Robot docking control method, device and equipment

Abstract

The embodiment of the invention provides a robot docking control method, device and equipment, a robot comprises a chassis and a turntable, and the method comprises the following steps: acquiring a machine table pose of a to-be-docked machine table and a chassis pose of the chassis; according to the machine table pose and the chassis pose, a planned docking path of the robot is generated; according to the planned docking path, the chassis is controlled to move along the planned docking path, the course of the turntable is controlled to be unchanged relative to the ground in the moving process, and when the angle of the turntable is unchanged relative to the ground course, the angle of a goods shelf borne on the turntable is also unchanged relative to the ground course, so that the space occupied by goods shelf steering is reduced; and the occupied space in the butt joint process of the robot is reduced.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and specifically relates to a robot docking control method, device and equipment. Background Art

[0002] With the development of Automated Guided Vehicle (AGV) related technologies, AGV is increasingly used in logistics, warehousing, factory production and other aspects. Shelves are installed on AGVs for loading materials. A key application scenario of AGV is that the AGV loaded with materials on the shelves is docked with the machine to complete the material loading and unloading process. The differential robot with a turntable is a common application of AGV. Through the lifting and rotating mechanism, the turntable can be lifted relative to the chassis to achieve the purpose of lifting the shelf. At the same time, the turntable can also rotate relative to the chassis, thereby realizing the heading decoupling control of the chassis and the shelf carried on the turntable.

[0003] In the related technology, when the differential robot with a turntable is docked with a machine platform, it is usually in a turntable locking state, which locks the relative position of the vehicle and the shelf. That is, the shelf position moves with the vehicle, and the angle rotates with the vehicle, and the forward and backward movement and rotation are achieved by controlling the two wheels of the chassis.

[0004] However, the robot docking method in the prior art takes up a large space. Summary of the invention

[0005] The present application relates to a robot docking control method, device and equipment, which are used to solve the technical problem that the robot docking method in the prior art occupies a large space.

[0006] In a first aspect, the present application provides a robot docking control method, wherein the robot comprises a chassis and a turntable, and the method comprises:

[0007] Acquire the machine posture of the machine to be docked and the chassis posture of the chassis;

[0008] Generate a planned docking path for the robot according to the machine platform posture and the chassis posture;

[0009] According to the planned docking path, the chassis is controlled to move along the planned docking path, and the heading of the turntable is controlled to remain unchanged relative to the ground during the movement.

[0010] An embodiment of the present application provides a docking control method for a robot with a chassis and a turntable. During the docking process between the robot and a machine, less space can be occupied. Specifically, a planned docking path for the robot to reach the target docking posture is determined according to the machine posture of the machine to be docked and the chassis posture of the robot. Based on the planned docking path, the chassis is controlled to move along the planned docking path to achieve docking. During the movement, the heading of the turntable of the robot is controlled to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning and reducing the space occupied during the robot docking process.

[0011] Optionally, controlling the chassis to move along the planned docking path according to the planned docking path, and controlling the heading of the turntable to remain unchanged relative to the ground during the movement, includes:

[0012] Acquire the current state of the chassis, determine the chassis expected motion parameters of the chassis according to the planned docking path and the current state of the chassis, and generate chassis control parameters according to the chassis expected motion parameters, wherein the chassis control parameters are used to instruct the chassis of the robot to move along the planned docking path;

[0013] Determine an expected angular velocity of the turntable according to the expected motion parameters of the chassis, wherein the expected rotational speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground;

[0014] The chassis control parameters and the desired angular velocity of the turntable are sent to the robot driver for execution.

[0015] An embodiment of the present application provides a docking control method for a robot with a chassis and a turntable. During the docking process between the robot and the machine, less space can be occupied. Specifically, the posture deviation between the machine posture of the machine to be docked and the chassis posture of the robot is first determined, and a planned docking path for the robot to reach the docking target posture is determined based on the posture deviation. Since the movement of the robot depends on the movement of the chassis, the current state of the chassis is obtained, and the expected motion parameters of the chassis can be determined based on the planned docking path and the current state of the chassis, and then the chassis control parameters for controlling the movement of the chassis can be generated based on the expected motion parameters of the chassis. In order to reduce the space occupied by the shelf on the robot turntable during the movement, the expected angular velocity of the turntable is determined based on the expected motion parameters of the chassis to control the heading of the robot's turntable to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning and reducing the space occupied during the robot docking process.

[0016] Optionally, the chassis expected motion parameter includes a chassis expected angular velocity;

[0017] Correspondingly, determining the expected angular velocity of the turntable according to the expected motion parameter of the chassis includes: determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis.

[0018] Here, the expected motion parameters of the chassis in the embodiment of the present application include the expected angular velocity of the chassis. Since the entire robot moves with the chassis, the rotation direction of the turntable is related to the rotation direction of the chassis. In order to ensure that the heading of the turntable remains unchanged relative to the ground, the expected angular velocity of the turntable can be determined by the expected angular velocity of the chassis to ensure the stability of the turntable heading, thereby reducing the space occupied during the robot docking process.

[0019] Optionally, determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes:

[0020] Determine the magnitude of the expected angular velocity of the chassis as the magnitude of the expected angular velocity of the turntable;

[0021] The opposite direction of the desired angular velocity of the chassis is determined as the direction of the desired angular velocity of the turntable.

