A method, device and equipment for moving a material vehicle

Abstract

The application provides a material vehicle moving control method, device and equipment, the method comprises the following steps: determining a target position point of a robot; in the process that the robot moves from the target position point to a configured online position point, a traction component is controlled to stretch out from the side of the robot, and when the traction component is in a maximum stretching position, a first connecting component is controlled to stretch out from the traction component; wherein, when the robot moves to the online position point, the first connecting component is in the maximum stretching position, the first connecting component is in contact with a second connecting component of the material vehicle, the material vehicle is carried along with the robot moving, and the robot and the material vehicle keep synchronous movement. Through the technical scheme, the transportation efficiency is improved, and the products and the assembly materials of the products are effectively transported.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method, apparatus and equipment for controlling the movement of a material cart. Background Technology

[0002] In recent years, various types of robots (such as autonomous mobile robots) have developed rapidly in terms of technology and the market. Robots are automated machines that perform tasks, relying on their own power and control capabilities to achieve various functions. Robots can be commanded by humans, run pre-programmed routines, and act according to strategies developed using artificial intelligence. For example, a user can control a robot to perform related operations using a manual remote control. The remote control can wirelessly send operation commands to the robot, which then executes the specified actions to complete the relevant functions.

[0003] With the rapid development of robotics technology, robots are being used more and more widely in logistics, warehousing, and factory production. For example, in factory production, robots can be used to transport products and their assembly materials. However, using robots to transport products and their assembly materials presents problems such as low transportation efficiency and the inability to effectively transport products and their assembly materials, which affects the factory production process. Summary of the Invention

[0004] This application provides a method for controlling the movement of a material cart. The robot's side includes a traction mechanism, which comprises a traction component and a first connecting component located on the traction component. The material cart includes a second connecting component that matches the first connecting component. The method includes:

[0005] The target position of the robot is determined; the traction component is not extended before the robot reaches the target position, and the traction component begins to extend when the robot reaches the target position;

[0006] During the process of the robot moving from the target position to the configured online position, the traction component is controlled to extend from the side of the robot, and when the traction component is in the maximum extended position, the first connecting component is controlled to extend from the traction component; wherein, the material cart is at the online position.

[0007] When the robot moves to the online position, the first connecting component is in its maximum extended position and contacts the second connecting component of the material cart. The robot moves and drives the material cart to follow, and the robot and the material cart move synchronously.

[0008] This application provides a movement control device for a material cart. The robot has a traction mechanism on its side, the traction mechanism includes a traction component and a first connecting component located on the traction component, and the material cart includes a second connecting component that matches the first connecting component. The device includes: a determination module for determining a target position point of the robot; the traction component is not extended before the robot reaches the target position point, and the traction component begins to extend when the robot reaches the target position point;

[0009] The control module is configured to control the traction component to extend from the side of the robot during the process of the robot moving from the target position to the configured online position, and to continue to control the first connecting component to extend from the traction component when the traction component is in the maximum extended position; wherein the material cart is at the online position.

[0010] When the robot moves to the online position, the first connecting component is in its maximum extended position and contacts the second connecting component of the material cart. The robot moves and drives the material cart to follow, and the robot and the material cart move synchronously.

[0011] This application provides an electronic device, including: a processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the material cart movement control method of the above example.

[0012] As can be seen from the above technical solutions, in this embodiment of the application, in the field of factory production, a robot is used to carry (transport) the target product itself, and a material cart carries the assembly materials of the target product. The material cart is placed at the online position point, and during the robot's movement, it docks with the material cart at the online position point. The robot's movement drives the material cart to follow, and the robot and material cart move synchronously. This improves transportation efficiency, effectively transports the product and its assembly materials, improves factory production efficiency, and avoids disruptions to the factory production process. By proposing a new method for material cart following, the entire process of material cart online placement and following is unmanned, improving operational efficiency and intelligence. The material cart and robot following each other meet the assembly needs of production line workers. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating the movement control method of a material cart according to one embodiment of this application.

[0014] Figure 2 This is a schematic diagram of an application scenario in one embodiment of this application;

[0015] Figures 3A-3EThis is a schematic diagram of the traction mechanism in one embodiment of this application;

[0016] Figure 4 This is a schematic diagram of the interaction location point and the online location point in one embodiment of this application;

[0017] Figure 5 This is a flowchart illustrating the movement control method of a material cart according to one embodiment of this application.

[0018] Figure 6 This is a schematic diagram of the target location point in one embodiment of this application;

[0019] Figures 7A-7D This is a schematic diagram of the positional relationship in one embodiment of this application;

[0020] Figure 8 This is a schematic diagram of the movement control device of the material cart in one embodiment of this application;

[0021] Figure 9 This is a hardware structure diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0022] This application proposes a method for controlling the movement of a material cart. This method can be applied to a robot (such as an autonomous mobile robot) or to a robot's control device, i.e., the control device controls various operations of the robot. The side of the robot may include a traction mechanism, which may include a traction component and a first connecting component located on the traction component. The material cart may include a second connecting component that matches the first connecting component. The traction component may include, but is not limited to, a traction rod; the first connecting component may include, but is not limited to, a lifting pin; and the second connecting component may include, but is not limited to, a pin hole.

[0023] For example, the extension direction of the traction rod can be: extending outward from the robot body, that is, extending outward from the side. The extension direction of the lifting pin can be: extending upward from the inside of the traction rod. For instance, the pin hole can be located at the bottom of the material cart, and the pin hole has an open structure in the forward entry direction of the lifting pin, and is located inside the pin hole and in contact with the pin hole wall when the lifting pin is fully raised (i.e., at its maximum extension position).

[0024] See Figure 1 The diagram shown is a flowchart of the method, which may include:

[0025] Step 101: Determine the target position of the robot. The traction component does not extend before the robot reaches the target position; it extends only when the robot reaches the target position.

