A method and device for connecting a transfer robot and an unmanned vehicle

Abstract

The application provides a docking method and device of a docking robot and a driverless vehicle. The method is applied to a control system and comprises the following steps: determining a hanger position of the driverless vehicle according to a first docking instruction, and controlling the docking robot to move to a target position; using a second operation component of the driverless vehicle to perform a first action to detach a cargo cabin from the docking robot; and mounting the cargo cabin on the hanger of the driverless vehicle; and / or determining the hanger position of the driverless vehicle according to a second docking instruction, and controlling the docking robot to move to a target position; using a first operation component of the docking robot to perform a second action to detach the cargo cabin from the driverless vehicle; and mounting the cargo cabin on the docking robot. According to the first docking instruction and the second docking instruction, the second operation component and the first operation component can be used to simply and conveniently detach and mount the cargo cabin between the docking robot and the driverless vehicle, so that the transfer of the cargo cabin is realized.

Description

Technical Field

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

[0002] With the rapid development of science and technology, the performance of robots is constantly improving, and their application scope has greatly expanded. They are widely used not only in industries such as manufacturing, agriculture, medicine, and services, but also in hazardous and dangerous situations such as urban security, national defense, and space exploration. Therefore, robot technology has received widespread attention from countries around the world.

[0003] Autonomous vehicles (AVVs) are a type of robotics technology. In the context of goods transportation, they differ from conventional transport robots. AVVs are generally driverless vehicles that move between two fixed locations, while transport robots may have more dispersed and specific routes. For example, in package delivery, an AVV with a large capacity can load all packages and travel between a distribution center and a residential community. A transport robot then handles the individual deliveries to each gate of that community. Alternatively, in a warehouse where an AVV is too large to enter, a robot is needed to transport scattered goods onto the AVV. All of these scenarios require a connection process between the AVV and the robot to transfer the goods.

[0004] In existing technologies, the docking process between unmanned vehicles and robots is not intelligent or fast enough, often requiring human intervention, which increases costs and reduces efficiency. Summary of the Invention

[0005] In view of this, the present application provides a method and apparatus for connecting a robot and an unmanned vehicle, in order to solve the problem that the connection process between the unmanned vehicle and the robot is not intelligent and fast enough in the prior art, resulting in increased costs and reduced efficiency.

[0006] A first aspect of this application provides a method for connecting a shuttle robot and an unmanned vehicle. This method is applied to a control system and includes:

[0007] Based on the first docking instruction, determine the location of the unmanned vehicle's mounting bracket and control the docking robot to move to the target location;

[0008] Using the second operating component of the unmanned vehicle, the first action is to remove the cargo compartment from the docking robot;

[0009] Install the cargo compartment onto the rack of the unmanned vehicle;

[0010] And / or, according to the second docking instruction, determine the mounting position of the unmanned vehicle and control the docking robot to move to the target position;

[0011] Using the first operating component of the shuttle robot, the second action is performed to remove the cargo compartment from the unmanned vehicle;

[0012] The cargo compartment was installed onto the shuttle robot.

[0013] A second aspect of this application provides a robot-based shuttle system, including a shuttle robot, an unmanned vehicle, and a controller;

[0014] The docking robot includes a robot body, a cargo compartment, and a first operating component; the robot body and the cargo compartment are detachably connected.

[0015] The driverless vehicle includes a mounting frame and a second control unit;

[0016] The controller is used to control the second operating component of the unmanned vehicle, which detaches the cargo compartment from the docking robot and installs it onto the rack.

[0017] Alternatively, it can be used as a first operating component to control the shuttle robot, detaching the cargo compartment from the unmanned vehicle's rack and installing it onto the shuttle robot.

[0018] A third aspect of this application provides a docking device for a shuttle robot and an unmanned vehicle, comprising:

[0019] First docking instruction execution module: used to determine the mounting position of the unmanned vehicle according to the first docking instruction, and control the docking robot to move to the target position;

[0020] First action execution module: used to perform the first action of removing the cargo compartment from the docking robot and installing the cargo compartment onto the rack of the unmanned vehicle using the second operating component of the unmanned vehicle;

[0021] The second docking instruction execution module is used to determine the mounting position of the unmanned vehicle according to the second docking instruction and control the docking robot to move to the target position.

