Unmanned transport vehicle and production line butt joint method and system and transport vehicle

Abstract

The invention provides a docking method and system of an unmanned transport vehicle and a production line, and the unmanned transport vehicle, and relates to the technical field of cargo transportation. In response to the cargo transportation instruction, moving to a preset cargo docking area along a navigation path carried by the cargo transportation instruction; reducing the moving speed of the unmanned transport vehicle to a preset first speed, wherein the first speed is lower than a set speed threshold value; controlling the unmanned transport vehicle to stop moving under the condition that the photoelectric switch positioned on the vehicle head detects the first reflecting plate positioned on one side of the production line and the photoelectric switch positioned on the vehicle tail detects the second reflecting plate positioned on the other side of the production line; receiving the distance, collected by a distance sensor, between the unmanned transport vehicle and the production line; when the distance is larger than a set distance threshold value, the unmanned transport vehicle is controlled to move close to the production line until the distance is smaller than or equal to the set distance threshold value, and butt joint with the production line is accurately completed.

Description

Technical Field

[0001] The present application relates to the technical field of cargo transportation, and in particular to a method and system for docking an unmanned transport vehicle with a production line, and an unmanned transport vehicle. Background Art

[0002] With the in-depth application of 5G technology, the "dark factories" that have emerged in recent years have gradually swept across the country. Nowadays, unmanned transport vehicles have gradually replaced manual forklifts to undertake the transfer of goods between the production workshop and the final assembly workshop / three-dimensional warehouse of the enterprise.

[0003] Unmanned transport vehicles can pick up goods at the unloading port of the production workshop, transport them to the side of the production line in the stereoscopic warehouse or the final assembly workshop, and dock with the production line. After the precise docking is completed, the goods on the unmanned transport vehicle can be transferred to the production line, or the goods on the production line can be transported to the unmanned transport vehicle to complete the goods transfer.

[0004] At present, a scanning module is installed at the bottom of the unmanned transport vehicle. When the scanning module scans the QR code set on the ground, it determines that the position docking with the production line is completed. However, since the area of ​​the QR code is usually small, the route deviation of the unmanned transport vehicle is easy to occur during driving, resulting in the scanning module and the QR code not being fully aligned, which in turn causes the QR code to be unable to be scanned, resulting in a position docking failure. Furthermore, the ground needs to be leveled to ensure that the QR code on the ground can be recognized, which wastes time and labor costs. Summary of the invention

[0005] The present application provides a method and system for docking a transport vehicle with a production line, a transport vehicle, and a storage medium, which are used to solve the problems of the method and system for docking an unmanned transport vehicle with a production line, and an unmanned transport vehicle in the prior art.

[0006] In the first aspect, the present application provides a method for docking an unmanned transport vehicle with a production line, which is applied to the unmanned transport vehicle. The front and rear of the unmanned transport vehicle are respectively provided with photoelectric switches, a distance sensor is provided between the front and rear of the vehicle, and a first reflector and a second reflector are respectively provided on both sides of the production line. The method provided by the present application includes:

[0007] In response to the cargo transportation instruction, move to a preset cargo docking area along the navigation path carried by the cargo transportation instruction;

[0008] decelerating the moving speed of the unmanned transport vehicle to a preset first speed, the first speed being lower than a set speed threshold, wherein the moving direction of the unmanned transport vehicle is the direction of the line connecting the first reflector and the second reflector;

[0009] When the photoelectric switch at the front of the vehicle detects the first reflector at one side of the production line, and the photoelectric switch at the rear of the vehicle detects the second reflector at the other side of the production line, the unmanned transport vehicle is controlled to stop moving;

[0010] Receive the distance between the unmanned transport vehicle and the production line collected by the distance sensor;

[0011] When the distance is greater than the set distance threshold, the unmanned transport vehicle is controlled to move closer to the production line until the distance is less than or equal to the set distance threshold to complete the docking with the production line.