[0022] Among them, the embodiment of the present application controls the expected angular velocity of the chassis and the expected angular velocity of the turntable to be consistent in magnitude and opposite in direction. In this case, the rotation heading relative to the ground can remain stable and unchanged, and the implementation method is simple.

[0023] Optionally, before determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis, the method further includes:

[0024] Using a preset controller algorithm, determining a heading deviation according to the posture deviation;

[0025] Accordingly, determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes:

[0026] An angular velocity control amount is determined according to the heading deviation; and an expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis and in combination with the angular velocity control amount.

[0027] Due to motor control delays, the ground and other interference factors, if heading feedback closed-loop control is not performed when controlling the movement of the robot turntable, a heading control error will occur. Therefore, the embodiment of the present application determines the heading deviation through a preset controller algorithm, and adds the heading deviation to the control of the turntable, thereby further improving the accuracy of the robot turntable heading control, thereby effectively reducing the space occupied by the robot during docking.

[0028] Optionally, the chassis expected motion parameter further includes a chassis expected speed;

[0029] The obtaining of the current state of the chassis and determining the expected chassis motion parameters of the chassis according to the planned docking path and the current state of the chassis include: using a preset path tracking control algorithm to perform tracking control operations on the planned docking path according to the current state of the chassis to obtain the expected chassis speed and the expected chassis angular velocity of the chassis.

[0030] Among them, the embodiment of the present application controls the chassis to move along the planned docking path through a path tracking control algorithm, and finally obtains the expected chassis speed and the expected chassis angular velocity to achieve precise control of the chassis.

[0031] Optionally, generating chassis control parameters according to the expected chassis motion parameters includes:

[0032] According to the chassis expected speed and chassis expected angular velocity of the chassis, the expected speeds of the left and right wheel motors of the chassis are generated.

[0033] Here, the embodiment of the present application can determine the expected speeds of the left and right wheel motors of the chassis based on the expected speed of the chassis and the expected angular velocity of the chassis. The expected speeds of the left and right wheel motors of the chassis can be directly sent to the motors for execution, thereby achieving accurate control of the chassis.

[0034] Optionally, the obtaining of the machine posture of the machine to be docked and the chassis posture of the chassis includes:

[0035] Initiate an identification instruction to control the robot to identify the machine posture of the machine to be docked; receive the machine posture and the chassis posture of the chassis sent by the robot.

[0036] Optionally, generating a planned docking path of the robot according to the machine platform posture and the chassis posture includes:

[0037] Calculate the posture deviation according to the machine posture and the chassis posture; generate the planned docking path of the robot according to the posture deviation

[0038] Here, the embodiment of the present application pre-controls the robot to identify the machine posture to obtain the accurate posture deviation between the chassis and the machine. Based on the accurate posture deviation, precise control of the robot docking can be achieved, which reduces the error and further reduces the space occupied by the robot during the docking process.

[0039] Optionally, generating a planned docking path of the robot according to the posture deviation includes:

[0040] Acquire a nonholonomic motion model of the chassis; input the posture deviation into the nonholonomic motion model to output a planned docking path of the robot.

[0041] Among them, the embodiment of the present application plans a path from the current posture of the chassis to the docking target posture based on the posture deviation between the chassis and the machine, combined with the incomplete motion model constraints of the chassis, which can ensure safe and reliable docking control of the robot to ensure that the robot reaches the docking target posture.

[0042] In a second aspect, the present application provides a robot docking control device, the robot comprising a chassis and a turntable, the device comprising:

[0043] An acquisition module, used for acquiring the machine posture of the machine to be docked and the chassis posture of the chassis;

[0044] A generation module, used to generate a planned docking path of the robot according to the machine platform posture and the chassis posture;

[0045] The control module is used to control the chassis to move along the planned docking path according to the planned docking path, and to control the heading of the turntable to remain unchanged relative to the ground during the movement.

[0046] Optionally, the control module includes:

[0047] A first processing module is used to obtain a current state of the chassis, determine an expected chassis motion parameter of the chassis according to the planned docking path and the current state of the chassis, and generate a chassis control parameter according to the expected chassis motion parameter, wherein the chassis control parameter is used to instruct the chassis of the robot to move along the planned docking path;

[0048] A second determination module is used to determine an expected angular velocity of the turntable according to the expected motion parameters of the chassis, wherein the expected rotation speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground;

[0049] The second processing module is used to send the chassis control parameters and the expected angular velocity of the turntable to the robot driver for execution.

[0050] Optionally, the chassis expected motion parameter includes a chassis expected angular velocity;

[0051] Accordingly, the second determining module is specifically configured to:

[0052] The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis.

[0053] Optionally, the second determining module is further specifically configured to:

[0054] Determine the magnitude of the expected angular velocity of the chassis as the magnitude of the expected angular velocity of the turntable;

[0055] The opposite direction of the desired angular velocity of the chassis is determined as the direction of the desired angular velocity of the turntable.

[0056] Optionally, before the second determining module is specifically used to determine the expected turntable angular velocity of the turntable according to the expected angular velocity of the chassis, the apparatus further includes:

[0057] A third determination module is used to determine a heading deviation according to the posture deviation by using a preset controller algorithm;

[0058] Accordingly, the second determining module is further specifically configured to:

[0059] determining an angular velocity control amount according to the heading deviation;

[0060] The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis and in combination with the angular velocity control amount.