[0026] For example, a target position can be determined individually for each robot. For instance, when a robot moves to a pre-configured interaction position, if the material cart is already at a pre-configured upper position, the robot's target position is determined. The interaction position is a pre-configured arbitrary position, representing the method of controlling the material cart's movement starting from that point. The upper position is the position where the material cart goes online, indicating that the material cart stops at the upper position, and the robot moves the material cart from that position.

[0027] Alternatively, the same target location can be determined for multiple robots. For example, for the first robot, when it moves to a pre-configured interaction location, if the material cart is already at a pre-configured online location, the robot's target location is determined and stored. Subsequent robots can then directly use this target location. Another example is that a specific location can be directly configured as the target location.

[0028] Step 102: During the process of the robot moving from the target position to the upper position, control the traction component to extend from the side of the robot, and when the traction component is in its maximum extended position, continue to control the first connecting component to extend from the traction component. The material cart is located at the upper position.

[0029] For example, when the robot moves to the upper position, the first connecting component is in its maximum extended position and is in contact with the second connecting component of the material cart. For example, if the first connecting component is a lifting pin and the second connecting component is a pin hole, the contact between the first connecting component and the second connecting component may include, but is not limited to: the lifting pin entering the pin hole and thus contacting the pin hole wall, with the material cart following along.

[0030] For example, after the first connecting component comes into contact with the second connecting component, the robot moves to drive the material cart to follow, and the robot and the material cart move synchronously.

[0031] In the production process of the target product, the robot carries the target product itself, while the material cart carries the assembly materials (such as assembly parts). For example, if the target product is a vehicle, the robot carries the vehicle itself, and the material cart carries the vehicle's assembly materials. Clearly, by having the robot move alongside the material cart, the vehicle and its assembly materials move together, making it convenient to retrieve the assembly materials from the accompanying material cart and assemble them onto the vehicle during production.

[0032] For example, determining the robot's target location may include, but is not limited to: when the robot moves to the interaction location, determining whether a material cart exists at the upstream location. If no material cart exists at the upstream location, the robot stops at the interaction location, and after stopping, it can wait for a material cart to exist at the upstream location. If a material cart exists at the upstream location, it is determined whether the first number of the material cart at the upstream location matches the robot's second number; where, if the first number matches the second number, it indicates that the robot is allowed to move with the material cart, i.e., this robot is used to move this material cart. If the first number does not match the second number, it indicates that the robot is not allowed to move with the material cart, i.e., this robot is not used to move this material cart.

[0033] If a match is found, the target location of the robot is determined. If a mismatch is found, an error alarm is output. The error alarm indicates that the material cart at the online location does not match the robot at the interaction location. The error alarm instructs the processing of the material cart at the online location to match it with the robot at the interaction location, thereby enabling the robot to drive the material cart at the online location.

[0034] For example, determining the target position of the robot may include, but is not limited to: determining the minimum moving distance of the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extended position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component. The maximum moving distance of the robot is determined based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and a reference line when it is not extended; wherein, the reference line is the line connecting the outer edges of the two material legs of the material cart in the direction closest to the robot, and the perpendicular distance can be understood as finding the perpendicular point to the reference line for a position point when the traction component is not extended, and the distance between that position point and that perpendicular point is the perpendicular distance.

[0035] Determine the target movement distance, which lies between the maximum and minimum movement distances. The target movement distance represents the distance between the target location and the upper boundary location. The target location is then determined based on this target movement distance; that is, the target location is determined based on the interval between the upper boundary location and the target movement distance.

[0036] For example, the minimum travel distance of the robot can be determined based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component. This can include, but is not limited to, using the following formula to determine the minimum travel distance of the robot: S = V * (S1 / V1 + S2 / V2 + t); where V represents the robot's moving speed, S1 represents the extension displacement of the traction component when it is in its maximum extension position, V1 represents the extension speed of the traction component, S2 represents the extension displacement required for the first connecting component to contact the second connecting component (e.g., S2 can represent the maximum extension displacement of the first connecting component), V2 represents the extension speed of the first connecting component, t represents the sum of the response time of the traction component and the response time of the first connecting component, and S represents the minimum travel distance. The response time of the traction component can represent the time interval from receiving the extension command to starting to extend, and the response time of the first connecting component can represent the time interval from receiving the extension command to starting to extend.

[0037] For example, the maximum movement distance of the robot can be determined based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when it is not extended. This can include, but is not limited to, determining the reference movement distance of the robot using the following formula: S3 = V * (S4 / V1); and determining the maximum movement distance of the robot based on the reference movement distance. The maximum movement distance is less than the reference movement distance and greater than the minimum movement distance. For example, the maximum movement distance can be the difference between the reference movement distance and a preset value (configured based on experience; it needs to be greater than 0 and slightly larger than 0).

[0038] V represents the robot's moving speed, V1 represents the extension speed of the traction component, S4 represents the perpendicular distance between the traction component and the reference line when the traction component is not extended, and this perpendicular distance remains constant during the robot's movement. S3 represents the reference movement distance. For example, this reference movement distance could be the robot's movement distance within a reference time period, where the start of the reference time period is the moment the traction component begins to extend, and the end of the reference time period is the moment the traction component begins to contact the edge of the material cart.

[0039] For example, if the robot stops moving while it is moving from the target position to the upper position and the traction component is currently in the extension process, the extension of the traction component can be controlled to pause.

[0040] Alternatively, if the robot stops moving, and the traction component is already at its maximum extension position, and the first connecting component is in the process of extending, the extension of the first connecting component can be paused.

[0041] As seen from the above technical solutions, in the factory production field, robots are used to carry (transport) the target product itself, while material carts carry the assembly materials of the target product. The material carts can be placed at the assembly line location, and during the robot's movement, they dock with the material carts at the assembly line location. The robot's movement drives the material carts to follow, and the robot and material carts move synchronously. This improves transportation efficiency, effectively transports products and their assembly materials, increases factory production efficiency, and avoids disruptions to the factory production process. By proposing a new method for material cart following, the entire process of material cart assembly and following is unmanned, improving operational efficiency and intelligence. The material carts and robots follow each other, meeting the assembly needs of production line workers.