[0012] In a possible implementation, the light reflection area of ​​the first reflector is larger than a set area, and when the photoelectric switch at the front of the vehicle detects the first reflector at one side of the production line, and the photoelectric switch at the rear of the vehicle detects the second reflector at the other side of the production line, the unmanned transport vehicle is controlled to stop moving, including:

[0013] When the photoelectric switch located at the front of the vehicle begins to detect the first reflector located at one side of the production line, the moving speed of the unmanned transport vehicle is decelerated again to a preset second speed, which is lower than the first speed;

[0014] When the photoelectric switch at the rear of the vehicle detects the second reflector located on the other side of the production line, the unmanned transport vehicle is controlled to stop moving.

[0015] In a possible implementation, in response to the cargo transportation instruction, moving to a preset cargo docking area along a navigation path carried in the cargo transportation instruction includes:

[0016] In response to the cargo transportation instruction, move to a preset cargo waiting area along the navigation path carried by the cargo transportation instruction;

[0017] Send a communication connection request to the production line;

[0018] When the production line has not established a communication connection with other unmanned transport vehicles, it receives the confirmation instruction fed back by the production line and establishes a communication connection with the production line;

[0019] When connected to the production line in communication, move to the preset cargo docking area along the navigation path carried by the cargo transportation instructions.

[0020] In a possible implementation, the unmanned transport vehicle is provided with rollers for transporting goods, and the production line is also provided with rollers for transporting goods. After completing the docking with the production line, the method further includes:

[0021] Control the rollers of the unmanned transport vehicle to deliver goods to the production line, or leave the preset cargo docking area when detecting that a preset number of goods have been obtained from the production line.

[0022] In a possible implementation, after receiving the distance between the unmanned transport vehicle and the production line collected by the distance sensor, the method further includes:

[0023] When the distance is less than or equal to the set distance threshold, the rollers of the unmanned transport vehicle are controlled to transport the goods to the production line, or when a preset number of goods from the production line is detected, the unmanned transport vehicle leaves the preset cargo docking area.

[0024] In a possible implementation, after the moving speed of the unmanned transport vehicle is decelerated to a preset first speed, the method further includes:

[0025] If the photoelectric switch located at the front of the vehicle does not detect the first reflector located on one side of the production line after moving the preset distance, a fault prompt message is output.

[0026] In the second aspect, the present application also provides a docking system between an unmanned transport vehicle and a production line, including a production line and an unmanned transport vehicle as provided in the first aspect of the present application, wherein a first reflector and a second reflector are respectively provided on both sides of the production line.

[0027] In a possible implementation, a detection switch is provided at one end of the production line close to the unmanned transport vehicle, and the production line includes a driving cylinder, a roller for conveying goods, and a first clamping portion and a second clamping portion respectively provided on both sides of the roller of the production line, wherein:

[0028] The production line is used to control the driving cylinder to drive the first clamping part and the second clamping part to move toward each other when the detection switch detects the goods, so as to push the goods to the middle position between the first clamping part and the second clamping part.

[0029] In the third aspect, the present application also provides an unmanned transport vehicle, including a processor and a memory. The front and rear of the unmanned transport vehicle are respectively provided with photoelectric switches, and a distance sensor is provided between the front and rear of the vehicle. The memory stores computer program instructions that can be executed by the processor. When the processor executes the computer program instructions, the steps of the method provided in the first aspect of the present application are implemented.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method provided in the first aspect of the present application.

[0031] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor of an unmanned transport vehicle, implements the steps of the method provided in the first aspect of the present application.

[0032] The present application provides a method, system, transport vehicle and storage medium for docking a transport vehicle with a production line. The unmanned transport vehicle can respond to a cargo transport instruction and move to a preset cargo docking area along a navigation path carried by the cargo transport instruction. Furthermore, the moving speed of the unmanned transport vehicle can be decelerated to a preset first speed, which is lower than a set speed threshold. In this way, since the moving speed of the unmanned transport vehicle is relatively low, the distance that the unmanned transport vehicle slides forward due to inertia during subsequent braking can be reduced, thereby improving the accuracy of the parking position.

