consumption of manpower.

[0097] In one embodiment of the present application, as Figure 6 shown, the autonomous mobile robot further includes a pressing plate 107 connected to the sliding end 1062 of the sliding assembly. The pressing plate 107 faces the groove 1031 of the tow hook 103.

[0098] In the embodiment of the present application, the autonomous mobile robot further includes a pressing plate connected to the sliding end of the sliding assembly, and the pressing plate faces the groove of the towing hook. When the rack of the trolley is fixed in the groove of the towing hook, the pressing plate facing the groove of the towing hook can cooperate with the groove to fix the rack together, preventing the rack from accidentally moving out of the groove and improving the reliability of towing the trolley.

[0099] In an embodiment of the present application, the pressing plate is detachably connected to the sliding end of the sliding assembly, and the towing hook is detachably connected to the sliding end of the sliding assembly.

[0100] The way that the pressing plate is detachably connected to the sliding end of the sliding assembly can be snap connection or threaded connection. The embodiment of the present application does not make specific limitations on the way that the pressing plate is detachably connected to the sliding end of the sliding assembly.

[0101] The way that the towing hook is detachably connected to the sliding end of the sliding assembly can be snap connection or threaded connection. The embodiment of the present application does not make specific limitations on the way that the pressing plate is detachably connected to the sliding end of the sliding assembly.

[0102] In the embodiment of the present application, the pressing plate is detachably connected to the sliding end of the sliding assembly, and the towing hook is detachably connected to the sliding end of the sliding assembly. It is possible to replace the pressing plate detachably connected to the sliding end of the sliding assembly and the towing hook detachably connected to the sliding end of the sliding assembly more conveniently, so as to adapt different pressing plates and towing hooks according to different trolleys or different application scenarios, enabling the autonomous mobile robot to be applicable to different trolleys or different application scenarios.

[0103] In an embodiment of the present application, as Figure 6 shown, the towing hook 103 further includes a clamping portion 1032, and the clamping portion 1032 is detachably connected to the side wall of the groove 1031 of the towing hook 103.

[0104] The way that the clamping portion is detachably connected to the side wall of the groove of the towing hook can be snap connection or threaded connection. The embodiment of the present application does not make specific limitations on the way that the pressing plate is detachably connected to the sliding end of the sliding assembly.

[0105] In the embodiment of the present application, the towing hook further includes a clamping portion, and the clamping portion is detachably connected to the side wall of the groove of the towing hook. Different clamping portions can be adapted according to trolleys of different sizes, enabling trolleys of different sizes to be successfully locked by the clamping portion and the towing hook, and improving the success rate of the autonomous mobile robot in successfully locking the trolley.

[0106] In an embodiment of the present application, as Figure 6 shown, the autonomous mobile robot further includes a towing hook sensor 1054; the towing hook sensor 1054 is connected to the towing hook 103 and is used to detect whether the rack is embedded in the groove 1031 of the towing hook 103.

[0107] Among them, the tow hook sensor 1054 can be an infrared sensor or a photoelectric sensor, and the present application does not make specific limitations on the implementation manner of the tow hook sensor 1054.

[0108] In the embodiment of the present application, the autonomous mobile robot further includes a tow hook sensor; the tow hook sensor is connected to the tow hook and is used to detect whether the rack is embedded in the groove of the tow hook. According to the detection result of the tow hook sensor, it can be determined whether the autonomous mobile robot successfully locks the trolley.

[0109] The present disclosure also discloses a method for controlling an autonomous mobile robot. Figure 7 The flowchart showing the method for controlling an autonomous mobile robot according to an embodiment of the present disclosure is as Figure 7 shown, and the method includes steps S101 to S103.

[0110] In step S101, obtain the path navigation information of the autonomous mobile robot.

[0111] In step S102, obtain the curvature of the driving path according to the path navigation information.

