Automatic head changing method and system for vehicle mechanical arm, and readable storage medium

Abstract

The present invention relates to an automatic head-changing method and system for a vehicle mechanical arm, and a readable storage medium. The automatic head-changing method comprises: obtaining a current service instruction; based on the current service instruction, determining whether the end tool to be replaced corresponding to the current service instruction is of the same type as the end tool currently assembled at the end of the mechanical arm, and if not, removing the currently assembled end tool; and installing the end tool to be replaced corresponding to the current service instruction at the end of the mechanical arm. The automatic head-changing method can automatically replace the end tool at the end of the mechanical arm according to different service instructions, and can provide a variety of services in the vehicle, so that unmanned online ride-hailing vehicles can also have the possibility of various services, thereby eliminating the restriction that only drivers can provide a variety of services and the limitation of mechanical arms in providing services.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an automatic head changing method and system for a vehicle mechanical arm, and a readable storage medium. Background Art

[0002] The various services in online ride-hailing cars are provided by the driver, such as cleaning the seats, helping passengers carry their luggage, and delivering tissues and drinking water to passengers. However, for driverless online ride-hailing cars, since there is no driver, it is impossible to provide passengers with a variety of in-car services, and the passengers' riding experience will be impaired. For this, a mechanical arm similar to the driver's arm can be configured in the car, but the mechanical arm cannot provide the above-mentioned diversified in-car services. Summary of the invention

[0003] Based on this, it is necessary to provide an automatic head-changing method and system for a vehicle robotic arm, and a readable storage medium to address the problem that driverless online ride-hailing vehicles cannot provide diverse in-car services.

[0004] An automatic head replacement method for a vehicle mechanical arm, wherein the vehicle is equipped with a mechanical arm and an end tool to be replaced, and the automatic head replacement method comprises:

[0005] Get the current service instruction;

[0006] Based on the current service instruction, determine whether the end tool to be replaced corresponding to the current service instruction is the same as the end tool currently assembled at the end of the robot arm, and if not, remove the currently assembled end tool;

[0007] The end tool to be replaced corresponding to the current service instruction is installed at the end of the robot arm.

[0008] In one of the embodiments, the obtaining of the current service instruction includes: recognizing a target voice, and obtaining the current service instruction when the target voice is recognized.

[0009] In one embodiment, before determining whether the end tool to be replaced corresponding to the current service instruction is of the same type as the end tool currently assembled at the end of the robot arm, the automatic head changing method further includes:

[0010] The most recent service instruction in history is obtained, and based on the most recent service instruction in history, the type of the currently assembled end tool is determined.

[0011] In one embodiment, the vehicle is provided with a terminal tool storage location, and the most recent service instruction carries the location information and identification information of the terminal tool storage location corresponding to the currently installed terminal tool;

[0012] Before removing the end tool currently assembled at the end of the robot arm, the automatic head changing method further includes: searching for an end tool storage position corresponding to the currently assembled end tool based on the position information and identification information carried by the most recent historical service instruction.

[0013] In one embodiment, the vehicle is equipped with a quick-change base, and the quick-change base is provided with a plurality of storage slots, and the storage slots constitute the end tool storage position;

[0014] Before installing the end tool to be replaced, the automatic head changing method further comprises: when the removal of the currently assembled end tool is completed, fixing the currently assembled end tool to the corresponding storage slot.

[0015] In one embodiment, the current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool to be replaced;

[0016] Before installing the end tool to be replaced, the automatic head changing method also includes: when the currently assembled end tool is fixed, according to the position information and identification information carried by the current service instruction, searching for the end tool storage position of the end tool to be replaced corresponding to the current service instruction, and then moving the end of the robot arm to the end tool storage position of the end tool to be replaced for installation.

[0017] In one embodiment, before installing the end tool to be replaced, the automatic head changing method also includes: when the end of the robotic arm moves to the end tool storage position of the end tool to be replaced, aligning the end of the robotic arm with the end tool of the end tool to be replaced.

[0018] In one embodiment, whether the currently assembled end tool has been removed is determined by:

[0019] Obtaining the weight carried by the end of the robotic arm;

[0020] When the weight is lower than a preset weight, it is determined that the currently assembled end tool has been completely removed.

[0021] In one of the embodiments, before removing the currently assembled end tool, the automatic head changing method further includes: determining whether the robot arm has returned to zero, and if not, returning the robot arm to zero.