[0033] When the photoelectric switch at the front of the vehicle detects the first reflector at one side of the production line, and the photoelectric switch at the rear of the vehicle detects the second reflector at the other side of the production line, the unmanned transport vehicle is controlled to stop moving. It can be understood that the photoelectric switch at the front of the vehicle and the second reflector at the rear of the vehicle can both emit light. When the unmanned transport vehicle is aligned with the production line in the moving direction, the first reflector can reflect back the light emitted by the photoelectric switch at the front of the vehicle, and the second reflector can also reflect back the light emitted by the photoelectric switch at the rear of the vehicle. At this time, the photoelectric switch at the front of the vehicle can detect the light reflected by the first reflector, and the photoelectric switch at the rear of the vehicle can detect the light reflected by the second reflector. At this time, it can be determined that the unmanned transport vehicle is aligned with the production line in the moving direction. The light reflected by the first reflector is easily detected by the photoelectric switch at the front of the vehicle, and the light reflected by the second reflector is easily detected by the photoelectric switch at the rear of the vehicle. The moving speed of the unmanned transport vehicle is relatively low, so the unmanned transport vehicle can be accurately aligned with the production line in the moving direction.

[0034] Furthermore, the distance between the unmanned transport vehicle and the production line collected by the distance sensor can be received; when the distance is greater than the set distance threshold, it means that the distance between the unmanned transport vehicle and the production line is large (that is, the unmanned transport vehicle has not reached the docking position in the direction perpendicular to the moving direction), which is not conducive to the docking of goods. At this time, the unmanned transport vehicle is controlled to move closer to the production line until the distance is less than or equal to the set distance threshold. At this time, it means (the unmanned transport vehicle has reached the docking position in the direction perpendicular to the moving direction), so the docking with the production line can be completed. Since the distance sensor and the photoelectric switch do not need to be aligned with the unmanned transport vehicle and the production line, this greatly reduces the probability of position docking failure between the unmanned transport vehicle and the production line, and there is no need to level the ground, saving time and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 A schematic diagram of a docking scenario between an unmanned transport vehicle and a production line provided in an embodiment of the present application;

[0037] Figure 2 One of the flow charts of the method for docking a transport vehicle and a production line provided in an embodiment of the present application;

[0038] Figure 3 This is the second flowchart of the method for docking a transport vehicle and a production line provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0040] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0041] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element may be directly on the other layer / element or an intervening layer / element may exist therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, the layer / element may be "below" the other layer / element when the orientation is reversed.

[0042] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0043] The embodiment of the present application provides a method for docking an unmanned transport vehicle with a production line, which is applied to the unmanned transport vehicle 101. Figure 1 As shown, the front and rear of the unmanned transport vehicle 101 are respectively provided with photoelectric switches, and a distance sensor 110 is provided between the front and rear. The distance sensor 110 may be, but is not limited to, an infrared distance sensor, an ultrasonic distance sensor, etc., which are not limited here. The first reflector 104 and the second reflector 105 are respectively provided on both sides of the production line 106. Specifically, as Figure 2 As shown, the method provided in the embodiment of the present application includes:

[0044] S201: In response to a cargo transportation instruction, move to a preset cargo docking area 111 along a navigation path carried in the cargo transportation instruction.

[0045] Exemplarily, the unmanned transport vehicle 101 may include a human-computer interaction panel, on which the staff can input the location information of the cargo docking area 111 and click the "Start Navigation" control to generate a cargo transportation instruction, which carries a navigation path. In this way, the unmanned transport vehicle 101 responds to the cargo transportation instruction and moves to the preset cargo docking area 111 along the navigation path carried by the cargo transportation instruction. It should be noted that the distance between the cargo docking area 111 and the position where the unmanned transport vehicle 101 is aligned with the production line 106 is less than the set distance threshold (such as 0.3m, 0.5m or 1m, etc.).

[0046] Specifically, Figure 3 As shown, S201 can be specifically implemented as follows:

[0047] S301: In response to a cargo transportation instruction, move to a preset cargo waiting area 112 along a navigation path carried in the cargo transportation instruction.

