A method and device for positioning between a transfer robot and a driverless vehicle

Abstract

The application relates to the technical field of robots, and provides a positioning method and device between a transfer robot and an unmanned vehicle. The method is applied to a control system and comprises the following steps: determining an initial position of the transfer robot according to a position of the unmanned vehicle; determining a range of an occupied area of the unmanned vehicle; determining a moving range of the transfer robot according to the range of the occupied area; making the transfer robot move in the moving range from the initial position and emit a first signal; when the transfer robot receives a second signal based on the first signal; and positioning the transfer robot according to a position of the transfer robot for emitting the first signal. The application can guarantee the accuracy and real-time performance of positioning of the transfer robot and the unmanned vehicle, reduce the positioning difficulty, and accurately transfer a cargo hold on the unmanned vehicle.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a positioning method and apparatus for a shuttle robot and an unmanned vehicle. Background Technology

[0002] With the booming development of the internet economy, advanced technologies such as automation and information are increasingly being applied in smart logistics warehousing centers. Among them, the cooperative transportation between unmanned vehicles and shuttle robots is currently a relatively advanced coordination method in smart logistics transportation.

[0003] The coordination between the autonomous vehicle and the shuttle robot is achieved through the transfer of the cargo compartment. The cargo compartment is a universal component that can be detachably attached to either the autonomous vehicle or the shuttle robot. The shuttle robot's docking process is realized by transferring the cargo compartment from the autonomous vehicle to the shuttle robot.

[0004] When the shuttle robot transfers the cargo compartment of the unmanned vehicle, the system needs to obtain the positioning signal of the shuttle robot to control the cargo transfer. To ensure accurate cargo transfer, the positioning signal must be real-time and accurate.

[0005] In existing technologies, the lack of precise positioning for docking robots causes errors during the transfer of cargo compartments on unmanned vehicles, affecting the docking efficiency between docking robots and unmanned vehicles and causing unnecessary losses. Summary of the Invention

[0006] In view of this, the present application provides a positioning method and apparatus between a shuttle robot and an unmanned vehicle to solve the problem in the prior art that the lack of accurate positioning of the shuttle robot causes errors during the transfer of cargo compartments on the unmanned vehicle, affecting the shuttle efficiency between the shuttle robot and the unmanned vehicle and causing unnecessary losses.

[0007] A first aspect of this application provides a positioning method between a shuttle robot and an unmanned vehicle, the method being applied to a control system, including:

[0008] The initial position of the shuttle robot is determined based on the location of the unmanned vehicle;

[0009] Determine the area occupied by the driverless vehicle;

[0010] The movement range of the shuttle robot is determined based on the area it occupies;

[0011] The docking robot moves within its range from its initial position and emits the first signal.

[0012] When the shuttle robot receives a second signal based on the first signal, the shuttle robot is positioned according to the location where the shuttle robot transmitted the first signal.

[0013] A second aspect of this application provides a positioning device for connecting a robot and an unmanned vehicle, comprising:

[0014] Initial position determination module: used to determine the initial position of the shuttle robot based on the position of the unmanned vehicle;

[0015] Area Determination Module: Used to determine the area occupied by the autonomous vehicle;

[0016] Movement range determination module: used to determine the movement range of the shuttle robot based on the area it occupies;

[0017] First signal transmitting module: used to enable the shuttle robot to move within the movement range from its initial position and transmit a first signal;

[0018] Positioning module: used to locate the shuttle robot according to the position of the shuttle robot transmitting the first signal when the shuttle robot receives a second signal based on the first signal.

[0019] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0020] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0021] The beneficial effects of this application's embodiments compared to existing technologies are as follows: This application's embodiments determine the initial position of the shuttle robot based on the unmanned vehicle's position, enabling the shuttle robot to move within its movement range from the initial position and emit a first signal. When the shuttle robot receives a second signal based on the first signal, its positioning is determined according to the position where the shuttle robot emitted the first signal. The entire process ensures the accuracy and real-time positioning of both the shuttle robot and the unmanned vehicle. This reduces the difficulty of positioning and enables precise transfer of cargo compartments on the unmanned vehicle. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram illustrating an application scenario of this application embodiment;

[0024] Figure 2 This is a flowchart illustrating a positioning method between a shuttle robot and an unmanned vehicle provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a positioning device between a shuttle robot and an unmanned vehicle provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0028] With the booming development of the internet economy, advanced technologies such as automation and information are increasingly being applied in smart logistics warehousing centers. Among them, the cooperative transportation between unmanned vehicles and shuttle robots is currently a relatively advanced coordination method in smart logistics transportation.