[0022] Second action execution module: used to perform a second action by using the first operating component of the shuttle robot to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

[0023] A fourth 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 method described above.

[0024] A fifth 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.

[0025] The beneficial effects of this application embodiment compared with the prior art are as follows: by utilizing the second operating component and the first operating component according to the first and second docking instructions, the cargo compartment can be easily and conveniently disassembled and installed between the docking robot and the unmanned vehicle, realizing the transfer of the cargo compartment. The entire process is intelligent and fast, requiring no human intervention, thus saving labor costs and improving docking efficiency. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a schematic diagram illustrating an application scenario of this application embodiment;

[0028] Figure 2 This is a flowchart illustrating a method for connecting a shuttle robot and an unmanned vehicle according to an embodiment of this application;

[0029] Figure 3 This is a schematic diagram of a robot-based shuttle system provided in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a docking device for a shuttle robot and an unmanned vehicle provided in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] 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.

[0033] A shuttle robot is a comprehensive system integrating multiple functions such as environmental perception, dynamic decision-making and planning, and behavior control and execution. It is an intelligent robot that operates in complex environments, possessing self-organization, autonomous operation, and autonomous planning capabilities, and integrates computer technology, information technology, communication technology, microelectronics technology, and robotics technology.

[0034] Driverless cars, a type of intelligent vehicle, also known as wheeled mobile robots, primarily rely on in-vehicle computer-based intelligent driving systems to achieve autonomous driving. Driverless driving refers to a car's ability to perform fully automated control actions without driver intervention, representing the ultimate form of autonomous vehicle technology.

[0035] With the continuous advancement of high technologies such as cloud computing, artificial intelligence, modern sensing, information fusion, communication, and automatic control, the development of driverless cars will accelerate, and public acceptance and demand for them are gradually increasing. Although driverless cars are not yet widely deployed, their applicable areas are becoming increasingly apparent. Transportation, logistics, sanitation, and security patrol will be their main application areas.

[0036] The shuttle robots and unmanned vehicles in this application are primarily targeted at cargo transportation scenarios. 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.

[0037] Therefore, in order to transport goods in diverse scenarios, it is necessary for shuttle robots and unmanned vehicles to work together to transfer goods. This requires a shuttle process between the unmanned vehicles and robots to achieve the transfer of goods.

[0038] However, in existing technologies, the docking process between unmanned vehicles and robots is not intelligent or fast enough, often requiring human intervention, which increases costs and reduces efficiency.

[0039] In view of the problems in the prior art, this disclosure provides a novel method and apparatus for connecting a shuttle robot and an unmanned vehicle. By transferring the cargo compartment between the shuttle robot and the unmanned vehicle, the transfer of goods is achieved. The entire process is intelligent and fast, requiring no human intervention, thus saving labor costs and improving connection efficiency.

[0040] The following will describe in detail, with reference to the accompanying drawings, a method and apparatus for connecting a shuttle robot and an unmanned vehicle according to an embodiment of this application.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Users can establish a communication connection with server 104 via network 105 through terminal devices 101, 102, and 103 to receive or send information, etc. Specifically, server 104 integrates a control system. Server 104 receives a first docking instruction, determines the mount position of the unmanned vehicle, and controls the docking robot to move to the target position. The control system uses the second operating component of the unmanned vehicle to perform a first action: detaching the cargo compartment from the docking robot and installing the cargo compartment onto the mount of the unmanned vehicle. And / or, server 104 determines the mount position of the unmanned vehicle according to the second docking instruction and controls the docking robot to move to the target position; the control system uses the first operating component of the docking robot to perform a second action: detaching the cargo compartment from the unmanned vehicle and installing the cargo compartment onto the docking robot.

[0047] 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.