[0048] Among them, there is a certain distance between the cargo waiting area 112 and the cargo docking area 111. Since the production line 106 may already have an unmanned transport vehicle 101 parked and loading and unloading cargo 109, the unmanned transport vehicle 101 can be parked in the cargo waiting area 112 first to avoid collision with other unmanned transport vehicles 101 that are loading and unloading cargo 109.

[0049] S302: Send a communication connection request to the production line 106.

[0050] S303: When the production line 106 has not established a communication connection with other unmanned transport vehicles 101 , receiving a confirmation instruction fed back by the production line 106 and establishing a communication connection with the production line 106 .

[0051] When the unmanned transport vehicle 101 establishes a communication connection with the production line 106 , it indicates that currently no other unmanned transport vehicle 101 is performing cargo 109 loading and unloading tasks on the production line 106 .

[0052] S304: When the communication connection with the production line 106 is established, the vehicle moves to the preset cargo docking area 111 along the navigation path carried by the cargo transportation instruction.

[0053] It is understandable that at this time, the unmanned transport vehicle 101 moves to the preset cargo docking area 111 and will not collide with other unmanned transport vehicles 101.

[0054] S202: Slow down the moving speed of the unmanned transport vehicle 101 to a preset first speed.

[0055] The first speed is lower than the set speed threshold, and the moving direction of the unmanned transport vehicle 101 is the direction of the line connecting the first reflector 104 and the second reflector 105. In this way, since the moving speed of the unmanned transport vehicle 101 is relatively low, the distance that the unmanned transport vehicle 101 slides forward due to inertia after subsequent braking can be reduced, thereby improving the accuracy of the parking position.

[0056] S203: When the photoelectric switch 103 at the front of the vehicle detects the first reflector 104 at one side of the production line 106 and the photoelectric switch 102 at the rear of the vehicle detects the second reflector 105 at the other side of the production line 106, the unmanned transport vehicle 101 is controlled to stop moving.

[0057] It can be understood that the photoelectric switch 103 located at the front of the vehicle and the second reflector 105 located at the rear of the vehicle can both emit light. When the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction, the first reflector 104 can reflect back the light emitted by the photoelectric switch 103 located at the front of the vehicle, and the second reflector 105 can also reflect back the light emitted by the photoelectric switch 102 located at the rear of the vehicle. At this time, the photoelectric switch 103 located at the front of the vehicle can detect the light reflected by the first reflector 104, and the photoelectric switch 102 located at the rear of the vehicle can detect the light reflected by the second reflector 105. At this time, it can be determined that the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction, the light reflected by the first reflector 104 is easily detected by the photoelectric switch 103 located at the front of the vehicle, and the light reflected by the second reflector 105 is easily detected by the photoelectric switch 102 located at the rear of the vehicle, and the moving speed of the unmanned transport vehicle 101 is relatively small, so the unmanned transport vehicle 101 can be accurately aligned with the production line 106 in the moving direction.

[0058] Furthermore, the light reflection area of ​​the first reflector 104 can be larger than the set area. In this way, the light irradiation width range of the first reflector 104 can be larger, and the photoelectric switch 103 located at the front of the vehicle can detect the reflected light of the first reflector 104 in advance at the position before the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction. In this way, when the photoelectric switch 103 located at the front of the vehicle begins to detect the first reflector 104 located on one side of the production line 106, the moving speed of the unmanned transport vehicle 101 can be slowed down again to a preset second speed, and the second speed is lower than the first speed. It can be understood that when the photoelectric switch 103 located at the front of the vehicle begins to detect the first reflector 104 located on one side of the production line 106, the unmanned transport vehicle 101 is already very close to the position aligned with the production line 106 in the moving direction, and thus can be slowed down again (such as from 0.5m / s to 0.2m / s). Furthermore, the distance that the unmanned transport vehicle 101 slides forward due to inertia after subsequent braking can be further reduced, and the accuracy of the parking position can be further improved.