[0029] Autonomous vehicles (AVVs) are a type of robotics technology. AVVs are generally driverless vehicles that move between two fixed locations. Shuttle robots, on the other hand, may have more dispersed and specific routes, such as package delivery. An AVV with a large capacity can carry all the packages and travel between a distribution center and a specific residential area. A shuttle robot can then be responsible for delivering packages to each gate of that residential area. This delivery operation requires a shuttle process between the AVV and the shuttle robot. This shuttle process can be achieved by transferring the cargo compartment between the AVV and the shuttle robot.

[0030] The primary scenario for the shuttle robots and unmanned vehicles described in this application is cargo transportation. Unmanned vehicles can provide pickup and delivery services in urban environments such as enclosed office buildings, campuses, and other locations with concentrated orders. Their excellent flexibility and convenient operation will significantly improve delivery efficiency. Their high carrying capacity is beneficial for transporting large quantities of goods. Shuttle robots are highly flexible due to their small size and diverse functions, allowing them to easily navigate complex and varied transportation scenarios.

[0031] When the shuttle robot transfers the cargo compartment of the unmanned vehicle, the system needs to obtain the positioning signal of the shuttle robot to control the cargo transfer. To ensure accurate cargo transfer, the positioning signal must be real-time and accurate.

[0032] In existing technologies, the lack of precise positioning for docking robots causes errors during the transfer of cargo compartments on unmanned vehicles, affecting the docking efficiency between docking robots and unmanned vehicles and causing unnecessary losses.

[0033] In view of the problems in the prior art, this disclosure provides a novel positioning method and apparatus for a shuttle robot and an unmanned vehicle. By determining the initial position of the shuttle robot based on the position of the unmanned vehicle, the shuttle robot moves within a movement range from the initial position and emits a first signal. When the shuttle robot receives a second signal based on the first signal, its positioning is determined according to the position where the first signal was emitted. The entire process ensures the accuracy and real-time performance of the positioning of the shuttle robot and the unmanned vehicle. This reduces the positioning difficulty and enables precise transfer of cargo compartments on the unmanned vehicle.

[0034] The following will describe in detail, with reference to the accompanying drawings, a positioning method and apparatus for a shuttle robot and an unmanned vehicle according to embodiments of this application.

[0035] Figure 1 This is a schematic diagram illustrating an application scenario according to an embodiment of this application. The application scenario may include terminal devices 101, 102, and 103, server 104, and network 105.

[0036] Terminal devices 101, 102, and 103 can be hardware or software. When terminal devices 101, 102, and 103 are hardware, they can be various electronic devices with displays that support communication with server 104, including but not limited to smartphones, tablets, laptops, and desktop computers. When terminal devices 101, 102, and 103 are software, they can be installed in the aforementioned electronic devices. Terminal devices 101, 102, and 103 can be implemented as multiple software programs or software modules, or as a single software program or software module; this application embodiment does not impose any limitations on this. Furthermore, various applications can be installed on terminal devices 101, 102, and 103, such as data processing applications, instant messaging tools, social platform software, search applications, shopping applications, etc.

[0037] Server 104 can be a server that provides various services, such as a backend server that receives requests sent by terminal devices with which it has established communication connections. This backend server can receive and analyze the requests sent by the terminal devices and generate processing results. Server 104 can be a single server, a server cluster consisting of several servers, or a cloud computing service center. This application embodiment does not limit this.

[0038] It should be noted that server 104 can be either hardware or software. When server 104 is hardware, it can be various electronic devices that provide various services to terminal devices 101, 102, and 103. When server 104 is software, it can be multiple software programs or software modules that provide various services to terminal devices 101, 102, and 103, or it can be a single software program or software module that provides various services to terminal devices 101, 102, and 103. This application embodiment does not impose any limitations on this.

[0039] Network 105 can be a wired network using coaxial cable, twisted pair, and fiber optic connection, or it can be a wireless network that enables interconnection of various communication devices without wiring, such as Bluetooth, Near Field Communication (NFC), and Infrared. This application embodiment does not limit this.

[0040] Users can establish a communication connection with server 104 via network 105 through terminal devices 101, 102, and 103 to receive or send information. Specifically, server 104 integrates a control system that determines the initial position of the shuttle robot based on the location of the unmanned vehicle, and determines the area occupied by the unmanned vehicle. Server 104 determines the movement range of the shuttle robot based on the occupied area, causing the shuttle robot to move within the movement range from its initial position and transmit a first signal. When the shuttle robot receives a second signal based on the first signal, server 104 locates the shuttle robot according to the position where the shuttle robot transmitted the first signal.