[0048] Figure 2 This is a flowchart illustrating a method for connecting a shuttle robot and an unmanned vehicle, as provided in an embodiment of this application. Figure 2 The connection method between the shuttle robot and the unmanned vehicle can be determined by... Figure 1 The terminal device, server, or control system integrated into the server executes the commands. For example... Figure 2 As shown, the docking method between the shuttle robot and the unmanned vehicle includes:

[0049] S201, based on the first docking instruction, determine the position of the unmanned vehicle's mounting bracket and control the docking robot to move to the target position;

[0050] S202, using the second operating component of the unmanned vehicle, performs the first action of removing the cargo compartment from the docking robot; and installs the cargo compartment onto the rack of the unmanned vehicle;

[0051] S203, and / or, according to the second docking instruction, determine the mounting position of the unmanned vehicle and control the docking robot to move to the target position;

[0052] S204, using the first operating component of the shuttle robot, perform the second action to remove the cargo compartment from the unmanned vehicle; and install the cargo compartment onto the shuttle robot.

[0053] Specifically, in this embodiment, the first docking instruction refers to the instruction for the docking robot to dock with the unmanned vehicle. That is, through docking, the cargo compartment of the docking robot is installed onto the unmanned vehicle. In this embodiment, docking can be interpreted as a transfer. Specifically, it means that goods are moved by transferring their cargo compartments. For example, goods produced in a workshop need to be transported to a destination. Due to the complex road conditions and narrow terrain of the workshop, the unmanned vehicle cannot pass through, requiring a docking robot to travel within the workshop to transport the goods. This transport route can have two segments: one is the route traveled by the docking robot, from inside the workshop to outside, and the other is the route traveled by the unmanned vehicle, collecting the goods and then traveling from outside the workshop to the destination. When the two routes intersect, the carrier changes, requiring the docking robot to dock with the unmanned vehicle. The specific docking process is as follows: First, based on the first docking instruction, the docking form, i.e., the direction of goods transfer, is determined. The location of the unmanned vehicle's mounting bracket is determined; unmanned vehicles generally have at least one bracket for mounting the docking robot's cargo compartment. Therefore, the transfer of goods is also the transfer of the cargo compartment. This saves loading and unloading time by transferring the cargo directly, including the cargo hold. Using the rack position as a reference, the docking robot is controlled to move to the target position. The target position is the final location where the docking robot and the unmanned vehicle dock. Specifically, it is the suitable position where the cargo hold on the docking robot and the rack on the unmanned vehicle can be installed. Generally, this target position is where the cargo hold on the docking robot is above and to one side of the rack.

[0054] Furthermore, using the second operating component of the autonomous vehicle, the first action is performed to detach the cargo compartment from the docking robot and install it onto the autonomous vehicle's mounting bracket. The second operating component is part of the autonomous vehicle; it can be a gripping robotic arm or a hydraulic, electric, or pneumatic device that controls the lifting and lowering of the mounting bracket. The first action can be the lifting of the mounting bracket. Since the cargo compartment is located above and to one side of the mounting bracket, the bracket is raised. The mounting bracket can have mounting points that can be detachably connected to the cargo compartment. By raising the mounting bracket, the cargo compartment is detached from the docking robot and then connected to the mounting points, i.e., installed onto the autonomous vehicle's mounting bracket.