[0112] In step S103, control at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

[0113] According to the technical solution provided by the embodiment of the present disclosure, by obtaining the path navigation information of the autonomous mobile robot, obtaining the curvature of the driving path according to the path navigation information, and controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path, the movable end of the pushing component can be made to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component, so as to drive the tow hook to rotate horizontally relative to the vehicle body component. At this time, if the trolley is locked by the tow hook, the trolley can also rotate horizontally relative to the vehicle body component, thereby achieving the purpose of adjusting the angle between the trolley and the autonomous mobile robot. Therefore, the method for controlling an autonomous mobile robot provided by the embodiment of the present application can autonomously adjust the angle between the trolley and the autonomous mobile robot, avoid the trolley from swinging during the towing process due to an excessive angle, and ensure the integrity of the materials carried by the trolley and the integrity of the trolley itself.

[0114] In an embodiment of the present application, controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes:

[0115] When it is determined that the driving path is a straight line according to the curvature of the driving path, control the movable end of at least one pushing component to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold.

[0116] For example, detection can be performed through a rotating component sensor in an autonomous mobile robot, and based on the detection result, it is determined whether the rotating component is aligned. When it is determined according to the detection result that it is not aligned, the active end of at least one pushing component is controlled to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold of the included angle.

[0117] The rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold of the included angle.

[0118] According to an embodiment of the present disclosure, controlling the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold of the included angle, can ensure that the central axis of the tow hook connected to the rotating component and the central axis of the material truck locked by the tow hook are both at an angle less than or equal to the angle threshold of the included angle with the central axis of the vehicle body component, thereby ensuring that the material truck is in an aligned state.

[0119] In an embodiment of the present application, controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes:

[0120] When it is determined according to the curvature of the driving path that the driving path is a curve, the active end of the pushing component is controlled to be separated from the rotating component.

[0121] According to an embodiment of the present disclosure, when it is determined according to the curvature of the driving path that the driving path is a curve, the material truck should be in a turning state. At this time, the angle between the material truck and the autonomous mobile robot is relatively large. By controlling the active end of the pushing component to be separated from the rotating component, it is possible to avoid the active end of the pushing component from pushing the rotating component, thereby avoiding interference of the tow hook connected to the rotating component on the material truck locked by the tow hook and ensuring that the material truck can turn normally.

[0122] In an embodiment of the present application, Figure 8 A flowchart showing the autonomous mobile robot control method according to an embodiment of the present disclosure is as Figure 8 shown. Before step S101, the method further includes steps S104 to S106:

[0123] In step S104, the locking detection information of the material truck is obtained.

[0124] In step S105, when it is determined that the locking of the trolley is incorrect according to the trolley locking detection information, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component.

[0125] In step S106, control the autonomous mobile robot to lock the trolley, and obtain the trolley locking detection information again.

[0126] Step S101 can be implemented through step S111:

[0127] In step S111, when it is determined that the locking of the trolley is correct according to the trolley locking detection information, obtain the path navigation information.

[0128] For example, the trolley locking detection information can be obtained by detecting with a tow hook sensor, or can also be obtained by detecting with other devices (such as a camera).

[0129] In the embodiments of the present application, by obtaining the trolley locking detection information, when it is determined that the locking of the trolley is incorrect according to the trolley locking detection information, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component, control the autonomous mobile robot to lock the trolley, and obtain the trolley locking detection information again. When it is determined that the locking of the trolley is correct according to the trolley locking detection information, obtain the path navigation information, which can ensure that the trolley is correctly locked before the autonomous mobile robot towes or drags the trolley, and avoid the trolley detaching from the tow hook due to incorrect trolley locking during the process of the autonomous mobile robot towing or dragging the trolley, reducing the risk of the materials carried by the trolley falling due to the trolley detaching from the tow hook.

[0130] In one embodiment of the present application, Figure 9 A flowchart showing an autonomous mobile robot control method according to an embodiment of the present disclosure is as Figure 9 shown, and the autonomous mobile robot control method further includes steps S107 to S108:

[0131] In step S107, obtain the trolley unlocking detection information.