[0042] The technical solutions of the embodiments of this application will be described below in conjunction with specific application scenarios.

[0043] For factory production scenarios (such as production lines), this application proposes a method for controlling the movement of a material cart, which may involve a robot and a material cart. In the production process of a target product, the robot carries the target product itself, and the material cart carries the assembly materials for the target product. Taking a vehicle as an example, the robot carries the vehicle itself, and the material cart carries the vehicle's assembly materials.

[0044] See Figure 2 As shown, to produce multiple vehicles (the production line scenario is for mass production of vehicles), multiple robots and multiple material carts are required. Robot 1 carries the body of vehicle 1, and material cart 1 carries the assembly materials for vehicle 1. Robot 1 and material cart 1 move together, and when they reach the work position, the assembly materials in material cart 1 are used to assemble vehicle 1 within robot 1. Robot 2 carries the body of vehicle 2, and material cart 2 carries the assembly materials for vehicle 2. Robot 2 and material cart 2 move together, and when they reach the work position, the assembly materials in material cart 2 are used to assemble vehicle 2 within robot 2, and so on.

[0045] In order to enable the robot to cooperate with the material cart and to allow the robot and the material cart to move together, a traction mechanism can be installed on the side of the robot. The traction mechanism can include a traction component and a first connecting component located on the traction component, and the material cart can include a second connecting component that matches the first connecting component.

[0046] The traction component is telescopic, meaning it can extend from or retract from the side of the robot. For example, it can be a traction rod or any other telescopic traction component; there are no restrictions. The following explanation will use a traction rod as an example. The traction rod can extend outwards from the robot body, i.e., outwards from the side.

[0047] The first connecting component and the second connecting component need to be used together. When the first connecting component and the second connecting component are in contact, the material cart needs to be able to follow the robot. There are no restrictions on the first connecting component and the second connecting component, as long as the function of the material cart and the robot following each other can be realized.

[0048] For example, the first connecting component can be a lifting pin located on the traction rod, and the second connecting component can be a pin hole that matches the lifting pin. This way, when the lifting pin enters the pin hole, the material cart and robot can move together. The lifting pin is a telescopic component, meaning it can extend from and retract from the traction rod. When the lifting pin extends from the traction rod, it can enter the pin hole, thereby driving the material cart and robot to move together. Of course, the first connecting component can also be other telescopic components; there are no restrictions. We will use the lifting pin as an example and the pin hole as an example for the second connecting component. The extension direction of the lifting pin can be: extending upwards from the inside of the traction rod, that is, extending from bottom to top.

[0049] See Figure 3A The diagram shows the structure of the traction mechanism (i.e., the automatic traction mechanism). The traction mechanism includes a traction rod and a lifting pin located on the traction rod. The traction rod can extend from the side of the robot and can also retract from the side of the robot. The lifting pin can extend from the traction rod and can also retract from the traction rod.

[0050] See Figure 3B , Figure 3C and Figure 3D The diagram shows the pin hole at the bottom of the material cart that matches the lifting pin. During the robot's movement, the traction rod extends first. Once fully extended, the lifting pin rises. The pin hole at the bottom of the material cart, which contacts the lifting pin, is open in the direction the lifting pin enters. After the lifting pin is fully raised, it is inside the pin hole and contacts the hole wall, thus moving the material cart along. See also... Figure 3B The diagram shown is a schematic representation of the pin hole viewed from bottom to top. (See attached image.) Figure 3C The diagram shown is a top-down view of the pin hole. (See attached image.) Figure 3D The image shown is a schematic diagram of the actual object.

[0051] See Figure 3EThe image shown is a schematic diagram illustrating the actual effect of a robot leading a material cart along a set of equipment.

[0052] For example, see Figure 4 As shown, interaction points and online positions can be pre-configured, and the robot needs to know the interaction points and online positions, that is, know their locations. It is important to note that the interaction point must be located before the online position.

[0053] The upper limit position is the location of the material cart. The robot needs to move to the upper limit position, and from there, the material cart and robot will move together. Therefore, the material cart must first be moved to the upper limit position. For example, a ground-based motion mechanism can be used to move the material cart to the upper limit position, or other motion mechanisms can be used, or the material cart can be moved manually. There are no restrictions, as long as the material cart can be moved to the upper limit position.

[0054] For example, a ground-based motion mechanism can be used to deliver multiple material carts to the online delivery point in sequence. For instance, material cart 1, material cart 2, material cart 3, etc., can be delivered to the online delivery point in that order. When material cart 1 arrives at the online delivery point, robot 1 arrives at the online delivery point and follows along with material cart 1. After material cart 1 leaves, material cart 2 is delivered to the online delivery point. When material cart 2 arrives at the online delivery point, robot 2 arrives at the online delivery point and follows along with material cart 2. After material cart 2 leaves, material cart 3 is delivered to the online delivery point, and so on.

[0055] The interaction point is the starting point for the robot to execute the algorithm. The interaction point can be configured based on experience, and it only needs to be a certain distance away from the online position point. During the robot's movement, when the robot moves to the interaction point, it begins to execute the algorithm (i.e., the algorithm flow of the material cart's movement control method).

[0056] In the above application scenarios, this application proposes a method for controlling the movement of a material cart, see [link to relevant documentation]. Figure 5 The diagram shown illustrates the process of this method, which may include the following steps:

[0057] Step 501: When the robot moves to the interaction location, determine whether there is a material cart at the online location.

[0058] For example, during the robot's movement, its position can be monitored in real time to determine if it has moved to the interaction point. If not, monitoring continues until the robot moves to the interaction point. When the robot moves to the interaction point, it can be determined whether a material cart exists at the online location. For instance, a request message can be sent to the online mechanism control system (which controls the material cart's movement to the online location, such as delivering the material cart to the online location via a ground-based motion mechanism). Upon receiving the request message, the online mechanism control system determines whether a material cart exists at the online location and returns a response message, which may include information about the presence of the material cart at the online location. Based on this, it can be determined whether a material cart exists at the online location.