[0061] Optionally, the chassis expected motion parameter further includes a chassis expected speed;

[0062] The first processing module is specifically used for:

[0063] A preset path tracking control algorithm is used to perform tracking control operations on the planned docking path according to the current state of the chassis to obtain the expected chassis speed and the expected chassis angular velocity of the chassis.

[0064] Optionally, the first processing module is further specifically configured to:

[0065] According to the chassis expected speed and chassis expected angular velocity of the chassis, the expected speeds of the left and right wheel motors of the chassis are generated.

[0066] Optionally, the acquisition module is specifically used for:

[0067] Initiate an identification command to control the robot to identify the machine position of the machine to be docked;

[0068] The machine platform posture and the chassis posture of the chassis sent by the robot are received.

[0069] Optionally, the generating module is specifically used for:

[0070] Calculating a posture deviation according to the machine posture and the chassis posture;

[0071] A planned docking path of the robot is generated according to the posture deviation.

[0072] Optionally, the generating module is specifically used for:

[0073] Acquire a nonholonomic kinematic model of the chassis;

[0074] The posture deviation is input into the non-holonomic motion model to output a planned docking path of the robot.

[0075] In a third aspect, the present application provides a robot docking control device, including: a memory and a processor;

[0076] The memory stores computer program instructions;

[0077] The processor executes the computer program instructions stored in the memory to implement the method as described in any one of the first aspects.

[0078] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, they are used to implement any one of the methods in the first aspect.

[0079] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements any method in the first aspect when executed by a processor.

[0080] The present application provides a robot docking control method, device and equipment. The method can occupy less space during the docking process between the robot and the machine. Specifically, according to the machine posture of the machine to be docked and the chassis posture of the robot, a planned docking path for the robot to reach the docking target posture is determined. Based on the planned docking path, the chassis is controlled to move along the planned docking path to achieve docking. During the movement, the heading of the turntable of the robot is controlled to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning and reducing the space occupied during the robot docking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the technical solutions in the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. 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 creative work.

[0082] Figure 1A A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0083] Figure 1B A schematic diagram of the structure of another robot provided in an embodiment of the present application;

[0084] Figure 2 A schematic diagram of multiple motion modes of a robot provided in an embodiment of the present application;

[0085] Figure 3 A schematic diagram of a motion mode during robot docking of a related technology provided in an embodiment of the present application;

[0086] Figure 4 A schematic diagram of a robot motion mode provided in an embodiment of the present application;

[0087] Figure 5 A schematic diagram of a robot docking control system architecture provided in an embodiment of the present application;

[0088] Fig. 6A A schematic diagram of a flow chart of a robot docking control method provided in an embodiment of the present application;

[0089] Figure 6B A schematic flow chart of another robot docking control method provided in an embodiment of the present application;

[0090] Figure 7 A schematic flow chart of another robot docking control method provided in an embodiment of the present application;

[0091] Figure 8 A schematic diagram of the structure of a robot docking control device provided in an embodiment of the present application;

[0092] Fig. 9 A schematic diagram of the structure of a robot docking control device provided in an embodiment of the present application.

[0093] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0094] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0095] It should be noted that, although the terms "first", "second", etc. are used to describe various information in the embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. Optionally, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0096] It should be understood that the terms "comprises" and "includes" indicate the presence of the previously mentioned features, steps, operations, but do not exclude the presence, occurrence or addition of one or at least one other feature, step, operation. The terms "and / or" and the like used in this application may be interpreted as inclusive, or mean any one or any combination. Optionally, "A and / or B" means "any of the following: A; B; A and B". In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship.

[0097] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0098] First, the terms involved in this application are explained:

[0099] Differential robot: A wheeled mobile robot that achieves steering through the differential speed of two wheels. Its movement direction can only be forward or backward along the rolling direction of the wheels. If it wants to change the direction of movement, it can only be achieved by generating rotational motion through the differential speed of the two wheels. Therefore, it is called a non-holonomic constrained robot.

[0100] Omnidirectional robot: A robot that can move in all directions, usually with 2 or more drive units. Compared with differential robots, it can move in any direction without adjusting the chassis angle.

[0101] Turntable: A mechanism that can lift and rotate relative to the robot chassis, usually driven by a motor. The key function of this mechanism is to lift the shelf and decouple the angle control of the chassis and shelf.

[0102] Explanation of symbols: θ: angle (heading); ω: angular velocity; c: chassis; t: turntable; p: pod; W: world system (i.e., ground system);

[0103] The angular velocity of a in the b coordinate system is the angular velocity of the chassis in the world system. a and b can be represented by any symbols and are only for illustration.

[0104] A key application scenario of AGV is to dock with the machine in the state of carrying goods, so as to complete the material loading and unloading process. The state of carrying goods refers to the AGV shelves being loaded with materials. The docking process usually first identifies the machine to be docked through the perception sensor, and then guides the robot to move to the docking target posture according to the relative posture deviation between the chassis and the machine. The docking accuracy is usually required to be high. However, the perception sensor usually has a higher recognition accuracy the closer to the object to be identified, and the space is usually more cramped when the distance to the machine is relatively close. In addition, since the differential robot can only move forward and backward, if a lateral deviation occurs during docking, the robot can only change its heading by generating a rotational action component through the differential speed of the two wheels before eliminating the lateral deviation. However, rotation will occupy more space and increase the risk of interference and collision with the machine. In response to the above problems, most of the current practices are: increase the distance between machines, that is, increase the docking space; use sensors with higher perception accuracy and extend the distance for identification and docking, that is, obtain a higher precision docking deviation at a farther distance, and then eliminate the lateral deviation by moving longer before docking, and the lateral deviation is basically eliminated when it reaches the vicinity of the machine; use an omnidirectional robot for docking. The above approach has the following problems: increasing the distance between machines will reduce space utilization; sensors with high perception accuracy usually increase costs, and the space after turning from the main road into the docking path is usually limited, making it difficult to ensure a long moving path; omnidirectional robots are expensive, and due to their complex structure, their failure rate and maintenance costs are also higher than those of differential robots. The embodiment of the present application provides a control method for a differential robot with a turntable that can reduce space requirements when docking with a machine, reducing space occupancy without increasing costs.