[0022] An automatic head replacement system for a vehicle mechanical arm, the vehicle is equipped with a mechanical arm and a head tool to be replaced, the automatic head replacement system comprises: an instruction acquisition module, a judgment module, a control module and a disassembly module which are electrically connected in sequence;

[0023] The instruction acquisition module is used to acquire and send the current service instruction to the judgment module;

[0024] The judging module is used to judge, based on the current service instruction, whether the end tool to be replaced corresponding to the current service instruction is of the same type as the end tool currently assembled at the end of the robot arm, and send the judgment result to the control module;

[0025] The control module is used to cause the disassembly and assembly module to remove the currently assembled end tool and install the end tool to be replaced corresponding to the current service instruction on the end of the robotic arm when the end tool to be replaced corresponding to the current service instruction is of the same type as the end tool currently assembled on the end of the robotic arm.

[0026] In one embodiment, the instruction acquisition module is used to recognize a target voice, and when the target voice is recognized, the current service instruction is acquired;

[0027] In one of the embodiments, the automatic head changing system further includes a type determination module electrically connected to the judgment module;

[0028] The type determination module is used to obtain the most recent service instruction in history, and based on the most recent service instruction in history, determine and send the type of the currently assembled end tool to the judgment module.

[0029] In one embodiment, the vehicle is equipped with a plurality of end tool storage locations, and the most recent service instruction carries the position information and identification information of the end tool storage location corresponding to the currently installed end tool;

[0030] The automatic head changing system further includes a first identification module electrically connected to the control module, the first identification module being used to search for the end tool storage position where the currently assembled end tool is to be stored according to the position information and identification information carried by the most recent service instruction in history, and send the search result to the control module;

[0031] The control module is used to move the end of the robot arm to the end tool storage position where the currently assembled end tool is to be stored based on the search result.

[0032] In one embodiment, the vehicle is equipped with a quick-change base, and the quick-change base is provided with a plurality of storage slots, and the storage slots constitute the end tool storage position;

[0033] The control module is used to insert the currently assembled end tool into the corresponding storage slot based on the search result to disassemble and fix it in sequence.

[0034] In one of the embodiments, a notch of the storage slot is provided with a snap-fitting member, and the snap-fitting member is used for snap-fitting connection with the end tool to be replaced or the currently assembled end tool.

[0035] In one embodiment, the current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool to be replaced;

[0036] The automatic tool changing system further includes a second identification module electrically connected to the control module, the second identification module being used to search for the end tool storage position of the end tool to be replaced corresponding to the current service instruction according to the position information and identification information carried by the current service instruction, and send the search result to the control module;

[0037] The control module is used to move the end of the robot arm to the end tool storage position of the end tool to be replaced corresponding to the current service instruction based on the search result.

[0038] In one embodiment, the end tool to be replaced or the end tool currently assembled is connected to the end of the robot arm by a threaded member;

[0039] The disassembly module includes a motor electrically connected to the control module and a screwdriver arranged on the output shaft of the motor;

[0040] The control module is used to control the motor to drive the screwdriver to rotate so as to screw in or out the threaded member.

[0041] In one of the embodiments, a sensor electrically connected to the control module is provided at the end of the robotic arm;

[0042] The sensor is used to obtain and send to the control module the weight carried by the end of the mechanical arm;

[0043] The control module is used to determine that the currently assembled end tool has been removed when the weight is lower than a preset weight.

[0044] In one embodiment, the control module is further used to determine whether the robot arm has been reset before removing the currently assembled end tool, and if not, reset the robot arm.

[0045] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned automatic head changing methods are implemented.

[0046] The above-mentioned automatic head-changing method and system, and readable storage medium for vehicle robotic arms can automatically replace the end tool at the end of the robotic arm according to different service instructions, and can provide diversified services in the vehicle, so that driverless online car-hailing vehicles can also have the possibility of various services, thereby removing the restriction that diversified services can only be provided by drivers and the limitations of the robotic arm in providing services. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic flow chart of an automatic head changing method for a vehicle mechanical arm provided by an embodiment of the present invention;

[0048] Figures 2 to 5 A schematic diagram of a process for automatic head replacement of a vehicle mechanical arm provided by an embodiment of the present invention;

[0049] Figure 6 A schematic diagram of the installation of a quick-change base provided in one embodiment of the present invention.

[0050] The reference numerals in the accompanying drawings are described as follows:

[0051] 100, vehicle; 110, trunk; 200, robotic arm; 210, end tool to be replaced; 220, currently installed end tool; 230, base; 240, upper arm; 250, lower arm; 260, wrist; 300, quick-change base; 310, storage slot; 320, fastener. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0058] like Figure 1 As shown, an embodiment of the present invention provides an automatic head replacement method for a vehicle 100 mechanical arm 200, wherein Figures 2 to 5 As shown, the vehicle 100 is equipped with a mechanical arm 200 and an end tool 210 to be replaced. The automatic head replacement method includes:

[0059] Step S100, obtaining the current service instruction;

[0060] Step S200: Based on the current service instruction, determine whether the end tool 210 to be replaced corresponding to the current service instruction is the same as the end tool 220 currently assembled at the end of the robot arm 200. If not, remove the currently assembled end tool 220.