[0041] It should be noted that the specific types, quantities, and combinations of terminal devices 101, 102, and 103, server 104, and network 105 can be adjusted according to the actual needs of the application scenario, and this application embodiment does not impose any restrictions on this.

[0042] Figure 2 This is a flowchart illustrating a positioning method between a shuttle robot and an unmanned vehicle provided in an embodiment of this application. Figure 2 The positioning method between the shuttle robot and the unmanned vehicle can be derived from... Figure 1The terminal device, server, or control system integrated into the server executes the commands. For example... Figure 2 As shown, the positioning method between the shuttle robot and the unmanned vehicle includes:

[0043] S201, determine the initial position of the shuttle robot based on the position of the unmanned vehicle;

[0044] S202, Determine the area occupied by the driverless vehicle;

[0045] S203, determine the movement range of the shuttle robot based on the area it occupies;

[0046] S204, causing the docking robot to move within its range of motion from its initial position and to transmit the first signal;

[0047] S205, when the shuttle robot receives a second signal based on the first signal; locate the shuttle robot according to the position where the shuttle robot transmits the first signal.

[0048] Specifically, in this embodiment, the unmanned vehicle position refers to the location where the unmanned vehicle loaded with goods will stop to unload. An unmanned vehicle is a type of intelligent mobile robot used for loading goods. A docking robot is a robot used to dock with the unmanned vehicle and unload goods. Typically, the vehicle used to load goods is a cargo compartment, and the unmanned vehicle can have several cargo compartments. The cargo compartment is adapted to both the unmanned vehicle and the docking robot. The docking robot moves to the bottom of the cargo compartment and uses an operating component to unload the cargo compartment from the unmanned vehicle and place it on the docking robot. Each docking robot can dock with one cargo compartment at a time, and the cargo compartment can be transferred between the unmanned vehicle and the docking robot to complete the docking. The initial position refers to the starting position of the docking robot's movement at the bottom of the unmanned vehicle. The positioning in this embodiment can be divided into two parts: one part is that the docking robot first moves to the bottom of the unmanned vehicle based on its position; this step can be called coarse positioning. The other part involves the shuttle robot moving within the area under the unmanned vehicle until it finds the cargo compartment, stops at the bottom of the cargo compartment, and is ready to load cargo. This is the final positioning of the shuttle robot, and this step can be called fine positioning.

[0049] Furthermore, the area occupied by the autonomous vehicle refers to its specific coverage area. This is because, to save time in locating the shuttle robot, its movement range needs to be further refined. Therefore, determining the area occupied by the autonomous vehicle also determines the area the shuttle robot will move within for subsequent positioning.

[0050] Furthermore, the movement range of the shuttle robot is determined based on the area it occupies. The area occupied by the unmanned vehicle is the movement range of the shuttle robot. As shown in step 201, the positioning can be divided into two parts. One part is that the shuttle robot moves to the bottom of the unmanned vehicle based on its position; this step can be called coarse positioning. The other part is that the shuttle robot moves within the area under the unmanned vehicle until it finds the cargo compartment and stops at the bottom of the cargo compartment, ready to load cargo. This is the final positioning position of the shuttle robot; this step can be called fine positioning. After the shuttle robot approaches the unmanned vehicle, its movement range needs to be further determined to reduce unnecessary movement paths and ensure that the shuttle robot moves within the movement range for accurate positioning.

[0051] Furthermore, the docking robot moves within its movement range from its initial position and emits a first signal. This first signal is the emitted signal. The first signal can be of various types, such as electromagnetic wave signals or optical signals. Electromagnetic wave signals and optical signals share the characteristics of high speed and the ability to be reflected under certain conditions. For example, electromagnetic wave signals can be reflected back when they encounter metal, or optical signals can be reflected back when they encounter a mirror.