[0059] If a material cart exists at the online location, then step 502 can be executed.

[0060] If no material cart is present at the upstream location, the robot stops at the interaction point, meaning it no longer moves towards the upstream location. After stopping at the interaction point, the robot waits for a material cart to be present at the upstream location. This can be done by sending a request message to the upstream mechanism control system in real time until the control system returns a response confirming the presence of a material cart at the upstream location. Once a material cart is confirmed to be present at the upstream location, step 502 can be executed.

[0061] For example, when a material cart is present at the online position point, the robot can be controlled to continue moving, that is, to continue moving in the direction from the interaction position point to the online position point, and step 502 is executed during the movement.

[0062] Step 502: Determine whether the first number of the material cart at the online location (such as the target product number corresponding to the material in the material cart) matches the second number of the robot (the number of the target product carried by the robot).

[0063] For example, a material cart carries assembly materials for the target product. There may be more than one assembly material (i.e., there can be one or more assembly materials), but the corresponding target product number is unique and can be used to identify the material cart's first number. The robot carries the target product itself, and the target product's number is recorded as a second number, which can be used to identify the robot's second number.

[0064] If the first number of the material cart matches the second number of the robot, it means that the assembly materials carried by the material cart are used to assemble the target product carried by the robot, and the robot is used to drive the material cart from the loading position. This indicates that the robot is allowed to drive the material cart, and this robot is used to drive this material cart. Alternatively, if the first number of the material cart does not match the second number of the robot, it means that the assembly materials carried by the material cart are not used to assemble the target product carried by the robot, and the robot is not used to drive the material cart from the loading position. This indicates that the robot is not allowed to drive the material cart, and this robot is not used to drive this material cart.

[0065] Specifically, if the first number and the second number are the same, it means that the first number and the second number match; if the first number and the second number are different, it means that the first number and the second number do not match. Alternatively, if the first number and the second number have a mapping relationship, it means that the first number and the second number match; if the first number and the second number do not have a mapping relationship, it means that the first number and the second number do not match.

[0066] If the first number of the material cart matches the second number of the robot, then step 503 can be executed.

[0067] If the material cart's first number does not match the robot's second number, the robot will stop at its current position, meaning it will no longer move towards the upstream position. Additionally, an error alarm will be output, indicating a mismatch between the material cart at the upstream position and the robot at the interaction position, and instructing the robot to take appropriate action regarding the material cart at the upstream position. For example, the upstream mechanism control system can replace the material cart by moving a new one to the upstream position, or the new material cart can be manually moved to the upstream position, and the original material cart can leave the upstream position.

[0068] After the robot stops at its current position (such as the interaction position or a position close to the interaction position), it can wait for the material cart to be replaced at the online position until the first number of the material cart at the online position matches the second number of the robot. Then, step 503 can be executed.

[0069] Step 503: If a material cart exists at the online location, and the first number of the material cart at the online location matches the second number of the robot, then the target location of the robot is determined. The traction component does not extend before the robot reaches the target location; it extends when the robot reaches the target location.

[0070] See Figure 6As shown, during the robot's movement, the robot's tow bar extends when the robot reaches the target position. Before the robot reaches the target position, the tow bar remains stationary.

[0071] In one possible implementation, a target position can be chosen from among the interaction position and the upper position. For example, the target position for the start of the extension rod can be determined based on a first distance value (configurable empirically) between the interaction position and the target position. Alternatively, the target position for the start of the extension rod can be determined based on a second distance value (configurable empirically) between the upper position and the target position. Of course, other methods can also be used to determine the target position for the start of the extension rod; there is no limitation on the method used to determine this target position.

[0072] In one possible implementation, to prevent the tow bar from extending too early and colliding with the rear outriggers of the material cart, there is a maximum distance (i.e., maximum travel distance) between the tow bar's initial extension point and the upper position point. Simultaneously, to prevent the lifting pin from having disengaged from its matching pin hole at the bottom of the material cart when the tow bar is fully extended and fully raised, there is a minimum distance (i.e., minimum travel distance) between the tow bar's initial extension point and the upper position point. Based on this, the target position point can be determined using the following steps:

[0073] Step 5031: Based on the robot's moving speed, the extension displacement of the traction rod (i.e., the traction component) when it is in the maximum extension position, the extension speed of the traction rod, the extension displacement of the lifting pin (i.e., the first connecting component) when it is in the maximum extension position (i.e., the extension displacement required for the first connecting component to contact the second connecting component), and the extension speed of the lifting pin, determine the minimum moving distance corresponding to the robot.

[0074] For example, the minimum moving distance can be determined using the following formula (1). Of course, formula (1) is just an example and is not a limitation. As long as the minimum moving distance can be determined based on the above parameters, it is acceptable.

[0075] S=V*(S1 / V1+S2 / V2+t); Formula (1)

[0076] V represents the robot's moving speed, S1 represents the extension displacement of the traction rod when it is in its maximum extension position, V1 represents the extension speed of the traction rod, S2 represents the extension displacement of the lifting pin when it is in its maximum extension position, V2 represents the extension speed of the lifting pin, t represents the sum of the response time of the traction component and the response time of the first connecting component, and S represents the minimum moving distance. The response time of the traction component can be represented by the time interval from receiving the extension command to starting to extend, and the response time of the first connecting component can be represented by the time interval from receiving the extension command to starting to extend.

[0077] For example, assuming the displacement required for the traction rod to fully extend is S1 (i.e., the extension displacement when the traction rod is in its maximum extended position), and the extension speed of the traction rod is V1, then the duration for the traction rod to fully extend is T1 = S1 / V1. Assuming the displacement required for the lifting pin to fully extend is S2 (i.e., the extension displacement when the lifting pin is in its maximum extended position), and the extension speed of the lifting pin (i.e., the lifting speed) is V2, then the duration for the lifting pin to fully extend is T2 = S2 / V2. Assuming the robot's moving speed is V, then the minimum moving distance for the robot to trigger the traction mechanism is S = V*(S1 / V1 + S2 / V2). The minimum moving distance S can be the minimum distance from the upper position point, which is the minimum moving distance corresponding to the robot.