[0105] Figure 1A A schematic diagram of the structure of a robot provided in an embodiment of the present application, wherein the robot is a differential robot. Figure 1A A top view of the robot is shown, as Figure 1A As shown, the robot includes a chassis 101 and a turntable 102, and also includes a differential left wheel 103 and a differential right wheel 104. A shelf 105 (see Figure 1B The arrows in the figure indicate the forward direction of the chassis 101, the turntable 102 and the shelf 105.

[0106] Figure 1B A schematic diagram of the structure of another robot provided in an embodiment of the present application, Figure 1B shows a side view of the robot, consisting of Figure 1B As shown, Figure 1AThe robot in the embodiment also includes a lifting and rotating mechanism 106, through which the chassis 101 and the turntable 102 are connected, and the turntable 102 can be rotated relative to the chassis 101 through the lifting and rotating mechanism 106. In addition, during use, a shelf 105 can be set on the top of the turntable 102 to carry the transportation of goods. It can be seen from the side view that the turntable 102 can be lifted relative to the chassis 101 through the lifting and rotating mechanism 106, so as to achieve the purpose of lifting the shelf, and at the same time, the turntable 102 can also rotate relative to the chassis 101, so as to achieve the heading decoupling control of the chassis 101 and the turntable 102 (shelf 105).

[0107] Figure 1A and Figure 1B The robot shown can have multiple movement modes, Figure 2 A schematic diagram of multiple motion modes of a robot provided in an embodiment of the present application, such as Figure 2 As shown, Figure 2 Included Figure 1A and Figure 1B The three motion modes of the robot shown are:

[0108] Movement mode A: Rotate the shelf alone. That is, the chassis is stationary (two differential wheels are locked), the turntable lifts the shelf, and then the turntable rotation motor drives the turntable and the shelf to rotate 90 degrees counterclockwise.

[0109] Movement mode B: The chassis and the shelf rotate independently. Independent rotation here means controlling the angle of the chassis relative to the ground separately. The angle between the shelf (turntable) and the ground like Figure 2 As shown, the chassis rotates 90 degrees counterclockwise relative to the ground, while the shelf (turntable) rotates clockwise relative to the ground.

[0110]

[0111] Movement mode C: The shelf does not move relative to the ground. That is, the chassis rotates 90 degrees counterclockwise, and the turntable motor rotates 90 degrees clockwise relative to the chassis, and the angular velocity of the shelf (turntable) relative to the chassis is maintained during the entire rotation process. (i.e. the angular velocity ω of the rotating motor rot ) and the angular velocity of the chassis relative to the ground The magnitudes are equal and the directions are opposite, so that the turntable and the shelf are stationary relative to the ground during the whole process. Of course, the angle of the shelf relative to the ground should be introduced during the movement. It can be seen that motion mode C is a special case of motion mode B, that is, the rotation angle of the shelf relative to the ground is 0.

[0112] Figure 3A schematic diagram of a motion mode of a related technology provided in an embodiment of the present application during robot docking. Figure 3 The robot 301 and the machine 302 are included. The robot 301 is Figure 1A and Figure 1B As shown in the robot. Figure 3 As shown in the figure, during the docking process between the robot and the machine, the chassis moves and the turntable is locked. The lock of the turntable locks the relative position of the vehicle and the shelf, that is, the shelf position moves with the vehicle and the angle rotates with the vehicle. The related technology has the following problems: the chassis needs to change the direction of movement by rotating to achieve path tracking control, but the shelf rotates with the chassis, which makes it easy for the edge of the shelf to interfere with the machine, and the chassis rotates with the shelf, which increases the occupied space.

[0113] In order to solve the above technical problems, an embodiment of the present application provides a robot docking control method, which determines the expected angular velocity of the turntable based on the expected motion parameters of the chassis to control the heading of the robot's turntable to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning.

[0114] The main idea of ​​the embodiment of the present application is to control the turntable to keep the direction fixed to the ground, so as to ensure that the shelves and goods carried on the turntable are fixed to the ground, thereby reducing the space occupied by the robot docking. Since the shelves and goods are placed on the turntable, the shelf position is used for the turntable position. Accordingly, Figure 4 A schematic diagram of a robot motion mode provided in an embodiment of the present application, Figure 4 The robot 401 and the machine 402 are included. Figure 4 As shown in the figure, when the robot is carrying goods and moving to the docking station, the chassis moves along the path, and the shelf position also moves along the path, but the direction of the shelf relative to the ground remains unchanged. Since the differential chassis can only move along the direction of the wheels, its heading must be in the tangent direction of the path, so there must be a rotation angular velocity when tracking the arc path. At this time, the turntable rotates the motor to generate the angular velocity of the shelf relative to the chassis, thereby controlling the angle of the shelf relative to the ground. The angle is always the one required for docking, that is, the shelf heading does not move relative to the ground. Figure 3 Compared with the motion patterns of related technologies, Figure 4 The width of the space occupied by the motion mode is significantly reduced. Figure 3 The motion mode of the related technology shown in the figure, the shelf rotates with the chassis, which makes it easy for the edge of the shelf to interfere with the machine. Figure 4 In the motion mode shown, the heading of the shelf is always consistent with the machine, and the position deviation is eliminated by rotation.