[0061] Step S300 : installing the end tool 210 to be replaced corresponding to the current service instruction at the end of the robot arm 200 .

[0062] The automatic head replacement method can be applied to a vehicle 100, such as an unmanned vehicle 100, which can be specifically an unmanned online-hailing car. By replacing the end tool at the end of the robotic arm 200, the robotic arm 200 can meet the needs of providing a variety of in-vehicle services, such as delivering value-added services such as drinking water and paper towels to passengers, or cleaning seats, etc. Among them, an unmanned online-hailing car refers to an unmanned online-hailing car with a highly automated driving function, which is a road transportation vehicle used to pick up and drop off passengers from one point to another. As an example, the degree of freedom of the robotic arm 200 is greater than or equal to 6, and the robotic arm 200 is installed in the trunk 110 of the vehicle 100. For example, Figure 2 As shown, the robot arm 200 may include a base 230, a large arm 240, a small arm 250 and a wrist 260 that are rotatably connected in sequence, and the end tool is connected to the wrist 260. As an example, the end tool 210 to be replaced may also be installed in the trunk 110 of the vehicle 100. The type of the end tool is mainly related to the in-vehicle service provided. For example, when providing delivery of drinking water, paper towels, luggage, etc., the end tool may be a robot arm, and when providing in-vehicle seat cleaning, the end tool may be a roller brush.

[0063] The automatic head changing method for the robot arm 200 of the vehicle 100 as described above can automatically replace the end tool at the end of the robot arm 200 according to different service instructions, and can provide diversified services in the vehicle, so that driverless online car-hailing vehicles can also have the possibility of various services, thereby removing the restriction that diversified services can only be provided by drivers and the limitation of the robot arm 200 in providing services.

[0064] With respect to step S100 , the current service instruction may be obtained in the following two ways.

[0065] The first method is to recognize the target voice, and when the target voice is recognized, the current service instruction is obtained. When the target voice such as "Please help me get a bottle of water", "Please help me get a paper bag", "Please help me get my luggage" or "Please clean the seat" is issued, the corresponding service instruction can be obtained and recognized. Of course, in order to facilitate recognition, the user can add a name such as "Xiao Shuai" or "Xiao Mei" before issuing the actual content of the service instruction.

[0066] In the second method, the vehicle 100 is provided with a designated button for triggering a service instruction; obtaining the current service instruction includes: detecting a pressing operation on the designated button, and obtaining the current service instruction after detecting the pressing operation on the designated button. Optionally, the designated button is configured at a position close to the passenger, such as on the door, so that it is convenient for the passenger to press the designated button. Optionally, the designated button can be a mechanical button or a touch screen button. Of course, in some other embodiments, an App (Application, mobile phone software) that can trigger the current service instruction can also be configured on a mobile terminal (such as a mobile phone, tablet computer, etc.), and the corresponding service instruction can be triggered by pressing a virtual button on the App.

[0067] With respect to step S200, before determining whether the end tool 210 to be replaced corresponding to the current service instruction is the same type as the end tool 220 currently assembled at the end of the robot 200, the automatic head changing method further includes: step S210, obtaining the most recent service instruction in history, and determining the type of the end tool 220 currently assembled at the end of the robot 200 based on the most recent service instruction in history. It should be noted that the most recent service instruction in history refers to the service instruction previous to the current service instruction.

[0068] In some embodiments of the present invention, before removing the end tool 220 currently assembled at the end of the robot arm 200, the automatic head changing method further includes: step S230, judging whether the robot arm 200 is reset to zero, and if not, returning the robot arm 200 to zero. This facilitates the disassembly and assembly of the end tool 200. Once it is confirmed that the end tool 220 needs to be replaced and the robot arm 200 is reset to zero, the end tool 220 is disassembled, that is, the input of the process is a signal confirming that the end tool needs to be replaced and a signal for the robot arm to return to zero, and the output signal is a signal for disassembling the end tool 200.

[0069] Further, in some embodiments of the present invention, the vehicle 100 is equipped with a plurality of end tool storage positions, and the most recent service instruction carries the position information and identification information of the end tool storage position corresponding to the currently installed end tool 220. It can be understood that the end tool storage position is used to store the end tool 220 currently installed at the end of the robot arm 200 and the end tool 210 to be replaced. Among them, the number of end tool storage positions can be related to the number of in-vehicle service items. For example, if three in-vehicle services are provided, namely, the delivery of drinking water, paper towel services and seat cleaning, three end tool storage positions can be set; the number of end tool storage positions can be related to the type of end tool. For example, if the delivery of drinking water, paper towel services and seat cleaning services are also provided, the end tool required for delivering drinking water and paper towels is a robot arm, and the end tool required for cleaning the seat is a roller brush, then two end tool storage positions can be set.