[0059] When the photoelectric switch 102 at the rear of the vehicle detects the second reflector 105 located on the other side of the production line 106, it can be determined that the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction, and the unmanned transport vehicle 101 can be controlled to stop moving.

[0060] S204 : Receive the distance between the unmanned transport vehicle 101 and the production line 106 collected by the distance sensor 110 .

[0061] S205: When the distance is greater than a set distance threshold (such as 0.1 m, or 0.2 m, etc.), the unmanned transport vehicle 101 is controlled to move closer to the production line 106 until the distance is less than or equal to the set distance threshold, so as to complete the docking with the production line 106.

[0062] In summary, the embodiment of the present application provides a method for docking a transport vehicle with a production line 106, which can respond to a cargo transport instruction and move along a navigation path carried by the cargo transport instruction to a preset cargo docking area 111. The moving speed of the unmanned transport vehicle 101 is decelerated to a preset first speed, which is lower than a set speed threshold. In this way, since the moving speed of the unmanned transport vehicle 101 is relatively low, the distance that the unmanned transport vehicle 101 slides forward due to inertia during subsequent braking can be reduced, thereby improving the accuracy of the parking position.

[0063] When the photoelectric switch 103 at the front of the vehicle detects the first reflector 104 at one side of the production line 106 and the photoelectric switch 102 at the rear of the vehicle detects the second reflector 105 at the other side of the production line 106 , the unmanned transport vehicle 101 is controlled to stop moving. It can be understood that the photoelectric switch 103 located at the front of the vehicle and the second reflector 105 located at the rear of the vehicle can both emit light. When the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction, the first reflector 104 can reflect back the light emitted by the photoelectric switch 103 located at the front of the vehicle, and the second reflector 105 can also reflect back the light emitted by the photoelectric switch 102 located at the rear of the vehicle. At this time, the photoelectric switch 103 located at the front of the vehicle can detect the light reflected by the first reflector 104, and the photoelectric switch 102 located at the rear of the vehicle can detect the light reflected by the second reflector 105. At this time, it can be determined that the unmanned transport vehicle 101 is aligned with the production line 106 in the moving direction, the light reflected by the first reflector 104 is easily detected by the photoelectric switch 103 located at the front of the vehicle, and the light reflected by the second reflector 105 is easily detected by the photoelectric switch 102 located at the rear of the vehicle, and the moving speed of the unmanned transport vehicle 101 is relatively small, so the unmanned transport vehicle 101 can be accurately aligned with the production line 106 in the moving direction. Furthermore, the distance between the unmanned transport vehicle 101 and the production line 106 collected by the distance sensor 110 can be received; when the distance is greater than the set distance threshold, it means that the distance between the unmanned transport vehicle 101 and the production line 106 is large (that is, the unmanned transport vehicle 101 has not yet reached the docking position in the direction perpendicular to the moving direction), which is not conducive to the docking of the goods 109, and the unmanned transport vehicle 101 is controlled to move closer to the production line 106 until the distance is less than or equal to the set distance threshold, which means that (the unmanned transport vehicle 101 has reached the docking position in the direction perpendicular to the moving direction), and the docking with the production line 106 can be completed. Since the distance sensor 110 and the photoelectric switch do not need to be aligned with the unmanned transport vehicle 101 and the production line 106, there will be no problem of position docking failure, and there is no need to level the ground, saving time and labor costs.

[0064] In addition, the unmanned transport vehicle 101 is provided with rollers for conveying goods 109, and the production line 106 is also provided with rollers for conveying goods 109. In some embodiments, after completing the docking with the production line 106, the method provided in the embodiment of the present application further includes: controlling the rollers of the unmanned transport vehicle 101 to convey the goods 109 to the production line 106. In this way, the task of unmanned transport vehicle 101 unloading goods from the production line 106 can be completed, and since the docking accuracy of the unmanned transport vehicle and the production line is high, the reliability of unmanned transport vehicle 101 unloading goods from the production line 106 is also high.