[0115] Optionally, Figure 5 A schematic diagram of a robot docking control system architecture provided in an embodiment of the present application. Figure 5 In the above architecture, the above architecture includes at least one of a data acquisition device 501, a processing device 502 and a display device 503.

[0116] Optionally, the robot docking control system can communicate with the robot to control the robot.

[0117] It is understandable that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the robot docking control system architecture. In other feasible embodiments of the present application, the above architecture may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently, which can be determined according to the actual application scenario and is not limited here. The components shown in Figure 1 can be implemented in hardware, software, or a combination of software and hardware.

[0118] In a specific implementation process, the data acquisition device 501 may include an input / output interface and may also include a communication interface. The data acquisition device 501 may be connected to the processing device via the input / output interface or the communication interface.

[0119] The processing device 502 may determine the desired angular velocity of the turntable based on the desired motion parameters of the chassis, so as to control the heading of the turntable of the robot to remain unchanged relative to the ground.

[0120] The display device 503 may also be a touch screen display or a screen of a terminal device, which is used to receive user instructions while displaying the above content to achieve interaction with the user.

[0121] It should be understood that the above-mentioned processing device can be implemented by a processor reading instructions in a memory and executing the instructions, or can be implemented by a circuit.

[0122] In addition, the network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0123] It is understandable that the embodiments of the present application are described by taking the standard vehicle to pick up the pallet and the differential lurking vehicle to pick up the shelf as examples, but the application of the embodiments of the present application is not limited to the standard fork to pick up the pallet and the differential lurking shelf, and other types of vehicle picking up or docking machines can be processed similarly. Even all other methods of correcting the current task parameters through the prior information in the previous task to improve the quality of task completion are within the protection scope of the embodiments of the present application.

[0124] The technical solution shown in the present application is described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0125] Optionally, Fig. 6A A schematic diagram of a robot docking control method provided in an embodiment of the present application. The execution subject of the embodiment of the present application may be Figure 5 The processing device 502, or the processor of the robot, is used to control the robot including the chassis and the turntable robot. The specific execution subject can be determined according to the actual application scenario. Fig. 6A As shown, the method comprises the following steps:

[0126] S61: Obtaining the machine posture of the machine to be docked and the chassis posture of the chassis.

[0127] Optionally, obtaining the machine posture of the machine to be docked and the chassis posture of the chassis includes: initiating an identification instruction to control the robot to identify the machine posture of the machine to be docked; and receiving the machine posture and the chassis posture of the chassis sent by the robot.

[0128] S62: Generate a planned docking path for the robot according to the machine platform posture and the chassis posture.

[0129] Optionally, generating a planned docking path of the robot according to the machine posture and the chassis posture, including: calculating the posture deviation according to the machine posture and the chassis posture; generating the planned docking path of the robot according to the posture deviation

[0130] Here, the embodiment of the present application pre-controls the robot to identify the machine posture to obtain the accurate posture deviation between the chassis and the machine. Based on the accurate posture deviation, precise control of the robot docking can be achieved, which reduces the error and further reduces the space occupied by the robot during the docking process.

[0131] S63: According to the planned docking path, the chassis is controlled to move along the planned docking path, and the heading of the turntable is controlled to remain unchanged relative to the ground during the movement.

[0132] An embodiment of the present application provides a docking control method for a robot with a chassis and a turntable. During the docking process between the robot and a machine, less space can be occupied. Specifically, a planned docking path for the robot to reach the target docking posture is determined according to the machine posture of the machine to be docked and the chassis posture of the robot. Based on the planned docking path, the chassis is controlled to move along the planned docking path to achieve docking. During the movement, the heading of the turntable of the robot is controlled to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning and reducing the space occupied during the robot docking process.

[0133] Optionally, Figure 6B A schematic diagram of another robot docking control method provided in an embodiment of the present application. The execution subject of the embodiment of the present application may be Figure 5 The processing device 502, or the processor of the robot, is used to control the robot including the chassis and the turntable robot. The specific execution subject can be determined according to the actual application scenario. Figure 6B As shown, the method comprises the following steps:

[0134] S601: Determine a posture deviation between a machine posture of the machine to be docked and a chassis posture of the chassis.

[0135] Optionally, determining a posture deviation between a machine posture of the machine to be docked and a chassis posture of the chassis includes:

[0136] Initiate an identification command to control the robot to identify the machine posture of the machine to be docked; receive the machine posture and chassis posture sent by the robot; calculate the posture deviation based on the machine posture and chassis posture.

[0137] In one possible implementation, the robot is first controlled to reach a preset waiting point in front of the machine, and then the perception sensor is used to search and identify the machine posture in a certain area to obtain the relative posture deviation between the chassis and the machine.

[0138] It is understandable that the preset waiting point can be determined based on actual conditions, and the embodiments of the present application do not impose any specific limitations thereto.

[0139] Optionally, the marking information can be attached to any location such as a machine, a robot or the ground to improve recognition efficiency and accuracy.