[0070] Then, before removing the end tool 220 currently assembled at the end of the robot arm 200, the automatic head changing method also includes: step 220, searching for the end tool storage position corresponding to the currently assembled end tool 220 according to the position information and identification information carried by the most recent service instruction in history.

[0071] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is equipped with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, the distance between end tool storage position 1 and the rear seat is 5 cm, and the distance between end tool storage position 2 and the rear seat is 10 cm. Among them, the end tool 220 currently equipped at the end of the robot arm 200 is a manipulator, which can be stored in end tool storage position 1, and the roller brush is stored in end tool storage position 2. After the most recent service instruction in history is found, it can be learned that the previous in-vehicle service was delivering drinking water, and then the end tool storage position 1 5 cm away from the rear seat is found.

[0072] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is configured with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, and these two end tool storage positions are both provided with electronic tags of different radio frequency frequencies. Among them, the end tool 220 currently equipped at the end of the robot arm 200 is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After the most recent service instruction is found, it is identified that the identification information carried by the electronic tag on the end tool storage position 1 corresponds to the identification information carried on the most recent service instruction.

[0073] In some embodiments of the present invention, the vehicle 100 is equipped with a quick-change base 300, and the quick-change base 300 is provided with a plurality of storage slots 310, and the storage slots 310 constitute the storage position of the end tool; before installing the end tool 210 to be replaced, the automatic head changing method further includes: when the currently assembled end tool 220 is completely disassembled, the currently assembled end tool 220 is fixed to the corresponding storage slot 310. That is, the input of this step is the end tool 220 disassembly completion signal, and the output is the signal of the quick-change base 300 fixing the replaced end tool 200. In this way, the end tool 200 can be fixed to prevent the end tool 200 from being lost.

[0074] With respect to step S300, before installing the end tool 210 to be replaced corresponding to the current service instruction at the end of the robot arm 200, it is also necessary to determine whether the end tool 220 currently installed at the end of the robot arm 200 has been removed, which can be determined in the following manner: obtaining the weight carried by the end of the robot arm 200; when the weight is lower than a preset weight, determining that the end tool 220 currently installed at the end of the robot arm 200 has been removed. The preset weight can be specifically set according to the application situation.

[0075] In some embodiments, the current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool 210 to be replaced; before the end tool 210 to be replaced corresponding to the current service instruction is installed at the end of the robot 200, the automatic head changing method further includes: step S310, when the currently assembled end tool 220 is fixed, according to the position information and identification information carried by the current service instruction, the end tool storage position of the end tool 210 to be replaced corresponding to the current service instruction is searched, and then the end of the robot 200 is moved to the end tool storage position of the end tool 210 to be replaced. That is, this step first inputs the end tool 210 fixation completion signal, and outputs the signal that the robot 200 moves to the end tool storage position of the end tool 210 to be replaced.

[0076] Further, in some embodiments, before installing the end tool 210 to be replaced, the automatic head changing method further includes: when the end of the robot arm 200 moves to the end tool storage position of the end tool 210 to be replaced, aligning the end of the robot arm 200 with the end tool of the end tool 210 to be replaced. That is, in this step, a signal that the robot arm 200 has reached the end tool storage position is input, and a signal that the robot arm 200 is aligned with the end tool 210 to be replaced is output. It can be understood that once it is confirmed that the robot arm 200 is aligned with the end tool 210 to be replaced, the end tool 210 to be replaced is installed, that is, in this step, a signal that the robot arm 200 is aligned with the end tool 210 to be replaced is input, and a signal that the end tool 210 is replaced is output. For example, sensors and markers are set on the end of the robot arm 200 and the end surface of the end tool 210 to be replaced. Once the sensor detects that the outer contours of the two markers coincide, it can be determined that the end of the robot arm 200 is aligned with the end tool 210 to be replaced.

[0077] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is equipped with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, the distance between end tool storage position 1 and the rear seat is 5 cm, and the distance between end tool storage position 2 and the rear seat is 10 cm. Among them, the end tool 220 currently equipped at the end of the robot arm 200 is a manipulator, which can be stored in end tool storage position 1, and the roller brush is stored in end tool storage position 2. After receiving the service instruction to clean the seat, the end tool storage position 2 10 cm away from the rear seat is found.

[0078] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is configured with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, and these two end tool storage positions are both provided with electronic tags of different radio frequency frequencies. Among them, the end tool 220 currently equipped at the end of the robot arm 200 is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After receiving the service instruction requiring seat cleaning, it is identified that the identification information carried by the electronic tag on the end tool storage position 2 corresponds to the identification information carried on the most recent service instruction in history.