[0065] In other embodiments, when it is detected that a preset number of goods 109 are obtained from the production line 106 , the preset goods docking area 111 is left.

[0066] Exemplarily, the unmanned transport vehicle 101 records the number of loaded goods 109 (i.e., the preset number). The production line 106 may also be equipped with a detection switch, and each time the detection switch (such as an infrared scanner) scans a piece of goods 109, the production line 106 counts once, and the production line 106 may transmit the counted number back to the unmanned transport vehicle 101. When the preset number of goods 109 from the production line 106 is obtained, it means that the goods 109 on the unmanned transport vehicle 101 have been unloaded, and at this time, the preset cargo docking area 111 may be left so that the next unmanned transport vehicle 101 can dock with the production line 106.

[0067] Alternatively, when the distance is less than or equal to the set distance threshold, it means that the unmanned transport vehicle 101 has accurately completed the docking with the production line 106, and the rollers of the unmanned transport vehicle 101 can be controlled to transport the goods 109 to the production line 106, or when it is detected that a preset number of goods 109 have been obtained from the production line 106, the preset cargo docking area 111 is left to allow the next unmanned transport vehicle 101 to dock with the production line 106.

[0068] In addition, in the above Figure 2 On the basis of the corresponding embodiment, after S202, the method provided in the embodiment of the present application further includes:

[0069] If the photoelectric switch 103 at the front of the vehicle fails to detect the first reflector 104 at one side of the production line 106 after moving the preset distance, a fault prompt message is output.

[0070] Usually, there is a preset distance between the cargo docking area 111 and the first reflector 104. If the unmanned transport vehicle 101 still fails to detect the light reflected by the first reflector 104 after moving the preset distance, it means that there is an error in the moving direction of the unmanned transport vehicle 101. At this time, the unmanned transport vehicle 101 sends a fault prompt message to the terminal device of the staff to prompt the staff to eliminate the movement fault of the unmanned transport vehicle 101.

[0071] In addition, Figure 1 As shown, an embodiment of the present application further provides a docking system between an unmanned transport vehicle and a production line, including a production line 106 and an unmanned transport vehicle 101 as provided in the above embodiment of the present application, and a first reflector 104 and a second reflector 105 are respectively provided on both sides of the production line 106.

[0072] Furthermore, a detection switch may be provided at one end of the production line 106 close to the unmanned transport vehicle 101, and the production line 106 includes a driving cylinder, a roller for conveying goods 109, and a first clamping portion 107 and a second clamping portion 108 respectively provided on both sides of the roller of the production line 106.

[0073] The production line 106 is used to control the driving cylinder to drive the first clamping part 107 and the second clamping part 108 to move toward each other when the detection switch detects the goods 109, so as to push the goods 109 to the middle position between the first clamping part 107 and the second clamping part 108. In this way, it can be ensured that the goods 109 are smoothly transported to the next production line 106 on the production line 106 without falling.

[0074] In addition, an embodiment of the present application also provides an unmanned transport vehicle, including a processor and a memory. The front and rear of the unmanned transport vehicle are respectively provided with photoelectric switches, and a distance sensor is provided between the front and rear of the vehicle. The memory stores computer program instructions that can be executed by the processor. When the processor executes the computer program instructions, the steps of the method provided in the above embodiment of the present application are implemented.

[0075] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method provided in the above embodiment of the present application.

[0076] In addition, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor of an unmanned transport vehicle, implements the steps of the method provided in the above embodiment of the present application.

[0077] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.