[0140] Here, the embodiment of the present application pre-controls the robot to identify the machine posture to obtain the accurate posture deviation between the chassis and the machine. Based on the accurate posture deviation, precise control of the robot docking can be achieved, which reduces the error and further reduces the space occupied by the robot during the docking process.

[0141] S602: Generate a planned docking path for the robot according to the posture deviation.

[0142] Optionally, a planned docking path for the robot chassis is generated according to the posture deviation, including:

[0143] A nonholonomic motion model of the chassis is obtained; and the pose deviation is input into the nonholonomic motion model to output a planned docking path of the robot.

[0144] In a possible implementation, the docking target posture is first obtained based on the posture deviation between the chassis and the machine, and then a path is planned from the current posture of the chassis to the docking target posture in combination with the incomplete motion model constraints of the chassis.

[0145] Optionally, based on a preset path planning algorithm, the posture deviation is input into a non-holonomic motion model to output the planned docking path of the robot. It is understandable that the preset path planning algorithm can be any path planning algorithm such as Dijkstra algorithm, Breadth-First-Search (BFS) or D* path search algorithm, and the embodiments of the present application are not specifically limited. Optionally, an optimal, efficient, and stable path is planned under the constraints of the start and end postures and motion model to improve the efficiency of the robot docking control.

[0146] Among them, the embodiment of the present application plans a path from the current posture of the chassis to the docking target posture based on the posture deviation between the chassis and the machine, combined with the incomplete motion model constraints of the chassis, which can ensure safe and reliable docking control of the robot to ensure that the robot reaches the docking target posture.

[0147] S603: Obtain the current state of the chassis, determine the expected chassis motion parameters of the chassis according to the planned docking path and the current state of the chassis, and generate chassis control parameters according to the expected chassis motion parameters, wherein the chassis control parameters are used to instruct the chassis of the robot to move along the planned docking path.

[0148] The current state of the chassis includes at least one of the current posture, current speed and current angular velocity of the chassis. The control task is to control the control deviation to 0, and the control deviation needs to be calculated through the current posture and the target path.

[0149] Among them, the chassis expected motion parameters are used to indicate the chassis motion state, and the chassis control parameters are used to control the movement of the chassis. They can control the robot chassis to move along the planned docking path to ensure that the robot reaches the docking target posture and docks with the machine.

[0150] S604: Determine an expected angular velocity of the turntable according to the expected motion parameters of the chassis, wherein the expected rotation speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground.

[0151] The desired angular velocity of the turntable is used to indicate the angular velocity of the turntable when it is moving, and the rotation speed and direction of the turntable can be controlled to ensure that the heading of the turntable remains unchanged relative to the ground, thereby achieving the purpose of reducing the occupied space.

[0152] Furthermore, the robot's turntable can be controlled to always face the direction of the machine, thereby improving the docking angle accuracy and the accuracy of the robot's docking control.

[0153] S605: Send the chassis control parameters and the desired angular velocity of the turntable to the robot driver for execution.

[0154] The embodiment of the present application provides a docking control method for a robot with a chassis and a turntable. During the docking process, less space can be occupied. Specifically, the posture deviation between the machine posture of the machine to be docked and the chassis posture of the robot is first determined, and a planned docking path for the robot to reach the docking target posture is determined based on the posture deviation. Since the movement of the robot depends on the movement of the chassis, the current state of the chassis is obtained, and the expected motion parameters of the chassis can be determined based on the planned docking path and the current state of the chassis, and then the chassis control parameters for controlling the movement of the chassis can be generated based on the expected motion parameters of the chassis. In order to reduce the space occupied by the shelf on the robot's turntable during the movement, the expected angular velocity of the turntable is determined based on the expected motion parameters of the chassis to control the heading of the robot's turntable to remain unchanged relative to the ground. When the turntable angle remains unchanged compared to the ground heading, the angle of the shelf carried on the turntable also remains unchanged relative to the ground heading, thereby reducing the space occupied by the shelf turning and reducing the space occupied during the docking process between the robot and the machine.

[0155] Optionally, the chassis expected motion parameters include the chassis expected angular velocity and the chassis expected speed. In the embodiment of the present application, the turntable expected angular velocity is mainly determined by the chassis expected angular velocity to achieve precise control of the turntable heading. Accordingly, Figure 7 A flowchart of another robot docking control method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the method includes:

[0156] S701: Determine a posture deviation between a machine posture of the machine to be docked and a chassis posture of the chassis.

[0157] S702: Generate a planned docking path for the robot according to the posture deviation.

[0158] S703: Obtain the current state of the chassis, determine the expected chassis angular velocity and the expected chassis speed of the chassis according to the planned docking path and the current state of the chassis, and generate chassis control parameters according to the expected chassis angular velocity and the expected chassis speed, wherein the chassis control parameters are used to instruct the chassis of the robot to move along the planned docking path.

[0159] Optionally, the current state of the chassis is obtained, and the expected chassis motion parameters of the chassis are determined according to the planned docking path and the current state of the chassis, including: using a preset path tracking control algorithm to perform tracking control operations on the planned docking path according to the current state of the chassis to obtain the expected chassis speed and expected chassis angular velocity of the chassis.

[0160] Among them, the embodiment of the present application controls the chassis to move along the planned docking path through a path tracking control algorithm, and finally obtains the expected chassis speed and the expected chassis angular velocity to achieve precise control of the chassis.