[0052] Furthermore, when the shuttle robot receives a second signal based on the first signal, it is positioned according to the location where the shuttle robot emitted the first signal. The second signal is the reflected signal. Generally, a reflective device can be installed at the bottom of the cargo hold, and the reflective device depends on the type of the first signal. For example, when the first signal is a light signal, the reflective device can be a smooth mirror. When the first signal encounters the mirror, it is reflected, and the reflected signal is the second signal. The shuttle robot can be equipped with a receiving device on the original device that emitted the first signal. When it receives the reflected second signal, it means that the shuttle robot is currently located at the bottom of the cargo hold, which is the position where the unmanned vehicle needs to unload the cargo hold for the shuttle robot. For example, the shuttle robot has a light signal emitting device at the top center that emits light signals vertically upwards, and a receiving device is also installed on the light signal emitting device. The cargo hold has a mirror structure at the bottom center. When the shuttle robot moves to the bottom of the cargo hold, the emitted first signal is reflected back by the mirror structure, and the second signal can be received by the receiving device. At this point, it can be concluded that the location of the shuttle robot can be used as the target location for unloading the cargo compartment of the unmanned vehicle. Therefore, the shuttle robot can be located based on this location to facilitate the unloading of the cargo compartment from the unmanned vehicle.

[0053] According to the technical solution provided in this disclosure, the initial position of the shuttle robot is determined based on the position of the unmanned vehicle. The shuttle robot then moves within its movement range from the initial position and emits a first signal. When the shuttle robot receives a second signal based on the first signal, its positioning is determined according to the position where the first signal was emitted. This entire process ensures the accuracy and real-time positioning of both the shuttle robot and the unmanned vehicle. It reduces the difficulty of positioning and enables precise transfer of cargo compartments on the unmanned vehicle.

[0054] In some embodiments, if the autonomous vehicle is equipped with a locator, determining the initial position of the shuttle robot based on the autonomous vehicle's position includes:

[0055] The location of the unmanned vehicle is determined based on the locator;

[0056] The robot's movement tracking locator determines its initial position.

[0057] Specifically, a locator is an intelligent automotive device mounted on an autonomous vehicle. Its main function is to use GPS technology to locate the autonomous vehicle's position, speed, and route in real time, and transmit this data to user devices or cloud platforms, allowing users to monitor the vehicle's status anytime, anywhere. Software or platforms can track the location of the locator, which is essentially the location of the autonomous vehicle. Because the shuttle robot first needs a coarse localization process, the target location of this coarse localization is the location of the autonomous vehicle. By moving the shuttle robot to track the locator, the starting point, or initial position, of the shuttle robot's fine localization can be determined.

[0058] In some embodiments, determining the area occupied by the autonomous vehicle includes:

[0059] Determine the rated information of the autonomous vehicle, and determine the area range based on the rated information;

[0060] The specifications include the length and width of the driverless vehicle chassis.

[0061] Specifically, determining the area occupied by the unmanned vehicle (UAV) determines the area the shuttle robot will subsequently move to for positioning. Since the cargo compartment to be transferred during the transfer process is on the UAV, positioning the shuttle robot requires pinpointing the exact location of the cargo compartment on the UAV. To save positioning time, the area the shuttle robot will move to for positioning is further narrowed down to the area covered by the UAV. Generally, UAVs have rated information, which refers to the specific information of the UAV under normal operating conditions after its design, manufacturing, and selection have been standardized and serialized. In this embodiment, the rated information can be the length and width of the UAV chassis. By determining the length and width of the UAV chassis, the area the shuttle robot can move to can be obtained.

[0062] In some embodiments, if the shuttle robot is equipped with a boundary recognition device, then determining the shuttle robot's movement range based on the area it occupies includes:

[0063] The movement boundaries of the shuttle robot are determined based on the area scope;

[0064] The movement range is determined by identifying the moving boundary using a boundary recognition device.

[0065] Specifically, the boundary recognition device can be a type of obstacle avoidance device. The obstacle detection unit can identify various types of obstacles, thus comprehensively ensuring the driving safety of the shuttle robot and achieving precise area navigation through refined navigation operations. Generally, by setting the area around the autonomous vehicle as a boundary or obstacle, the shuttle robot can move and avoid the boundary within the area enclosed by this boundary. Therefore, this movement boundary is the limit restricting the shuttle robot's movement; the movement range is determined by recognizing the movement boundary using the boundary recognition device.

[0066] In some embodiments, at least one cargo compartment is detachably connected to the unmanned vehicle; then, to enable the shuttle robot to move within a range of motion from an initial position and transmit a first signal, the method further includes:

[0067] Determine the installation angle of the cargo hold;

[0068] The transmission angle of the first signal is determined based on the installation angle of the cargo hold;

[0069] The docking robot moves within its range from its initial position and emits a first signal at the launch angle.