[0079] Another embodiment of the present invention provides an automatic head changing system for a vehicle mechanical arm. Figures 2 to 5 As shown, the vehicle 100 is equipped with a mechanical arm 200 and an end tool 210 to be replaced. Further, the automatic head changing system includes: an instruction acquisition module, a judgment module, a control module and a disassembly module which are electrically connected in sequence; the instruction acquisition module is used to acquire and send the current service instruction to the judgment module; the judgment module is used to judge whether the end tool 210 to be replaced corresponding to the current service instruction is the same type as the end tool 220 currently assembled at the end of the mechanical arm 200 based on the current service instruction, and send the judgment result to the control module; the control module is used to make the disassembly module remove the currently assembled end tool 220 and install the end tool 210 to be replaced corresponding to the current service instruction on the end of the mechanical arm 200 when the end tool 210 to be replaced corresponding to the current service instruction is the same type as the end tool 220 currently assembled.

[0080] The automatic head-changing system can be applied to a vehicle 100, such as an unmanned vehicle 100, which can be specifically an unmanned online-hailing car. By replacing the end tool at the end of the robotic arm 200, the robotic arm 200 can meet the needs of providing a variety of in-vehicle services, such as delivering value-added services such as drinking water and paper towels to passengers, or cleaning seats, etc. Among them, an unmanned online-hailing car refers to an unmanned online-hailing car with a highly automated driving function, which is a road transportation vehicle used to pick up and drop off passengers from one point to another. As an example, the degree of freedom of the robotic arm 200 is greater than or equal to 6, and the robotic arm 200 is installed in the trunk 110 of the vehicle 100. For example, Figure 5As shown, the robot arm 200 may include a base 230, a large arm 240, a small arm 250 and a wrist 260 that are rotatably connected in sequence, and the end tool is connected to the wrist 260. As an example, the end tool 210 to be replaced may also be installed in the trunk 110 of the vehicle 100. The type of the end tool is mainly related to the in-vehicle service provided. For example, when providing delivery of drinking water, paper towels, luggage, etc., the end tool may be a robot arm, and when providing in-vehicle seat cleaning, the end tool may be a roller brush.

[0081] The automatic head changing system for the robot arm 200 of the vehicle 100 as described above can automatically replace the end tool at the end of the robot arm 200 according to different service instructions, and can provide diversified services in the vehicle, so that driverless online car-hailing vehicles can also have the possibility of various services, thereby removing the restriction that diversified services can only be provided by drivers and the limitation of the robot arm 200 in providing services.

[0082] Regarding how the instruction acquisition module acquires the current service instruction, two examples are given below:

[0083] (1) The instruction acquisition module is used to recognize the target voice. When the target voice is recognized, the current service instruction is acquired. When the target voice such as "please help me get a bottle of water", "please help me get a paper bag", "please help me get my luggage" or "please clean the seat" is issued, the corresponding service instruction can be acquired and recognized. Of course, in order to facilitate recognition, the user can add a name such as "Xiao Shuai" or "Xiao Mei" before issuing the actual content of the service instruction.

[0084] Type (2): The vehicle 100 is provided with a designated button for triggering a service instruction; the instruction acquisition module is used to detect a pressing operation on the designated button, and when a pressing operation on the designated button is detected, the current service instruction is acquired. Optionally, the designated button is configured at a position close to the passenger, such as on a vehicle door, so that it is convenient for the passenger to press the designated button. Optionally, the designated button can be a mechanical button or a touch screen button. Of course, in some other embodiments, an App (Application, mobile phone software) that can trigger the current service instruction can also be configured on a mobile terminal (such as a mobile phone, tablet computer, etc.), and the corresponding service instruction can be triggered by pressing a virtual button on the App.

[0085] In some embodiments of the present invention, the control module is further used to determine whether the robot arm 200 has been reset before removing the currently installed end tool 220, and if not, reset the robot arm 200 to zero, so as to facilitate the disassembly and assembly of the end tool.

[0086] In some embodiments of the present invention, the automatic head changing system further includes a type determination module electrically connected to the judgment module; the type determination module is used to obtain the most recent service instruction in history, and based on the most recent service instruction in history, determine and send the type of the currently assembled end tool 220 to the judgment module. It should be noted that the most recent service instruction in history refers to the previous service instruction of the current service instruction. As an example, the judgment module can store each service instruction, and the control module is used to find the most recent service instruction in history by querying the judgment module.