[0078] In order to ensure that the robot can pull the material cart when it reaches the online position, the response time of the robot's traction mechanism also needs to be considered, that is, the interval between the traction mechanism (such as the traction rod and the lifting pin) receiving the instruction and starting to extend. The response time of the traction mechanism is denoted as t. Based on this, the minimum moving distance for the robot to start triggering the traction mechanism can be S=V*(S1 / V1+S2 / V2+t), that is, the above formula (1).

[0079] It is important to note that the traction mechanism response time t consists of two parts: the traction rod response time and the lifting pin response time. The traction rod response time represents the interval from when the traction rod receives the command to when it begins to extend, while the lifting pin response time represents the interval from when the lifting pin receives the command to when it begins to extend.

[0080] The robot's moving speed V, the extension displacement S1 when the traction rod is in the maximum extension position, the extension speed V1 of the traction rod, the extension displacement S2 when the lifting pin is in the maximum extension position, the extension speed V2 of the lifting pin, and the response time t of the traction mechanism are all known values. The minimum moving distance S can be determined based on formula (1).

[0081] In one possible implementation, the trajectory of the traction bar can be seen in... Figure 7A As shown. Based on this, see [link to relevant documentation]. Figure 7B The diagram shows the extension displacement S1 when the traction rod is in its maximum extended position. See also... Figure 7C As shown, the extension displacement S2 is illustrated when the lifting pin is in its maximum extension position.

[0082] Step 5032: Based on the robot's moving speed, the extension speed of the traction rod (i.e., the traction component), and the perpendicular distance between the traction component and the reference line when it is not extended, determine the maximum moving distance of the robot, where the reference line is the line connecting the outer edges of the two material legs of the material cart in the direction closest to the robot.

[0083] For example, the reference movement distance of the robot can be determined by the following formula (2). This reference movement distance is used to determine the maximum movement distance. Of course, the following formula (2) is just an example and is not limited to it. As long as the reference movement distance can be determined based on the above parameters, it is acceptable.

[0084] S3=V*(S4 / V1) Formula (2)

[0085] In formula (2), V represents the robot's moving speed, V1 represents the extension speed of the traction rod, S4 represents the perpendicular distance between the traction component and the reference line when the traction component is not extended, that is, the perpendicular distance between the traction rod and the reference line when the traction rod is not extended. During the robot's movement, the perpendicular distance remains unchanged (or changes only slightly, which can be understood as remaining unchanged), and S3 represents the reference moving distance.

[0086] It should be noted that the reference movement distance S3 can be the movement distance of the robot within a reference time period. The start time of this reference time period is the moment when the traction rod begins to extend (the position where the traction rod begins to extend is the target position point), and the end time of this reference time period is the moment when the traction rod begins to contact the edge of the material cart, that is, the moment when the traction rod begins to contact the outer edge of the material leg of the material cart.

[0087] In one possible implementation, see Figure 7D As shown, the perpendicular distance S4 between the traction component and the reference line when the traction component is not extended and the distance S3 the robot moves during the reference time period (i.e., from the moment the traction rod begins to extend to the moment the traction rod begins to contact the outer edge of the material leg of the material cart). Obviously, in order to avoid the traction mechanism colliding with the support leg of the material cart during the extension process (when the robot is moving), the following relationship needs to be satisfied: (S3 / V)*V1<S4. By transforming the above relationship, formula (2) is obtained.

[0088] exist Figure 7D In the diagram, 'a' and 'b' represent the outer edges of the two material legs of the material cart closest to the robot. A line connecting 'a' and 'b' can be constructed, forming a reference line. Based on this, when the traction component is not extended, there is a corresponding position point. The perpendicular point to this position point on the reference line is found, and the distance between this position point and the perpendicular point is the perpendicular distance. During the robot's movement... Figure 7D The diagram shows multiple perpendicular distances. Clearly, these perpendicular distances remain constant throughout the robot's movement.

[0089] Furthermore, the robot's moving speed V, the extension speed of the traction rod V1, and the perpendicular distance S4 between the traction component and the reference line when it is not extended are all known values. Therefore, the value of V*(S4 / V1) can be determined, and the robot's moving distance S3 within the reference time period can be the value of V*(S4 / V1). This moving distance S3 is the reference moving distance. Thus, the reference moving distance can be determined based on the above parameters.

[0090] After obtaining the reference movement distance S3, the maximum movement distance of the robot can be determined based on the reference movement distance S3. This maximum movement distance can be the maximum distance from the upper position point.

[0091] For example, the robot's maximum movement distance can be less than the reference movement distance, and greater than the minimum movement distance. The maximum movement distance can be the difference between the reference movement distance and a preset value (configured based on experience; it needs to be greater than 0, but slightly larger than 0). For instance, the difference between the reference movement distance and a target value (any positive value) can be used as the robot's maximum movement distance.

[0092] Step 5033: Determine the target movement distance between the maximum movement distance and the minimum movement distance. This target movement distance represents the distance between the target position point and the upper line position point.

[0093] For example, the target moving distance can be the average distance between the maximum and minimum moving distances, or a distance between the maximum and average moving distances, or a distance between the minimum and average moving distances. There are no restrictions on this, as long as the target moving distance is between the maximum and minimum moving distances.

[0094] Step 5034: Determine the target location point based on the target movement distance, that is, determine the target location point based on the interval between the upper position point and the target movement distance. For example, the difference between the upper position point and the target movement distance can be used as the target location point, or the difference between the upper position point and the target movement distance can be adjusted (such as adjusting the difference upwards or downwards) to obtain the target location point.

[0095] For example, after determining the target location point, the target location point can be located between the interaction location point and the online location point, or the target location point can coincide with the interaction location point, without any restrictions.

[0096] At this point, step 503 is completed, and the target position of the robot is obtained. Based on the target position determined in the above manner, when the traction rod extends from the target position, it will not collide with the material cart during the extension process. Moreover, after the traction rod is fully extended, the lifting pin begins to extend, and after the lifting pin is fully extended, it enters the pin hole of the material cart.