[0132] In step S108, when it is determined that the unlocking of the trolley is incorrect according to the trolley unlocking detection information, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component.

[0133] For example, the trolley unlocking detection information can be obtained by detecting with a tow hook sensor, or can also be obtained by detecting with other devices (such as a camera) to obtain the trolley locking detection information.

[0134] In the embodiments of the present application, by obtaining the unlocking detection information of the trolley, and when it is determined that the unlocking of the trolley is incorrect according to the unlocking detection information of the trolley, controlling the autonomous mobile robot to move, and / or controlling the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component, the position of the rack in the groove of the tow hook can be adjusted to ensure that the trolley can be successfully unlocked.

[0135] Figure 10 The structural block diagram of the control device of the autonomous mobile robot according to an embodiment of the present disclosure is shown. The control device of the autonomous mobile robot can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0136] As Figure 10 shown, the control device 300 of the autonomous mobile robot includes a navigation module 310, a curvature acquisition module 320, and a control module 330.

[0137] The navigation module 310 is configured to obtain the path navigation information of the autonomous mobile robot;

[0138] The curvature acquisition module 320 is configured to obtain the curvature of the driving path according to the path navigation information;

[0139] The control module 330 is configured to control at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

[0140] According to an embodiment of the present disclosure, by obtaining the path navigation information of the autonomous mobile robot, obtaining the curvature of the driving path according to the path navigation information, and controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path, the active end of the pushing component can be abutted against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component, so as to drive the tow hook to rotate horizontally relative to the vehicle body component. At this time, if the trolley is locked by the tow hook, the trolley can also rotate horizontally relative to the vehicle body component, so as to achieve the purpose of adjusting the angle between the trolley and the autonomous mobile robot. Therefore, the control method of the autonomous mobile robot provided by the embodiment of the present application can autonomously adjust the angle between the trolley and the autonomous mobile robot, avoid the trolley from swinging during the towing process due to too large an angle, and ensure the integrity of the materials carried by the trolley and the integrity of the trolley itself.

[0141] The present disclosure also discloses an electronic device, Figure 11 The structural block diagram of the electronic device according to an embodiment of the present disclosure is shown.

[0142] As Figure 11As shown, the electronic device 400 includes a memory 401 and a processor 402. Among them, the memory 401 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 402 to implement the following method steps:

[0143] Obtain the path navigation information of the autonomous mobile robot;

[0144] Obtain the curvature of the driving path according to the path navigation information;

[0145] Control at least one propulsion component of the autonomous mobile robot according to the curvature of the driving path.

[0146] According to an embodiment of the present disclosure, controlling at least one propulsion component of the autonomous mobile robot according to the curvature of the driving path includes:

[0147] When it is determined that the driving path is a straight line according to the curvature of the driving path, control the active end of at least one propulsion component to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the angle threshold of the included angle.

[0148] According to an embodiment of the present disclosure, controlling at least one propulsion component of the autonomous mobile robot according to the curvature of the driving path includes:

[0149] When it is determined that the driving path is a curve according to the curvature of the driving path, control the active end of the propulsion component to separate from the rotating component.

[0150] According to an embodiment of the present disclosure, before obtaining the path navigation information of the autonomous mobile robot, the method further includes:

[0151] Obtain the locking detection information of the material vehicle;

[0152] When it is determined that the material vehicle is locked incorrectly according to the locking detection information of the material vehicle, control the autonomous mobile robot to move, and / or control the active end of at least one propulsion component to abut against the rotating component to push or pull the rotating component;

[0153] Control the autonomous mobile robot to lock the material vehicle, and obtain the locking detection information of the material vehicle again;

[0154] Obtaining the path navigation information of the autonomous mobile robot includes:

[0155] When it is determined that the material vehicle is locked correctly according to the locking detection information of the material vehicle, obtain the path navigation information.