[0087] Further, in some embodiments of the present invention, the vehicle 100 is equipped with a plurality of end tool storage positions, and the most recent service instruction carries the position information and identification information of the end tool storage position corresponding to the currently installed end tool 220. It is understandable that the end tool storage position is used to store the currently installed end tool 220 and the end tool 210 to be replaced. Among them, the number of end tool storage positions may be related to the number of in-vehicle service items. For example, if three in-vehicle services including delivery of drinking water, paper towels and seat cleaning are provided, three end tool storage positions may be set; the number of end tool storage positions may be related to the type of end tool. For example, if the same service of delivery of drinking water, paper towels and seat cleaning is provided, the end tool required for delivery of drinking water and paper towels is a manipulator, and the end tool required for cleaning the seat is a roller brush, then two end tool storage positions may be set.

[0088] Specifically, the automatic head changing system also includes a first identification module electrically connected to the control module, the first identification module is used to find the end tool storage position where the currently assembled end tool 220 is to be stored according to the position information and identification information carried by the most recent service instruction in history, and send the search result to the control module; the control module is used to move the end of the robot arm 200 to the end tool storage position where the currently assembled end tool 220 is to be stored based on the search result.

[0089] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is equipped with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, the distance between end tool storage position 1 and the rear seat is 5 cm, and the distance between end tool storage position 2 and the rear seat is 10 cm. Among them, a distance sensor electrically connected to the control module is provided at the end of the manipulator 200, and the end tool 220 currently installed is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After finding the most recent service instruction in history, the control module controls the movement of the robot arm 200. When the distance sensor detects that the distance between the end of the robot arm 200 and the rear seat is 5 cm, it is determined that the end of the robot arm 200 has reached the end tool storage position 1, and then the end of the robot arm 200 stops moving and stores the robot arm in the end tool storage position 1.

[0090] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is configured with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, and these two end tool storage positions are both provided with electronic tags of different radio frequency frequencies. Among them, the end of the manipulator 200 is provided with an RFID (Radio Frequency Identification) reader electrically connected to the control module, and the end tool 220 currently installed is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After finding the most recent service instruction in history, the control module controls the manipulator 200 to move. When the RFID reader recognizes that the identification information carried by the electronic tag on the end tool storage position 1 corresponds to the identification information carried on the most recent service instruction in history, it is determined that the end of the robot arm 200 has reached the end tool storage position 1, and then the end of the robot arm 200 stops moving and stores the robot arm in the end tool storage position 1.

[0091] Alternatively, if Figures 2 to 6 As shown, the vehicle 100 is equipped with a quick-change base 300, and the quick-change base 300 is provided with a plurality of storage slots 310, which constitute the storage position of the end tool; the control module is used to insert the end tool 220 currently assembled at the end of the robot arm 200 into the corresponding storage slot 310 based on the search result, and then disassemble and fix it in sequence. In this way, the disassembly and storage of the end tool are facilitated. It can be understood that the number of storage slots 310 is the same as the number of tool storage positions. Among them, as Figure 6As shown, the notch of the storage slot 310 is provided with a snap-fit ​​member, which is used to snap-fit ​​with the end tool 210 to be replaced or with the currently assembled end tool 220. The snap-fit ​​member can prevent the end tool 210 to be replaced from falling out of the corresponding storage slot 310. For example, the snap-fit ​​member can be a groove structure, and the end tool is provided with a protrusion that matches the groove structure.

[0092] Optionally, the end tool 210 to be replaced or the currently assembled end tool 220 is connected to the end of the robot arm 200 using a threaded part; the disassembly module includes a motor electrically connected to the control module and a screwdriver arranged on the motor output shaft; the control module is used to control the motor to drive the screwdriver to rotate to screw in or out the threaded part.

[0093] Optionally, there may be multiple disassembly and assembly modules, which correspond one to one with the storage slots 310, for disassembling and assembling corresponding end tools. Of course, all end tools may also share one disassembly and assembly module, in which case the vehicle 100 may also be equipped with a driving module electrically connected to the control module, and the driving module is used to move the disassembly and assembly module to the storage slot 310 corresponding to the end tool to be disassembled.

[0094] Optionally, a flange is provided at the end of the robot arm 200, and the end tool is connected to the flange through a plurality of threaded parts. The disassembly module may include a plurality of motors and a plurality of screwdrivers, and the motors, screwdrivers and threaded parts correspond to each other. After the currently assembled end tool 220 is inserted into the corresponding storage slot 310, the screwdriver is inserted into the corresponding straight groove or cross groove of the head of the threaded part, and then the corresponding motor drives the screwdriver to rotate until the corresponding threaded part is removed from the flange at the end of the robot arm 200. Of course, the disassembly and assembly of all threaded parts can also share one motor and one screwdriver. In this case, the vehicle 100 is equipped with a transfer module electrically connected to the control module, and the transfer module is used to rotate the screwdriver to the threaded part to be disassembled and screwed.