[0055] Furthermore, the shuttle method in this embodiment is bidirectional. Not only does the shuttle robot shuttle to the unmanned vehicle, but in some cases, the unmanned vehicle also needs to shuttle to the shuttle robot. Specifically, the second shuttle instruction in this embodiment refers to the instruction for the unmanned vehicle to shuttle to the shuttle robot. That is, through shuttle, the cargo compartment on the unmanned vehicle needs to be installed on the shuttle robot. Shuttle in this embodiment can be interpreted as a transfer. Specifically, it means that goods are moved through the transfer of the cargo compartment. Because the cargo compartment can be used on both the shuttle robot and the unmanned vehicle, in some scenarios, the cargo compartment needs to be transferred from the unmanned vehicle to the shuttle robot. For example, in package delivery. Because the unmanned vehicle has a large capacity, it can load all the packages and travel between the distribution center and a residential area. However, within the residential area, the road conditions are complex, and the unmanned vehicle cannot deliver packages to each household. This is where the shuttle robot comes in to complete the package delivery task. This delivery route can have two segments: one is the route traveled by unmanned vehicles, which collect packages from the distribution center to a specific residential area; the other is the route traveled by shuttle robots, which travel between the various entrances within the residential area to deliver packages. When these two routes intersect, the carrier changes, requiring the unmanned vehicle to connect with the shuttle robot. The specific connection process is as follows: First, based on the second connection instruction, the connection method is determined, which is the direction of cargo transfer. The location of the unmanned vehicle's mounting bracket is determined; unmanned vehicles generally have at least one bracket for mounting the shuttle robot's cargo compartment. Therefore, the transfer of goods is also the transfer of the cargo compartment. This saves loading and unloading time by transferring the cargo compartment along with the unmanned vehicle. Using the bracket location as a reference, the shuttle robot is controlled to move to the target location. The target location is the final position where the unmanned vehicle and the shuttle robot connect. Specifically, it is a suitable location where the cargo compartment on the unmanned vehicle and the shuttle robot can be installed. Generally, this target location is below the cargo compartment on the unmanned vehicle.

[0056] Furthermore, using the first operating component of the shuttle robot, a second action is performed to detach the cargo compartment from the unmanned vehicle and install it onto the shuttle robot. The first operating component is part of the shuttle robot and can be a hydraulic, electric, or pneumatic device that controls the lifting and lowering of the shuttle robot's main body. The second action can be the lifting of the robot's main body. Since the cargo compartment is on the unmanned vehicle's rack and detachably connected to the rack, lifting the robot allows the shuttle robot to lift the cargo compartment from the rack, move the shuttle robot, detach the cargo compartment from the unmanned vehicle, and then connect it to the shuttle robot, that is, install it onto the shuttle robot.

[0057] According to the technical solution provided in this disclosure, cargo is transferred between a cargo hold and an unmanned vehicle. The entire process is intelligent and fast, requiring no human intervention, thus saving labor costs and improving transfer efficiency.

[0058] In some embodiments, determining the location of the unmanned vehicle's mounting bracket and controlling the shuttle robot to move to the target location includes:

[0059] Determine the location of the cargo hold on the docking robot;

[0060] The docking robot is controlled to move to the target location based on the position of the rack and the cargo hold.

[0061] Specifically, in this embodiment, the carrier in the docking process is the cargo hold. Therefore, the cargo hold position is generally used as a reference when determining the location. The cargo hold position refers to the location where the cargo hold should be installed on the docking robot. Because the docking result is the transfer of the cargo hold, after determining the cargo hold position, the docking robot is controlled to move to the target position based on the rack position and the cargo hold position. That is, the docking robot is controlled to move to a position where the cargo hold can be easily disassembled and installed, realizing the docking between the unmanned vehicle and the docking robot. Alternatively, the cargo hold can be transferred between the unmanned vehicle and the docking robot.

[0062] In some embodiments, controlling the docking robot to move to a target location based on the rack position and cargo hold position includes:

[0063] Determine the first spatial coordinates of the first reference point on the bracket;

[0064] The first spatial coordinates include the length and distance of the first reference point along the X-axis, Y-axis, and Z-axis;

[0065] Determine the second spatial coordinates of the second reference point on the cargo hold position;

[0066] The second spatial coordinates include the length and distance of the second reference point along the X-axis, Y-axis, and Z-axis;

[0067] Control the movement of the shuttle robot, and determine the target position when the length distance between the first reference point and the second reference point on the X-axis and Y-axis is equal.

[0068] Specifically, spatial coordinates refer to the three-dimensional coordinate system we commonly use, with X, Y, and Z axes, which correspond to the length, width, and height of an object, respectively. The first reference point is a point on the mounting frame where the cargo hold is installed. The second reference point is a point on the docking robot where the cargo hold is installed. When the docking robot is moved, if the distances between the first and second reference points on the X and Y axes are equal, it indicates that the docking robot is close enough to the unmanned vehicle to install and remove the cargo hold. At this point, fine-tuning is performed to determine the target position.