[0156] According to an embodiment of the present disclosure, the method further includes:

[0157] Obtain the unlocking detection information of the material vehicle;

[0158] When it is determined that the hopper unlocking is incorrect according to the hopper unlocking detection information, control the autonomous mobile robot to move, and / or control the active end of at least one pushing component to abut against the rotating component to push or pull the rotating component.

[0159] Figure 12 A schematic structural diagram of a computer system suitable for implementing the control of an autonomous mobile robot according to an embodiment of the present disclosure is shown.

[0160] As Figure 12 shown, the computer system 500 includes a processing unit 501, which can execute various methods in the above embodiments according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage section 508 into the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The processing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0161] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs a communication process via a network such as the Internet. A driver 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the driver 510 as needed so that a computer program read from it can be installed into the storage section 508 as needed. Among them, the processing unit 501 can be implemented as a processing unit such as a CPU, a GPU, a TPU, an FPGA, an NPU, etc.

[0162] Specifically, according to an embodiment of the present disclosure, the method described above can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes program codes for executing the above method. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 509, and / or installed from the removable medium 511.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0164] The units or modules described in the embodiments of the present disclosure can be implemented in software or in programmable hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0165] As another aspect, the present disclosure also provides a computer-readable storage medium, which can be the computer-readable storage medium included in the electronic device or computer system in the above embodiments; or it can exist separately and be unassembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the methods described in the present disclosure.

[0166] The above description is only a preferred embodiment of the present application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present application.

Claims

1. An autonomous mobile robot, characterized in that, The autonomous mobile robot includes a vehicle body assembly, a rotating assembly, a tow hook, and at least one pushing assembly; The rotating assembly is rotatably connected to the vehicle body assembly, and the tow hook is connected to the rotating assembly; The fixed end of the pushing assembly is connected to the vehicle body assembly, the movable end of the pushing assembly is slidably connected to the fixed end of the pushing assembly, and the movable end of the pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly; Wherein, the pushing assembly includes a first pushing assembly and a second pushing assembly symmetrically arranged on both sides of the rotating assembly respectively; The movable end of the first pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly to one side of the vehicle body assembly; The movable end of the second pushing assembly can abut against the rotating assembly to push or pull the rotating assembly, so that the rotating assembly rotates horizontally relative to the vehicle body assembly to the other side of the vehicle body assembly; The autonomous mobile robot further includes at least one pushing assembly sensor, the pushing assembly sensor is connected to the vehicle body assembly, and the pushing assembly sensor is used to detect the distance between the fixed end and the movable end of the pushing assembly; 2. The autonomous mobile robot according to claim 1, characterized in that, The rotating assembly includes a resistance portion, and the movable end of the pushing assembly can abut against the resistance portion; 3. The autonomous mobile robot according to claim 2, characterized in that, The resistance portion is arranged on the upper surface of the rotating assembly along the central axis of the rotating assembly, or the resistance portion is arranged on the lower surface of the rotating assembly along the central axis of the rotating assembly; 4. The autonomous mobile robot according to claim 2, characterized in that, The movable end of the pushing assembly includes a pushing plate, and the pushing plate can abut against the resistance portion; 5. The autonomous mobile robot according to claim 1, characterized in that, The autonomous mobile robot further includes a rotating assembly sensor, the rotating assembly sensor is arranged below the rotating assembly along the central axis of the vehicle body assembly and is connected to the vehicle body assembly; The rotating assembly sensor is used to detect whether the rotating assembly moves away from above the rotating assembly sensor; 6. The autonomous mobile robot according to claim 5, characterized in that, The rotating assembly includes a rotating sensor identification assembly, the rotating sensor identification assembly is connected to the lower surface of the rotating assembly, and the rotating sensor identification assembly is arranged along the central axis of the rotating assembly; The rotating assembly sensor is used to detect whether the rotating sensor identification assembly moves away from above the rotating assembly sensor; 7. The autonomous mobile robot according to any one of claims 1-6, characterized in that, The autonomous mobile robot further includes a sliding assembly; The fixed end of the sliding assembly is connected to the rotating assembly, the sliding end of the sliding assembly is connected to the tow hook, and the fixed end of the sliding assembly is slidably connected to the sliding end of the sliding assembly, so that the sliding end of the sliding assembly can rise or fall relative to the fixed end of the sliding assembly; 8. The autonomous mobile robot according to claim 7, characterized in that, The autonomous mobile robot further includes a pressing plate connected to the sliding end of the sliding assembly, and the pressing plate faces the groove of the tow hook; 9. The autonomous mobile robot according to claim 8, characterized in that, The pressing plate is detachably connected to the sliding end of the sliding assembly, and the tow hook is detachably connected to the sliding end of the sliding assembly; 10. The autonomous mobile robot according to any one of claims 1-6, characterized in that, The tow hook further includes a clamping portion, and the clamping portion is detachably connected to the side wall of the groove of the tow hook; 11. The autonomous mobile robot according to any one of claims 1-6, characterized in that, The autonomous mobile robot further includes a tow hook sensor; The tow hook sensor is connected to the tow hook and is used to detect whether the rack is embedded in the groove of the tow hook.