[0097] Step 504: During the robot's movement from the target position to the upper position, the control lever (i.e., the traction component) extends from the side of the robot; when the lever is at its maximum extension position, the control lifting pin (i.e., the first connecting component) extends from the lever. When the robot moves to the upper position, the lifting pin is at its maximum extension position and enters the pin hole of the material cart (the lifting pin entering the pin hole indicates that the first connecting component is in contact with the second connecting component of the material cart).

[0098] For example, during the robot's movement, its position can be monitored in real time to determine whether the robot has moved to the target location. If it has not moved to the target location, monitoring continues until the robot moves to the target location.

[0099] When the robot moves to the target position, the control lever extends from the side of the robot; the target position is the starting point for the lever's extension. During the robot's movement from the target position to the upper position, the robot travels at a preset speed (i.e., the robot's moving speed V), and the control lever extends from the side of the robot at a preset speed (i.e., the lever's extension speed V1) until it reaches its maximum extension position. At this point, the lever cannot extend further and remains at its maximum extension position. Clearly, the extension of the lever from the side of the robot is synchronously controlled during the robot's movement.

[0100] When the traction rod is in its maximum extended position, the lifting pin extends from the traction rod; that is, the maximum extended position of the traction rod serves as the starting point for the lifting pin to extend. During the robot's movement, the lifting pin extends from the traction rod at a preset speed (i.e., the lifting pin's extension speed V2) until it reaches its maximum extended position, at which point it can no longer extend and remains in the maximum extended position. Clearly, the lifting pin extends synchronously from the traction rod during the robot's movement.

[0101] In summary, the lifting pin only begins to rise (extend) after the traction rod on the robot is fully extended. That is, the traction rod and the lifting pin move in sequence. The traction rod needs to be extended first, and the lifting pin extends later when the traction rod is at its maximum extension position and can no longer extend, until the lifting pin is at its maximum extension position.

[0102] For example, during the robot's movement from the target position to the upper position, the lifting pin is at its maximum extension position when the robot reaches the upper position. That is, the robot moves synchronously to the upper position at the moment the lifting pin extends to its maximum extension position. Because the robot moves synchronously to the upper position when the lifting pin is at its maximum extension position, the lifting pin can enter the pin hole of the material cart. This ensures that when the robot moves to the upper position, the lifting pin is inside the pin hole of the material cart, thus driving the material cart to move with it. In other words, when the robot moves to the upper position, the material cart moves with the robot.

[0103] Step 505: After the lifting pin enters the pin hole of the material cart, the robot moves to move the material cart along with it, and the robot and the material cart move synchronously. For example, when the robot moves to the upper position point, the lifting pin enters the pin hole of the material cart, and the robot moves the material cart along from the upper position point.

[0104] Clearly, by having a robot drive a material cart along with it, the target product on the robot and the assembly materials in the material cart can move together, allowing the assembly materials to be assembled into the target product during the production process on the production line.

[0105] In one possible implementation, in order to ensure that the extension and stopping of the traction mechanism (such as the traction rod and lifting pin) and the movement and stopping of the robot are synchronized, that is, the traction mechanism extends when the robot moves and the extension of the traction mechanism pauses when the robot pauses, the following method can also be adopted: if the robot stops moving and the traction rod is currently in the process of extending, the extension of the traction rod is controlled to pause until the robot continues to move, at which point the traction rod is controlled to continue extending.

[0106] Alternatively, if the robot stops moving while it is moving from the target position to the upper position, and the traction rod is already in its maximum extended position and the lifting pin is currently in the process of extending, the extension of the lifting pin can be paused until the robot continues to move, at which point the lifting pin can be controlled to continue extending.

[0107] As can be seen from the above technical solutions, in the embodiments of this application, in the field of factory production, robots can be used to carry the target product itself, and material carts can carry the assembly materials of the target product. The material cart can be placed at the online position, and during the robot's movement, it docks with the material cart at the online position. The robot moves, driving the material cart to follow, and the robot and material cart move synchronously. This improves transportation efficiency, effectively transports products and their assembly materials, increases factory production efficiency, and avoids disruptions to the factory production process. By proposing a new method for material cart following, the entire process of material cart online and following is unmanned, improving operational efficiency and intelligence. The material cart and robot follow each other, meeting the assembly needs of production line workers. By proposing a new method for material cart following, the transfer mechanism during the material cart online process is eliminated, avoiding problems caused by the instability of the transfer mechanism. The blocks installed in the production line slides that obstruct the material cart are eliminated, reducing the safety risk of blocks tripping production line workers, and improving operational efficiency, intelligence, and flexibility.

[0108] Based on the same concept as the above method, this application proposes a material cart movement control device. The robot's side includes a traction mechanism, which comprises a traction component and a first connecting component located on the traction component. The material cart includes a second connecting component that matches the first connecting component. See [link to relevant documentation]. Figure 8 The diagram shown is a structural schematic of the device, which includes:

[0109] A determining module 81 is used to determine the target position of the robot; before the robot reaches the target position, the traction component is not extended, and when the robot reaches the target position, the traction component begins to extend; a control module 82 is used to control the traction component to extend from the side of the robot during the process of the robot moving from the target position to the configured upper position, and to continue to control the first connecting component to extend from the traction component when the traction component is in the maximum extension position; wherein, the material cart is at the upper position; wherein, when the robot moves to the upper position, the first connecting component is in the maximum extension position, and the first connecting component is in contact with the second connecting component of the material cart, and the robot moves to drive the material cart to follow, and the robot and the material cart move synchronously.

[0110] For example, when determining the target position of the robot, the determining module 81 is specifically used to: when the robot moves to the configured interaction position, determine whether there is a material cart at the online position; if there is no material cart at the online position, control the robot to stop at the interaction position and wait for the material cart to appear at the online position; if there is a material cart at the online position, determine whether the first number of the material cart at the online position matches the second number of the robot; wherein, when the first number matches the second number, it indicates that the robot is allowed to carry the material cart; if they match, then the target position of the robot is determined.