[0070] Specifically, the docking between the unmanned vehicle (UAV) and the shuttle robot is achieved through the transfer of the cargo compartment. Generally, the cargo compartment is detachably connected to the UAV and is adapted to both the UAV and the shuttle robot. The shuttle robot moves to the bottom of the cargo compartment and uses an operating component to unload the cargo compartment from the UAV and place it on the shuttle robot. Each shuttle robot can dock with one cargo compartment at a time, and the cargo compartment can be transferred between the UAV and the shuttle robot to complete the docking. Typically, the cargo compartment can be a cylindrical structure. The installation angle of the cargo compartment refers to the angle of its central axis relative to the vertical direction. The installation angle of the cargo compartment is arbitrary, but is generally 0°, meaning the central axis of the cargo compartment is completely parallel to the vertical direction. Determining the installation angle is to determine the transmission angle of the first signal. This is because the positioning of the shuttle robot mainly relies on the reflected signal of the first signal. Generally, the transmission angle of the first signal should be parallel to the central axis of the cargo compartment. If the transmission angle of the first signal is not parallel to the central axis of the cargo compartment, then the direction of the reflected signal of the first signal is uncertain, and even if the reflected signal is received, it is not a reliable reference. Therefore, the docking robot is moved within its range from its initial position and emits a first signal at the launch angle. This facilitates the positioning of the docking robot.

[0071] In some embodiments, when the shuttle robot receives a second signal based on a first signal; positioning the shuttle robot according to the location where the shuttle robot transmitted the first signal includes:

[0072] When the shuttle robot receives a second signal based on the first signal;

[0073] The target location is determined based on the position of the first signal emitted by the connected robot.

[0074] The docking robot is positioned based on the target location.

[0075] Specifically, because the shuttle robot is constantly moving until it completes its localization, it stops moving when it receives a second signal based on the first signal. Although the signal feedback speed is very fast, the shuttle robot may deviate due to inertia or system delays. Therefore, the target position must be determined based on the first signal that generated the second signal. That is, when the first signal was transmitted, the shuttle robot was precisely located at the bottom center of the cargo hold, which is the optimal position for carrying the cargo. This is the target position. Therefore, the shuttle robot must be positioned based on the target position.

[0076] In some embodiments, the unmanned vehicle includes a first cargo compartment and a second cargo compartment arranged symmetrically; then it further includes:

[0077] Once the first cargo compartment is unloaded, the unmanned vehicle rotates 180° along the axis of symmetry between the first and second cargo compartments to align the second cargo compartment with the docking robot.

[0078] Specifically, after the first cargo hold completes unloading—that is, after the first cargo hold is transferred to the target location by the connecting robot—the connecting robot moves away. Therefore, when the second cargo hold unloads, there's no need to reposition the connecting robot based on the second cargo hold's location. Instead, the target location of the first cargo hold can be used as a positioning marker. The connecting robot moves back to its original position, and the autonomous vehicle rotates 180° along the axis of symmetry between the first and second cargo holds to align the second cargo hold and the connecting robot. This reduces positioning difficulty and enables rapid positioning.

[0079] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0080] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0081] Figure 3 This is a schematic diagram of a positioning device for a shuttle robot and an unmanned vehicle provided in an embodiment of this application. Figure 3 As shown, the positioning device between the shuttle robot and the unmanned vehicle includes:

[0082] The initial position determination module 301 is configured to determine the initial position of the shuttle robot based on the position of the unmanned vehicle;

[0083] The area determination module 302 is configured to determine the area occupied by the unmanned vehicle;

[0084] The movement range determination module 303 is configured to determine the movement range of the shuttle robot based on the area it occupies.

[0085] The first signal transmitting module 304 is configured to enable the shuttle robot to move within a range of motion from an initial position and transmit a first signal.

[0086] The positioning module 305 is configured to locate the shuttle robot according to the position of the shuttle robot transmitting the first signal when the shuttle robot receives a second signal based on the first signal.

[0087] In some embodiments, the driverless vehicle is equipped with a locator. Figure 3 The initial position determination module 301 includes:

[0088] The location of the unmanned vehicle is determined based on the locator;

[0089] The robot's movement tracking locator determines its initial position.

[0090] In some embodiments, Figure 3The area range determination module 302 includes:

[0091] Determine the rated information of the autonomous vehicle, and determine the area range based on the rated information;

[0092] The specifications include the length and width of the driverless vehicle chassis.

[0093] In some embodiments, the shuttle robot is equipped with a boundary recognition device. Figure 3 The movement range determination module 303 includes:

[0094] The movement boundaries of the shuttle robot are determined based on the area scope;

[0095] The movement range is determined by identifying the moving boundary using a boundary recognition device.