[0161] Optionally, generating chassis control parameters according to the expected chassis motion parameters includes:

[0162] The expected speeds of the left and right wheel motors of the chassis are generated according to the expected chassis speed and the expected chassis angular velocity of the chassis.

[0163] Here, the embodiment of the present application can determine the expected speeds of the left and right wheel motors of the chassis based on the expected speed of the chassis and the expected angular velocity of the chassis. The expected speeds of the left and right wheel motors of the chassis can be directly sent to the motors for execution, thereby achieving accurate control of the chassis.

[0164] It is understandable that the preset path tracking control algorithm can be determined according to actual conditions, and the embodiments of the present application do not impose specific limitations on this.

[0165] Specifically, the chassis is controlled to move along the planned docking path, and the desired speed of the left and right wheel motors of the chassis is finally obtained and sent to the motors for execution. There are many path tracking control algorithms, such as the conventional proportional integral differential (PID) algorithm, backstepping method, linear quadratic regulator (LQR) control algorithm, stable generalized predictive control algorithm (SGPC) algorithm, etc. Optionally, the desired chassis speed v is calculated first. c_sp and angular velocity ω c_sp , and then obtain the desired speed ω of the left and right motors through the inverse kinematic solution l_sp 、ω。

[0166] r_sp

[0167] S704: Determine an expected angular velocity of the turntable according to the expected angular velocity of the chassis, wherein the expected rotational speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground.

[0168] Optionally, determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes:

[0169] The magnitude of the expected angular velocity of the chassis is determined as the magnitude of the expected angular velocity of the turntable; and the opposite direction of the direction of the expected angular velocity of the chassis is determined as the direction of the expected angular velocity of the turntable.

[0170] Among them, the embodiment of the present application controls the expected angular velocity of the chassis and the expected angular velocity of the turntable to be consistent in magnitude and opposite in direction. In this case, the rotation heading relative to the ground can remain stable and unchanged, and the implementation method is simple.

[0171] Specifically, the goal of shelf heading control is to ensure that the shelf's heading relative to the ground is always the target heading.

[0172]

[0173] Optionally, before determining the expected turntable angular velocity of the turntable according to the expected angular velocity of the chassis, the method further includes:

[0174] Using the preset controller algorithm, the heading deviation is determined according to the posture deviation;

[0175] Accordingly, determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes:

[0176] The angular velocity control amount is determined according to the heading deviation; the expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis and in combination with the angular velocity control amount.

[0177] The angular velocity control amount is determined according to the heading deviation; the expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis and in combination with the angular velocity control amount.

[0178] Specifically, since the unit of heading deviation is "degree", it cannot be directly added to the angular velocity ("degree / s"). Therefore, it is necessary to control the heading deviation to generate the control amount - the angular velocity required to eliminate the deviation.

[0179] For example, the chassis' expected angular velocity is -10 degrees / s (i.e., the chassis is expected to rotate clockwise at 10 degrees / s), and the turntable's heading control deviation is -5 degrees (i.e., the turntable needs to rotate 5 degrees clockwise relative to the ground to match the target angle). Then the turntable's expected angular velocity consists of two parts:

[0180] Chassis angular velocity feedforward: -10 degrees / s is negated, that is, a=10 degrees / s.

[0181] Heading deviation control: If pure proportional control is used and the proportional coefficient is 3, the resulting control amount is: b = 3*(-5) = -15 degrees / s.

[0182] The expected angular velocity of the turntable is a+b=10-15=-5 degrees / s, that is, the turntable is expected to rotate clockwise at 5 degrees / s.

[0183] Due to motor control delays, the ground and other interference factors, if heading feedback closed-loop control is not performed when controlling the movement of the robot turntable, a heading control error will occur. Therefore, the embodiment of the present application determines the heading deviation through a preset controller algorithm, and adds the heading deviation to the control of the turntable, thereby further improving the accuracy of the robot turntable heading control, thereby effectively reducing the space occupied by the robot during docking.

[0184] Specifically, due to motor control delays, ground and other interference factors, it is impossible to If the heading feedback closed-loop control is not performed, the heading control error will definitely occur. Therefore, the desired speed of the turntable motor ω rot_sp It should consist of two parts, one of which is the expected angular velocity ω of the chassis fed forward. c_sp , part of which is the angular velocity f(Δθ) generated by the feedback control of the heading error Δθ (the heading deviation between the shelf and the machine).

[0185] Right now:

[0186] ω rot_sp =ω c_sp +f(Δθ)

[0187] Where f(·) represents the controller algorithm calculation, such as the simplest proportional controller:

[0188] f(Δθ)=k*Δθ.

[0189] Wherein, k is a control parameter, and the value of k is a positive number, which can be obtained through debugging in the actual application process. It can be understood that the size of k is determined according to the actual situation, and the embodiment of the present application does not make specific restrictions on this.

[0190] S705: Send the chassis control parameters and the desired angular velocity of the turntable to the robot driver for execution.

[0191] In one possible implementation, the desired speed instructions for the left and right wheel motors, the desired angular velocity of the chassis, or the desired speed instructions for the turntable rotating motor including the desired angular velocity of the chassis obtained in the above steps are sent to the motor for execution, thereby achieving chassis path tracking and independent control of the shelf heading to the target heading (machine direction).

[0192] Optionally, it is determined whether the docking is completed. If the docking is completed, a signal is triggered. If it is completed, the process ends, otherwise the next cycle is performed. If it is not completed, a prompt may be triggered.