[0111] For example, when determining the target position point of the robot, the determining module 81 is specifically used to: determine the minimum moving distance corresponding to the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component; determine the maximum moving distance corresponding to the robot based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when it is not extended; wherein, the reference line is the line connecting the outer edges of the two material legs of the material cart in the direction close to the robot; determine the target moving distance located between the maximum moving distance and the minimum moving distance, the target moving distance representing the distance between the target position point and the upper line position point; and determine the target position point based on the target moving distance.

[0112] For example, when determining the minimum moving distance of the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component, the determining module 81 is specifically used to determine the minimum moving distance of the robot using the following formula: S=V*(S1 / V1+S2 / V2+t); V represents the robot's moving speed, S1 represents the extension displacement of the traction component when it is in its maximum extension position, V1 represents the extension speed of the traction component, S2 represents the extension displacement required for the first connecting component to contact the second connecting component, V2 represents the extension speed of the first connecting component, t represents the sum of the response time of the traction component and the response time of the first connecting component, and S represents the minimum moving distance; the response time of the traction component represents the time interval from receiving the extension command to starting to extend, and the response time of the first connecting component represents the time interval from receiving the extension command to starting to extend.

[0113] For example, when determining the maximum moving distance of the robot based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when it is not extended, the determining module 81 is specifically used to: determine the reference moving distance of the robot using the following formula: S3 = V * (S4 / V1); determine the maximum moving distance of the robot based on the reference moving distance; the maximum moving distance is less than the reference moving distance and greater than the minimum moving distance; where V represents the robot's moving speed, V1 represents the extension speed of the traction component, S4 represents the perpendicular distance between the traction component and the reference line when it is not extended, and the perpendicular distance remains unchanged during the robot's movement, and S3 represents the reference moving distance.

[0114] For example, the control module 82 is further configured to, during the process of the robot moving from the target position point to the upper position point, if the robot stops moving and the traction component is currently in the extension process, control the extension of the traction component to pause; or, if the robot stops moving and the traction component is already in the maximum extension position and the first connecting component is in the extension process, control the extension of the first connecting component to pause.

[0115] For example, the traction component includes a traction rod, the first connecting component includes a lifting pin, and the second connecting component includes a pin hole; the contact between the first connecting component and the second connecting component includes: the lifting pin entering the pin hole; wherein, the extension direction of the traction rod is: extending outward from the robot body; the extension direction of the lifting pin is: extending upward from the inside of the traction rod; wherein, the pin hole is located at the bottom of the material cart, the pin hole is an open structure in the forward entry direction of the lifting pin, and is located in the pin hole when the lifting pin is in its maximum extension position, and contacts the pin hole wall; wherein, for the production process of the target product, the robot is used to carry the target product itself, and the material cart is used to carry the assembly materials of the target product.

[0116] Based on the same application concept as the method described above, this application proposes an electronic device (such as a robot or control device), see [link to relevant documentation]. Figure 9 As shown, it includes a processor 91 and a machine-readable storage medium 92. The machine-readable storage medium 92 stores machine-executable instructions that can be executed by the processor 91. The processor 91 is used to execute the machine-executable instructions to implement the material cart movement control method disclosed in this application.

[0117] Based on the same concept as the above method, this application also provides a machine-readable storage medium storing a plurality of computer instructions. When the computer instructions are executed by a processor, they can implement the material cart movement control method disclosed in the above examples of this application.

[0118] The aforementioned machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, machine-readable storage media can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0119] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the movement of a material cart, characterized in that, The robot includes a traction mechanism on its side, the traction mechanism including a traction component and a first connecting component located on the traction component, and the material cart includes a second connecting component that mates with the first connecting component. The method includes: The target position of the robot is determined; the traction component is not extended before the robot reaches the target position, and the traction component begins to extend when the robot reaches the target position; During the process of the robot moving from the target position to the configured online position, the traction component is controlled to extend from the side of the robot, and when the traction component is in the maximum extended position, the first connecting component is controlled to extend from the traction component; wherein, the material cart is at the online position. When the robot moves to the online position, the first connecting component is in its maximum extended position and contacts the second connecting component of the material cart. The robot moves and drives the material cart to follow, and the robot and the material cart move synchronously.

2. The method according to claim 1, characterized in that, Determining the target location of the robot includes: When the robot moves to the configured interaction point, it is determined whether there is a material cart at the online position point; if there is no material cart at the online position point, the robot is controlled to stop at the interaction point and wait for a material cart to appear at the online position point. If a material cart exists at the online location, it is determined whether the first number of the material cart at the online location matches the second number of the robot; wherein, if the first number matches the second number, it means that the robot is allowed to drive the material cart along. If a match is found, the target location of the robot is determined.

3. The method according to claim 1 or 2, characterized in that, Determining the target position of the robot includes: determining the minimum moving distance of the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component. Based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when the traction component is not extended, the maximum moving distance of the robot is determined; wherein, the reference line is the line connecting the outer edges of the two material legs of the material cart in the direction closest to the robot. Determine a target movement distance that is between the maximum movement distance and the minimum movement distance, wherein the target movement distance represents the distance between the target location point and the upper line location point; The target location is determined based on the target's movement distance.

4. The method according to claim 3, characterized in that, The determination of the minimum travel distance corresponding to the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component includes: The minimum moving distance of the robot is determined by the following formula: S = V * (S1 / V1 + S2 / V2 + t); Wherein, V represents the robot's moving speed, S1 represents the extension displacement of the traction component when it is in its maximum extension position, V1 represents the extension speed of the traction component, S2 represents the extension displacement required for the first connecting component to contact the second connecting component, V2 represents the extension speed of the first connecting component, t represents the sum of the response time of the traction component and the response time of the first connecting component, and S represents the minimum moving distance; wherein, the response time of the traction component represents the time interval from receiving the extension command to starting to extend, and the response time of the first connecting component represents the time interval from receiving the extension command to starting to extend.