[0096] In some embodiments, at least one cargo compartment can be detachably connected to the interior of the unmanned vehicle; then Figure 3 The first signal transmitting module 304 also includes:

[0097] Determine the installation angle of the cargo hold;

[0098] The transmission angle of the first signal is determined based on the installation angle of the cargo hold;

[0099] The docking robot moves within its range from its initial position and emits a first signal at the launch angle.

[0100] In some embodiments, Figure 3 The positioning module 305 includes:

[0101] When the shuttle robot receives a second signal based on the first signal;

[0102] The target location is determined based on the position where the shuttle robot transmits the first signal;

[0103] The docking robot is positioned based on the target location.

[0104] In some embodiments, the unmanned vehicle includes a first cargo compartment and a second cargo compartment arranged symmetrically; then Figure 3 The positioning module 305 also includes:

[0105] Once the first cargo compartment is unloaded, the unmanned vehicle rotates 180° along the axis of symmetry between the first and second cargo compartments to align the second cargo compartment with the docking robot.

[0106] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0107] Figure 4This is a schematic diagram of the electronic device 4 provided in an embodiment of this application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, it implements the steps in the various method embodiments described above. Alternatively, when the processor 401 executes the computer program 403, it implements the functions of each module / unit in the various device embodiments described above.

[0108] Electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 4 may include, but is not limited to, processor 401 and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or different components.

[0109] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0110] The memory 402 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 4. The memory 402 can also include both internal and external storage units of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0111] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0112] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0113] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning method between a shuttle robot and an unmanned vehicle, characterized in that, The method is applied to a control system, and the method includes: The initial position of the shuttle robot is determined based on the location of the unmanned vehicle; Determine the area occupied by the driverless vehicle; The movement range of the shuttle robot is determined based on the area it occupies; The docking robot is moved from its initial position within the range of motion and emits a first signal. When the shuttle robot receives a second signal based on the first signal; the shuttle robot is located according to the position where the shuttle robot emitted the first signal.

2. The method according to claim 1, characterized in that, If the unmanned vehicle is equipped with a locator, then determining the initial position of the shuttle robot based on the unmanned vehicle's position includes: The location of the unmanned vehicle is determined based on the locator; The docking robot moves to track the locator to determine the initial position.

3. The method according to claim 1, characterized in that, The defined area occupied by the unmanned vehicle includes: Determine the rated information of the unmanned vehicle, and determine the area range based on the rated information; The rated information includes the length and width of the unmanned vehicle chassis.

4. The method according to claim 1, characterized in that, If the shuttle robot is equipped with a boundary recognition device, then determining the movement range of the shuttle robot based on the occupied area includes: The movement boundary of the shuttle robot is determined based on the area range; The movement range is determined by identifying the moving boundary using a boundary recognition device.

5. The method according to claim 1, characterized in that, The unmanned vehicle can be detachably connected to at least one cargo compartment; then, to enable the shuttle robot to move within the movement range from the initial position and emit a first signal, the method further includes: Determine the installation angle of the cargo hold; The transmission angle of the first signal is determined based on the installation angle of the cargo hold; The docking robot is moved from the initial position within the range of motion and emits the first signal at the emission angle.

6. The method according to claim 1, characterized in that, The step of locating the shuttle robot based on the location where the shuttle robot transmits the first signal when the shuttle robot receives a second signal based on the first signal includes: When the shuttle robot receives a second signal based on the first signal; The target location is determined based on the position where the shuttle robot transmits the first signal; The shuttle robot is located based on the target location.

7. The method according to any one of claims 1 to 6, characterized in that, The unmanned vehicle includes a first cargo compartment and a second cargo compartment arranged symmetrically; therefore, the method further includes: Once the first cargo compartment has finished unloading, the unmanned vehicle rotates 180° along the axis of symmetry between the first and second cargo compartments to align the second cargo compartment with the docking robot.

8. A positioning device for connecting a robot and an unmanned vehicle, characterized in that, include: Initial position determination module: used to determine the initial position of the shuttle robot based on the position of the unmanned vehicle; Area Determination Module: Used to determine the area occupied by the autonomous vehicle; Movement range determination module: used to determine the movement range of the shuttle robot based on the occupied area range; First signal transmitting module: used to enable the shuttle robot to move from the initial position within the movement range and to transmit a first signal; Positioning module: used to locate the shuttle robot according to the position where the shuttle robot emitted the first signal when the shuttle robot receives a second signal based on the first signal.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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