[0069] In some embodiments, using a second operating component of the autonomous vehicle, performing a first action to detach the cargo compartment from the docking robot; and installing the cargo compartment onto the rack of the autonomous vehicle, includes:

[0070] Determine the height difference between the two based on the location of the mounting bracket and the target location;

[0071] Based on the height difference, the second operating component of the unmanned vehicle performs the first action of detaching the cargo compartment from the docking robot and installing the cargo compartment onto the rack of the unmanned vehicle.

[0072] Specifically, the target position is the final location where the shuttle robot and the autonomous vehicle (RV) dock. More specifically, it's the suitable position where the cargo compartment on the shuttle robot and the pylon on the RV can be installed. Generally, this target position is where the cargo compartment on the shuttle robot is above and to one side of the pylon. The height difference between the two is determined based on the pylon position and the target position. This height difference indicates how high the pylon is from the cargo compartment. Based on this height difference, the distance the pylon needs to rise during the first action can be determined, precisely enough to disassemble the cargo compartment and then install it onto the pylon.

[0073] In some embodiments, using a first operating component of the shuttle robot, a second action is performed to remove the cargo compartment from the unmanned vehicle; installing the cargo compartment onto the shuttle robot includes:

[0074] Determine the height difference between the two based on the location of the mounting bracket and the target location;

[0075] Based on the height difference, the first operating component of the shuttle robot performs the second action to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

[0076] Specifically, the target position is the final location where the shuttle robot docks with the autonomous vehicle. More specifically, it's the suitable position where the cargo compartment on the autonomous vehicle and the shuttle robot can be installed. Generally, this target position is below the cargo compartment on the autonomous vehicle. The height difference between the two is determined based on the mounting position and the target position. This height difference indicates how high the shuttle robot is still above the cargo compartment. Based on this height difference, the distance the shuttle robot body needs to rise during the second action can be determined, precisely enough to disassemble the cargo compartment and then install it onto the shuttle robot.

[0077] In some embodiments, determining the height difference between the bracket position and the target position includes:

[0078] When the length distances of the first reference point and the second reference point on the X-axis and Y-axis are equal, determine the difference in the length distances of the first reference point and the second reference point on the Z-axis.

[0079] The height difference is determined based on the difference.

[0080] Specifically, when the distances between the first and second reference points on the X and Y axes are equal, it indicates that the shuttle robot and the unmanned vehicle are relatively close, within the range where the cargo compartment can be installed and dismantled. This means that the first and second reference points are aligned horizontally. However, there is a certain distance in the vertical direction; this distance is the height difference. This height difference is determined by the difference in the distances between the first and second reference points on the Z axis.

[0081] 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.

[0082] Figure 3 This is a schematic diagram of a robot-based shuttle system provided in an embodiment of this application. Figure 3 As shown, the robot-based shuttle system includes: a shuttle robot 301, an unmanned vehicle 302, and a controller 303;

[0083] The shuttle robot 301 includes a robot body 311, a cargo compartment 321, and a first operating component 331; the robot body 311 and the cargo compartment 321 are detachably connected.

[0084] The unmanned vehicle 302 includes a mounting bracket 312 and a second operating component 322;

[0085] The controller 303 is used to control the second operating component 322 of the unmanned vehicle 302 to remove the cargo compartment 321 from the shuttle robot 301 and install it onto the rack 312;

[0086] Alternatively, a first operating component 331 used to control the shuttle robot 301 may be used to remove the cargo compartment 321 from the rack 312 of the unmanned vehicle 302 and install it onto the shuttle robot 301.

[0087] Specifically, the second operating component 322 is part of the unmanned vehicle 302. It can be a gripping robotic arm or a hydraulic, electric, or pneumatic device that controls the lifting and lowering of the pylon. The pylon 312 may be equipped with a mounting position 3121, which can be detachably connected to the cargo compartment 321. By raising the pylon 312, the cargo compartment 321 can be detached from the docking robot 301 and then connected to the mounting position 3121, that is, installed on the pylon 312 of the unmanned vehicle 302.