12. An autonomous mobile robot control method, characterized in that, The method is used to control the autonomous mobile robot according to any one of claims 1-11, and the method includes: Obtaining path navigation information of the autonomous mobile robot; Obtaining the curvature of the driving path according to the path navigation information; Controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

13. The autonomous mobile robot control method according to claim 12, wherein, The controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes: When it is determined that the driving path is a straight line according to the curvature of the driving path, controlling the active end of the at least one pushing component to abut against the rotating component to push or pull the rotating component, so that the rotating component rotates horizontally relative to the vehicle body component until the angle between the central axis of the rotating component and the central axis of the vehicle body component is less than or equal to the included angle threshold.

14. The autonomous mobile robot control method according to claim 12, wherein, The controlling at least one pushing component of the autonomous mobile robot according to the curvature of the driving path includes: When it is determined that the driving path is a curve according to the curvature of the driving path, separating the active end of the pushing component from the rotating component.

15. The autonomous mobile robot control method according to claim 12, wherein, Before obtaining the path navigation information of the autonomous mobile robot, the method further includes: Obtaining truck locking detection information; When it is determined that the truck locking is incorrect according to the truck locking detection information, controlling the autonomous mobile robot to move, and / or controlling the active end of the at least one pushing component to abut against the rotating component to push or pull the rotating component; Controlling the autonomous mobile robot to lock the truck and obtaining the truck locking detection information again; The obtaining the path navigation information of the autonomous mobile robot includes: When it is determined that the truck locking is correct according to the truck locking detection information, obtaining the path navigation information.

16. The autonomous mobile robot control method according to claim 12, wherein, The method further includes: Obtaining truck unlocking detection information; When it is determined that the truck unlocking is incorrect according to the truck unlocking detection information, controlling the autonomous mobile robot to move, and / or controlling the active end of the at least one pushing component to abut against the rotating component to push or pull the rotating component.

17. An autonomous mobile robot control device, wherein, The autonomous mobile robot control device is used to control the autonomous mobile robot according to any one of claims 1-11, and the device includes: A navigation module configured to obtain path navigation information of the autonomous mobile robot; A curvature obtaining module configured to obtain the curvature of the driving path according to the path navigation information; A control module configured to control at least one pushing component of the autonomous mobile robot according to the curvature of the driving path.

18. An electronic device, wherein, It includes a memory and a processor; wherein, the memory is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method according to any one of claims 12-16.

19. A computer-readable storage medium having computer instructions stored thereon, wherein, When the computer instructions are executed by the processor, the method according to any one of claims 12-16 is implemented.

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