[0095] In some embodiments of the present invention, a sensor electrically connected to a control module is provided at the end of the robot arm 200; the sensor is used to obtain and send to the control module the weight carried by the end of the robot arm 200; the control module is used to determine that the end tool 220 currently assembled at the end of the robot arm 200 is removed when the weight is lower than a preset weight. The preset weight can be specifically set according to the application.

[0096] In some embodiments of the present invention, the current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool 210 to be replaced; the automatic head changing system also includes a second identification module electrically connected to the control module, and the second identification module is used to search for the end tool storage position of the end tool 210 to be replaced corresponding to the current service instruction according to the position information and identification information carried by the current service instruction, and send the search result to the control module; the control module is used to move the end of the robot arm 200 to the end tool storage position of the end tool 210 to be replaced corresponding to the current service instruction based on the search result.

[0097] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is equipped with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, the distance between end tool storage position 1 and the rear seat is 5 cm, and the distance between end tool storage position 2 and the rear seat is 10 cm. Among them, a distance sensor electrically connected to the control module is provided at the end of the manipulator 200, and the end tool 220 currently installed is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After obtaining the current service instruction, the control module controls the movement of the robot arm 200. When the distance sensor detects that the distance between the end of the robot arm 200 and the rear seat is 10 cm, it is determined that the end of the robot arm 200 has reached the end tool storage position 2, and then the end of the robot arm 200 stops moving and stores the robot arm in the end tool storage position 2.

[0098] For example, the vehicle 100 can provide two in-vehicle services, namely, delivering drinking water and cleaning seats, and the corresponding end tools are a manipulator and a roller brush, respectively; and the vehicle 100 is configured with two end tool storage positions, namely, end tool storage position 1 and end tool storage position 2, and these two end tool storage positions are both provided with electronic tags of different radio frequency frequencies. Among them, the end of the manipulator 200 is provided with an RFID (Radio Frequency Identification) reader electrically connected to the control module, and the end tool 220 currently installed is a manipulator, which can be stored in the end tool storage position 1, and the roller brush is stored in the end tool storage position 2. After obtaining the current service instruction, the control module controls the movement of the robot arm 200. When the RFID reader recognizes that the identification information carried by the electronic tag on the end tool storage position 2 corresponds to the identification information carried on the most recent service instruction in history, it is determined that the end of the robot arm 200 has reached the end tool storage position 2, and then the end of the robot arm 200 stops moving and stores the robot arm in the end tool storage position 2.

[0099] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-mentioned automatic head changing methods.

[0100] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic head changing method for a vehicle mechanical arm, characterized in that: The vehicle (100) is an unmanned vehicle and the trunk of the vehicle (100) is equipped with a mechanical arm (200), an end tool (210) to be replaced and an end tool storage position, and the automatic head replacement method comprises: Acquiring a current service instruction and a most recent service instruction in history, wherein the most recent service instruction in history carries position information and identification information of the end tool storage position corresponding to the currently assembled end tool (220); Based on the current service instruction, determining whether the end tool (210) to be replaced corresponding to the current service instruction is of the same type as the end tool (220) currently assembled at the end of the robot arm (200); if not, searching for an end tool storage position corresponding to the currently assembled end tool (220) based on the position information and identification information carried by the most recent historical service instruction, and removing the currently assembled end tool (220); The end tool (210) to be replaced corresponding to the current service instruction is installed at the end of the robot arm (200).

2. The automatic head changing method according to claim 1, characterized in that: The obtaining of the current service instruction includes: recognizing a target voice, and obtaining the current service instruction when the target voice is recognized.

3. The automatic head changing method according to claim 1, characterized in that: Before determining whether the end tool (210) to be replaced corresponding to the current service instruction is of the same type as the end tool (220) currently mounted on the end of the robot arm (200), the automatic head changing method further comprises: Based on the most recent historical service instruction, the type of the currently mounted tip tool (220) is determined.

4. The automatic head changing method according to claim 1, characterized in that: The vehicle (100) is equipped with a quick-change base (300), and the quick-change base (300) is provided with a plurality of storage slots (310), and the storage slots (310) constitute the end tool storage positions; Before installing the end tool (210) to be replaced, the automatic head changing method further comprises: when the currently assembled end tool (220) is completely removed, fixing the currently assembled end tool (220) to the corresponding storage slot (310).

5. The automatic head changing method according to claim 4, characterized in that: The current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool (210) to be replaced; Before installing the end tool (210) to be replaced, the automatic head changing method also includes: when the currently assembled end tool (220) is fixed, according to the position information and identification information carried by the current service instruction, searching for the end tool storage position of the end tool (210) to be replaced corresponding to the current service instruction, and then moving the end of the robot arm (200) to the end tool storage position of the end tool (210) to be replaced.