[0088] Furthermore, the first operating component 331 is part of the shuttle robot 301, and it can be a hydraulic, electric, or pneumatic device that controls the lifting and lowering of the robot body 311 of the shuttle robot 301. When the robot body 311 is raised, the shuttle robot 301 can lift the cargo compartment 321 from the rack 312, move the shuttle robot 301, detach the cargo compartment 321 from the unmanned vehicle 302, and then connect it to the shuttle robot 301, that is, install it onto the shuttle robot 301.

[0089] 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.

[0090] Figure 4 This is a schematic diagram of a docking device for a shuttle robot and an unmanned vehicle provided in an embodiment of this application. Figure 4 As shown, the docking device between the shuttle robot and the unmanned vehicle includes:

[0091] The first docking instruction execution module 401 is configured to determine the mounting position of the unmanned vehicle according to the first docking instruction and control the docking robot to move to the target position.

[0092] First action execution module 402: configured to use a second operating component of the unmanned vehicle to perform a first action: detach the cargo compartment from the docking robot; install the cargo compartment onto the rack of the unmanned vehicle;

[0093] The second docking instruction execution module 403 is configured to determine the mount position of the unmanned vehicle according to the second docking instruction and control the docking robot to move to the target position.

[0094] Second action execution module 404: configured to perform a second action by using the first operating component of the shuttle robot to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

[0095] In some embodiments, Figure 4 The first connection instruction execution module 401 includes:

[0096] Determine the location of the cargo hold on the docking robot;

[0097] The docking robot is controlled to move to the target location based on the position of the rack and the cargo hold.

[0098] In some embodiments, Figure 4 The first connection instruction execution module 401 includes:

[0099] Determine the first spatial coordinates of the first reference point on the bracket;

[0100] The first spatial coordinates include the length and distance of the first reference point along the X-axis, Y-axis, and Z-axis;

[0101] Determine the second spatial coordinates of the second reference point on the cargo hold position;

[0102] The second spatial coordinates include the length and distance of the second reference point along the X-axis, Y-axis, and Z-axis;

[0103] Control the movement of the shuttle robot, and determine the target position when the length distance between the first reference point and the second reference point on the X-axis and Y-axis is equal.

[0104] In some embodiments, Figure 4 The first action execution module 402 includes:

[0105] Determine the height difference between the two based on the location of the mounting bracket and the target location;

[0106] Based on the height difference, the second operating component of the unmanned vehicle performs the first action of detaching the cargo compartment from the docking robot and installing the cargo compartment onto the rack of the unmanned vehicle.

[0107] In some embodiments, Figure 4 The second action execution module 404 includes:

[0108] Determine the height difference between the two based on the location of the mounting bracket and the target location;

[0109] Based on the height difference, the first operating component of the shuttle robot performs the second action to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

[0110] In some embodiments, Figure 4 The second action execution module 404 includes:

[0111] When the length distances of the first reference point and the second reference point on the X-axis and Y-axis are equal, determine the difference in the length distances of the first reference point and the second reference point on the Z-axis.

[0112] The height difference is determined based on the difference.

[0113] 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.

[0114] Figure 5 This is a schematic diagram of the electronic device 5 provided in an embodiment of this application. Figure 5As shown, the electronic device 5 of this embodiment includes: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program 503, it implements the steps in the various method embodiments described above. Alternatively, when the processor 501 executes the computer program 503, it implements the functions of each module / unit in the various device embodiments described above.

[0115] Electronic device 5 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 5 may include, but is not limited to, processor 501 and memory 502. Those skilled in the art will understand that... Figure 5 This is merely an example of electronic device 5 and does not constitute a limitation on electronic device 5. It may include more or fewer components than shown, or different components.

[0116] The processor 501 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.

[0117] The memory 502 can be an internal storage unit of the electronic device 5, such as a hard disk or RAM of the electronic device 5. The memory 502 can also be an external storage device of the electronic device 5, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 5. The memory 502 can also include both internal and external storage units of the electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

[0118] 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.

[0119] 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.