5. The method according to claim 3, characterized in that, The determination of the maximum travel distance of the robot based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when it is not extended includes: The reference movement distance of the robot is determined using the following formula: S3 = V * (S4 / V1); The maximum movement distance of the robot is determined based on the reference movement distance; the maximum movement distance is less than the reference movement distance and greater than the minimum movement distance. Wherein, V represents the robot's moving speed, V1 represents the extension speed of the traction component, S4 represents the perpendicular distance between the traction component and the reference line when the traction component is not extended, and the perpendicular distance remains unchanged during the robot's movement, and S3 represents the reference moving distance.

6. The method according to claim 1, characterized in that, During the process of the robot moving from the target location point to the online location point, the method further includes: If the robot stops moving and the traction component is currently in the extension process, then control the extension of the traction component to pause; or, If the robot stops moving, and the traction component is already in its maximum extended position, and the first connecting component is in the process of extending, then the extension of the first connecting component is paused.

7. The method according to claim 1, characterized in that, The traction component includes a traction rod, the first connecting component includes a lifting pin, and the second connecting component includes a pin hole; the contact between the first connecting component and the second connecting component includes: the lifting pin entering the pin hole; The extension direction of the traction rod is: extending outward from the robot body; The lifting pin extends upward from the inside of the traction rod; The pin hole is located at the bottom of the material cart. The pin hole is an open structure in the forward direction of the lifting pin. When the lifting pin is in the maximum extended position, the lifting pin enters the pin hole and contacts the pin hole wall. In the production process of the target product, the robot is used to carry the target product itself, and the material cart is used to carry the assembly materials of the target product.

8. A movement control device for a material cart, characterized in that, The robot's side includes a traction mechanism, which includes a traction component and a first connecting component located on the traction component. The material cart includes a second connecting component that mates with the first connecting component. The device includes: A determining module is used to determine the target position point of the robot; the traction component is not extended before the robot reaches the target position point, and the traction component begins to extend when the robot reaches the target position point; The control module is configured to control the traction component to extend from the side of the robot during the process of the robot moving from the target position to the configured online position, and to continue to control the first connecting component to extend from the traction component when the traction component is in the maximum extended position; wherein the material cart is at the online position. When the robot moves to the online position, the first connecting component is in its maximum extended position and contacts the second connecting component of the material cart. The robot moves and drives the material cart to follow, and the robot and the material cart move synchronously.

9. The apparatus according to claim 8, Its features are, in, The determining module, when determining the target location of the robot, specifically performs the following: when the robot moves to the configured interaction location, it determines whether a material cart exists at the online location; if the online location does not have a material cart, it controls the robot to stop at the interaction location and waits for a material cart to appear at the online location; if the online location does have a material cart, it determines whether the first number of the material cart at the online location matches the second number of the robot; wherein, when the first number matches the second number, it indicates that the robot is allowed to bring the material cart along; if they match, the target location of the robot is determined. Specifically, when determining the target position of the robot, the determining module is used to: determine the minimum moving distance of the robot based on the robot's moving speed, the extension displacement of the traction component when it is in its maximum extended position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component; determine the maximum moving distance of the robot based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and a reference line when it is not extended; wherein the reference line is the line connecting the outer edges of the two material legs of the material cart in the direction closest to the robot; determine a target moving distance located between the maximum moving distance and the minimum moving distance, wherein the target moving distance represents the distance between the target position and the upper line position; and determine the target position based on the target moving distance. Specifically, when determining the minimum moving distance of the robot based on the robot's moving speed, the extension displacement of the traction component at its maximum extension position, the extension speed of the traction component, the extension displacement required for the first connecting component to contact the second connecting component, and the extension speed of the first connecting component, the determining module uses the following formula to determine the minimum moving distance of the robot: S=V*(S1 / V1+S2 / V2+t); where V represents the robot's moving speed, S1 represents the extension displacement of the traction component at its maximum extension position, V1 represents the extension speed of the traction component, S2 represents the extension displacement required for the first connecting component to contact the second connecting component, V2 represents the extension speed of the first connecting component, t represents the sum of the response time of the traction component and the response time of the first connecting component, and S represents the minimum moving distance; where the response time of the traction component represents the time interval from receiving the extension command to starting to extend, and the response time of the first connecting component represents the time interval from receiving the extension command to starting to extend. Specifically, when determining the maximum movement distance of the robot based on the robot's moving speed, the extension speed of the traction component, and the perpendicular distance between the traction component and the reference line when it is not extended, the determining module is used to: determine the reference movement distance of the robot using the following formula: S3 = V * (S4 / V1); determine the maximum movement distance of the robot based on the reference movement distance; the maximum movement distance is less than the reference movement distance and greater than the minimum movement distance; where V represents the robot's moving speed, V1 represents the extension speed of the traction component, S4 represents the perpendicular distance between the traction component and the reference line when it is not extended, and the perpendicular distance remains unchanged during the robot's movement, and S3 represents the reference movement distance; The control module is further configured to, during the process of the robot moving from the target position to the upper position, if the robot stops moving and the traction component is currently in the extension process, control the extension of the traction component to pause; or, if the robot stops moving and the traction component is already in the maximum extension position and the first connecting component is in the extension process, control the extension of the first connecting component to pause. The traction component includes a traction rod, the first connecting component includes a lifting pin, and the second connecting component includes a pin hole. Contact between the first connecting component and the second connecting component includes the lifting pin entering the pin hole. The traction rod extends outward from the robot body, and the lifting pin extends upward from the inside of the traction rod. The pin hole is located at the bottom of the material cart, and is an open structure in the forward direction of the lifting pin. When the lifting pin is at its maximum extension position, the lifting pin enters the pin hole and contacts the pin hole wall. In the production process of the target product, the robot carries the target product itself, and the material cart carries the assembly materials of the target product.

10. An electronic device, characterized in that, include: A processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; The processor is configured to execute machine-executable instructions to implement the method of any one of claims 1-7.

Images