6. The automatic head changing method according to claim 5, characterized in that: Before installing the end tool (210) to be replaced, the automatic head changing method further comprises: when the end of the robot arm (200) moves to the end tool storage position of the end tool (210) to be replaced, aligning the end of the robot arm (200) with the end tool of the end tool (210) to be replaced.

7. The automatic head changing method according to any one of claims 1 to 6, characterized in that: Whether the currently assembled end tool (220) has been removed is determined by: Obtaining the weight carried by the end of the mechanical arm (200); When the weight is lower than a preset weight, it is determined that the currently assembled end tool (220) has been completely removed.

8. The automatic head changing method according to any one of claims 1 to 6, characterized in that: Before removing the currently assembled end tool (220), the automatic head changing method further comprises: determining whether the robot arm (200) has returned to zero, and if not, returning the robot arm (200) to zero.

9. An automatic head changing system for a vehicle mechanical arm, characterized in that: The vehicle (100) is an unmanned vehicle and the trunk of the vehicle (100) is equipped with a mechanical arm (200), an end tool (210) to be replaced and an end tool storage position, and the automatic head changing system comprises: an instruction acquisition module, a judgment module, a control module and a disassembly module electrically connected in sequence, and a type determination module electrically connected to the judgment module; The instruction acquisition module is used to acquire and send the current service instruction to the judgment module; The type determination module is used to obtain the most recent service instruction in history, wherein the most recent service instruction in history carries the position information and identification information of the end tool storage position corresponding to the currently assembled end tool (220); The judgment module is used to judge, based on the current service instruction, whether the end tool (210) to be replaced corresponding to the current service instruction is of the same type as the end tool (220) currently assembled at the end of the robot arm (200), and send the judgment result to the control module; The control module is used to cause the disassembly module to remove the currently assembled end tool (220) and to install the end tool (210) to be replaced corresponding to the current service instruction on the end of the robot arm (200) when the end tool (210) to be replaced corresponding to the current service instruction is of the same type as the currently assembled end tool (220); The automatic head changing system further comprises a first identification module electrically connected to the control module, the first identification module being used to search for the end tool storage position where the currently assembled end tool (220) is to be stored according to the position information and identification information carried by the most recent service instruction in history, and to send the search result to the control module; The control module is used to move the end of the robot arm (200) to an end tool storage position where the currently assembled end tool (220) is to be stored based on the search result.

10. The automatic head changing system according to claim 9, characterized in that: The instruction acquisition module is used to recognize the target voice, and when the target voice is recognized, the current service instruction is acquired.

11. The automatic head changing system according to claim 9, characterized in that: The type determination module is used to determine the type of the currently assembled end tool (220) based on the most recent historical service instruction and send it to the judgment module.

12. The automatic head changing system according to claim 9, characterized in that: The vehicle (100) is equipped with a quick-change base (300), and the quick-change base (300) is provided with a plurality of storage slots (310), and the storage slots (310) constitute the end tool storage positions; The control module is used to insert the currently assembled end tool (220) into the corresponding storage slot (310) based on the search result to perform disassembly and fixation in sequence.

13. The automatic head changing system according to claim 12, characterized in that: The notch of the storage slot (310) is provided with a snap-fitting piece (320), and the snap-fitting piece (320) is used for snap-fitting connection with the end tool (210) to be replaced or the currently assembled end tool (220).

14. The automatic head changing system according to claim 12, characterized in that: The current service instruction carries the position information and identification information of the end tool storage position corresponding to the end tool (210) to be replaced; The automatic head changing system further comprises a second identification module electrically connected to the control module, the second identification module being used to search for the end tool storage position of the end tool (210) to be replaced corresponding to the current service instruction according to the position information and identification information carried by the current service instruction, and send the search result to the control module; The control module is used to move the end of the robot arm (200) to the end tool storage position of the end tool (210) to be replaced corresponding to the current service instruction based on the search result.

15. The automatic head changing system according to claim 12, characterized in that: The end tool (210) to be replaced or the currently installed end tool (220) is connected to the end of the mechanical arm (200) by means of a threaded member; The disassembly module includes a motor electrically connected to the control module and a screwdriver arranged on the output shaft of the motor; The control module is used to control the motor to drive the screwdriver to rotate so as to screw in or out the threaded member.

16. The automatic head changing system according to any one of claims 9 to 15, characterized in that: A sensor electrically connected to the control module is provided at the end of the mechanical arm (200); The sensor is used to obtain and send to the control module the weight carried by the end of the mechanical arm (200); The control module is used to determine that the currently assembled end tool (220) has completed removal when the weight is lower than a preset weight.

17. The automatic head changing system according to any one of claims 9 to 15, characterized in that: The control module is also used to determine whether the robot arm (200) has been reset before removing the currently assembled end tool (220), and if not, reset the robot arm (200) to zero.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic head changing method according to any one of claims 1 to 8 are implemented.

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