[0120] 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 method for docking a shuttle robot and an unmanned vehicle, wherein the unmanned vehicle is equipped with at least one mounting bracket for mounting the cargo compartment of the shuttle robot; characterized in that, The method is applied to a control system, and the method includes: Based on the first docking instruction, determine the location of the unmanned vehicle's mounting bracket and control the docking robot to move to the target location; Using the second operating component of the unmanned vehicle, a first action is performed to remove the cargo compartment from the docking robot; the second operating component is a hydraulic, electric, or pneumatic device capable of gripping a robotic arm or controlling the lifting and lowering of a rack. The cargo compartment is installed onto the rack of the unmanned vehicle; And / or, according to the second docking instruction, determine the mounting position of the unmanned vehicle and control the docking robot to move to the target position; Using the first operating component of the shuttle robot, a second action is performed to remove the cargo compartment from the unmanned vehicle; the first operating component is a hydraulic, electric, or pneumatic device that controls the lifting and lowering of the robot body of the shuttle robot. The cargo compartment is installed onto the shuttle robot; The process of determining the location of the unmanned vehicle's mounting bracket and controlling the shuttle robot to move to the target location includes: Determine the location of the cargo hold on the docking robot; Determine the first spatial coordinates of the first reference point on the bracket; The first spatial coordinates include the length and distance of the first reference point along the X-axis, Y-axis, and Z-axis; Determine the second spatial coordinates of the second reference point on the cargo hold position; The second spatial coordinates include the length and distance of the second reference point along the X-axis, Y-axis, and Z-axis; The robot is controlled to move, and the target position is determined when the first reference point and the second reference point are equidistant on the X-axis and Y-axis.

2. The method according to claim 1, characterized in that, The first action, performed using the second operating component of the unmanned vehicle, involves detaching the cargo compartment from the docking robot and installing the cargo compartment onto the rack of the unmanned vehicle, including: The height difference between the two is determined based on the location of the bracket and the target location; Based on the height difference, the second operating component of the unmanned vehicle performs a first action to detach the cargo compartment from the docking robot and install the cargo compartment onto the rack of the unmanned vehicle.

3. The method according to claim 1, characterized in that, The second action is performed by using the first operating component of the shuttle robot to remove the cargo compartment from the unmanned vehicle; Installing the cargo compartment onto the docking robot includes: The height difference between the two is determined based on the location of the bracket and the target location; Based on the height difference, the first operating component of the shuttle robot performs a second action to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

4. The method according to claim 2 or 3, characterized in that, Determining the height difference between the bracket position and the target position includes: When the length distances of the first reference point and the second reference point on the X-axis and Y-axis are equal, the difference in the length distances of the first reference point and the second reference point on the Z-axis is determined. The height difference is determined based on the difference.

5. A robot-based docking system for implementing the docking method according to any one of claims 1-4, characterized in that, This includes shuttle robots, driverless vehicles, and controllers; The docking robot includes a robot body, a cargo compartment, and a first operating component; the robot body and the cargo compartment are detachably connected. The unmanned vehicle includes a mounting frame and a second operating component; The controller is used to control the second operating component of the unmanned vehicle to detach the cargo compartment from the shuttle robot and install it onto the rack. Alternatively, a first operating component for controlling the shuttle robot may be used to detach the cargo compartment from the rack of the unmanned vehicle and install it onto the shuttle robot.

6. A docking device for connecting a robot and an unmanned vehicle, used to execute the docking method according to any one of claims 1-4, characterized in that, include: First docking instruction execution module: used to determine the mounting position of the unmanned vehicle according to the first docking instruction, and control the docking robot to move to the target position; First action execution module: used to perform a first action by using the second operating component of the unmanned vehicle to remove the cargo compartment from the shuttle robot; and to install the cargo compartment onto the rack of the unmanned vehicle; The second docking instruction execution module is used to determine the mounting position of the unmanned vehicle according to the second docking instruction and control the docking robot to move to the target position. The second action execution module is used to perform a second action by using the first operating component of the shuttle robot to remove the cargo compartment from the unmanned vehicle and install the cargo compartment onto the shuttle robot.

7. 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 4.

8. 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 4.

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