[0078] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0079] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for docking an unmanned transport vehicle with a production line, characterized in that: Applied to an unmanned transport vehicle, the front and rear of the unmanned transport vehicle are respectively provided with photoelectric switches, a distance sensor is provided between the front and rear of the vehicle, and a first reflector and a second reflector are provided on both sides of the production line, respectively. The method comprises: In response to the cargo transportation instruction, move to a preset cargo docking area along the navigation path carried by the cargo transportation instruction; decelerating the moving speed of the unmanned transport vehicle to a preset first speed, wherein the first speed is lower than a set speed threshold, wherein the moving direction of the unmanned transport vehicle is the direction of the line connecting the first reflector and the second reflector; When the photoelectric switch at the front of the vehicle detects the first reflector at one side of the production line, and the photoelectric switch at the rear of the vehicle detects the second reflector at the other side of the production line, the unmanned transport vehicle is controlled to stop moving; Receiving the distance between the unmanned transport vehicle and the production line collected by the distance sensor; When the distance is greater than a set distance threshold, the unmanned transport vehicle is controlled to move closer to the production line until the distance is less than or equal to the set distance threshold, so as to complete the docking with the production line.

2. The method according to claim 1, characterized in that The light reflection area of ​​the first reflector is larger than a set area, and when the photoelectric switch at the front of the vehicle detects the first reflector at one side of the production line, and the photoelectric switch at the rear of the vehicle detects the second reflector at the other side of the production line, the unmanned transport vehicle is controlled to stop moving, including: When the photoelectric switch located at the front of the vehicle begins to detect the first reflector located at one side of the production line, the moving speed of the unmanned transport vehicle is decelerated again to a preset second speed, which is lower than the first speed; When the photoelectric switch located at the rear of the vehicle detects the second reflector located on the other side of the production line, the unmanned transport vehicle is controlled to stop moving.

3. The method according to claim 1, characterized in that The step of responding to the cargo transportation instruction and moving to a preset cargo docking area along a navigation path carried by the cargo transportation instruction includes: In response to the cargo transportation instruction, move to a preset cargo waiting area along the navigation path carried by the cargo transportation instruction; Sending a communication connection request to the production line; When the production line has not established a communication connection with other unmanned transport vehicles, receiving a confirmation instruction fed back by the production line and establishing a communication connection with the production line; When connected to the production line in communication, move to a preset cargo docking area along the navigation path carried by the cargo transportation instruction.

4. The method according to claim 1, characterized in that: The unmanned transport vehicle is provided with rollers for transporting goods, and the production line is also provided with rollers for transporting goods. After the unmanned transport vehicle is connected with the production line, the method further includes: The rollers of the unmanned transport vehicle are controlled to deliver goods to the production line, or to leave the preset cargo docking area when a preset number of goods from the production line is detected.

5. The method according to claim 1, characterized in that The unmanned transport vehicle is provided with rollers for transporting goods, and the production line is also provided with rollers for transporting goods. After receiving the distance between the unmanned transport vehicle and the production line acquired by the distance sensor, the method further includes: When the distance is less than or equal to a set distance threshold, the rollers of the unmanned transport vehicle are controlled to transport the goods to the production line, or when a preset number of goods from the production line is detected, the unmanned transport vehicle leaves the preset cargo docking area.

6. The method according to claim 1, characterized in that After decelerating the moving speed of the unmanned transport vehicle to a preset first speed, the method further includes: If the photoelectric switch located at the front of the vehicle fails to detect the first reflector located at one side of the production line after moving the preset distance, a fault prompt message is output.

7. A docking system between an unmanned transport vehicle and a production line, comprising a production line and the unmanned transport vehicle according to any one of claims 1 to 6, wherein a first reflector and a second reflector are respectively provided on both sides of the production line.

8. The system according to claim 7, characterized in that A detection switch is provided at one end of the production line close to the unmanned transport vehicle. The production line includes a driving cylinder, a roller for transporting goods, and a first clamping part and a second clamping part respectively provided on both sides of the roller of the production line, wherein: The production line is used to control the driving cylinder to drive the first clamping part and the second clamping part to move toward each other when the detection switch detects the goods, so as to push the goods to the middle position between the first clamping part and the second clamping part.

9. An unmanned transport vehicle, comprising a processor and a memory, characterized in that: The front and rear of the unmanned transport vehicle are respectively provided with photoelectric switches, a distance sensor is provided between the front and rear of the vehicle, the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, prompt the processor to implement the steps of the method according to any one of claims 1 to 6.

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