[0193] The expected motion parameters of the chassis in the embodiment of the present application include the expected angular velocity of the chassis. Since the entire robot moves with the chassis, the rotation direction of the turntable is related to the rotation direction of the chassis. In order to ensure that the heading of the turntable remains unchanged relative to the ground, the expected angular velocity of the turntable can be determined by the expected angular velocity of the chassis to ensure the stability of the turntable heading, thereby reducing the space occupied during the robot docking process.

[0194] Figure 8 A schematic diagram of the structure of a robot docking control device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device of the embodiment of the present application includes: an acquisition module 801, a generation module 802 and a control module 803. The robot docking control device here can be the above-mentioned processing device, the processor itself, or an integrated circuit that implements the function of the processor. It should be noted here that the division of the acquisition module 801, the generation module 802 and the control module 803 is only a division of logical functions. Physically, the two can be integrated or independent.

[0195] The acquisition module is used to acquire the machine posture of the machine to be docked and the chassis posture of the chassis;

[0196] A generation module is used to generate a planned docking path for the robot based on the machine and chassis postures;

[0197] The control module is used to control the chassis to move along the planned docking path according to the planned docking path, and to control the heading of the turntable to remain unchanged relative to the ground during the movement.

[0198] Optionally, the control module includes:

[0199] A first processing module is used to obtain a current state of the chassis, determine an expected chassis motion parameter of the chassis according to the planned docking path and the current state of the chassis, and generate a chassis control parameter according to the expected chassis motion parameter, wherein the chassis control parameter is used to instruct the chassis of the robot to move along the planned docking path;

[0200] A second determination module is used to determine an expected angular velocity of the turntable according to the expected motion parameters of the chassis, wherein the expected rotation speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground;

[0201] The second processing module is used to send the chassis control parameters and the expected angular velocity of the turntable to the robot driver for execution.

[0202] Optionally, the chassis expected motion parameter includes a chassis expected angular velocity;

[0203] Accordingly, the second determining module is specifically used for:

[0204] The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis.

[0205] Optionally, the second determining module is further specifically configured to:

[0206] The magnitude of the expected angular velocity of the chassis is determined as the magnitude of the expected angular velocity of the turntable;

[0207] The opposite direction of the desired angular velocity of the chassis is determined as the direction of the desired angular velocity of the turntable.

[0208] Optionally, before the second determining module is specifically used to determine the expected turntable angular velocity of the turntable according to the expected angular velocity of the chassis, the apparatus further includes:

[0209] A third determination module is used to determine the heading deviation according to the posture deviation using a preset controller algorithm;

[0210] Accordingly, the second determining module is further specifically configured to:

[0211] According to the heading deviation, the angular velocity control amount is determined;

[0212] The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis in combination with the angular velocity control amount.

[0213] Optionally, the chassis expected motion parameter also includes a chassis expected speed;

[0214] The first processing module is specifically used for:

[0215] A preset path tracking control algorithm is used to perform tracking control operations on the planned docking path according to the current state of the chassis to obtain the expected chassis speed and the expected chassis angular velocity of the chassis.

[0216] Optionally, the first processing module is further specifically configured to:

[0217] The expected speeds of the left and right wheel motors of the chassis are generated according to the expected chassis speed and the expected chassis angular velocity of the chassis.

[0218] Optionally, the acquisition module is specifically used for:

[0219] Initiate recognition commands to control the robot to identify the machine position of the machine to be docked;

[0220] Receive the machine posture and chassis posture sent by the robot.

[0221] Optionally, the generation module is specifically used for:

[0222] Calculate the posture deviation based on the machine posture and chassis posture;

[0223] According to the posture deviation, the robot's planned docking path is generated.

[0224] Optionally, the generation module is specifically used for:

[0225] Obtain a non-holonomic kinematic model of the chassis;

[0226] The pose deviations are input into the nonholonomic motion model to output the robot's planned docking path.

[0227] refer to Fig. 9 , which shows a schematic diagram of the structure of a robot docking control device 900 suitable for implementing the embodiment of the present disclosure, and the robot docking control device 900 can be a terminal device or a server. The terminal device can include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (Portable Android Devices, PADs), portable multimedia players (PMPs), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The robot docking control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0228] like Fig. 9 As shown, the robot docking control device 900 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage device 908 to a random access memory (RAM) 903. Various programs and data required for the operation of the robot docking control device 900 are also stored in the RAM 903. The processing device 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0229] Typically, the following devices may be connected to the I / O interface 905: input devices 906 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 907 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 908 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 909. The communication devices 909 may allow the robot to communicate with the control device 900 and other devices wirelessly or by wire to exchange data. Although Fig. 9 The robot docking control device 900 having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0230] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 909, or installed from a storage device 908, or installed from a ROM 902. When the computer program is executed by the processing device 901, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0231] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, or infrared system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0232] The computer-readable medium may be included in the robot docking control device; or may exist independently without being assembled into the robot docking control device.

[0233] The computer-readable medium carries one or more programs. When the one or more programs are executed by the robot docking control device, the robot docking control device executes the method shown in the above embodiment.

[0234] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0235] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0236] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses".

[0237] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0238] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0239] The robot docking control device of the embodiment of the present application can be used to execute the technical solutions in the above-mentioned method embodiments of the present application. Its implementation principles and technical effects are similar and will not be repeated here.

[0240] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any of the above-mentioned robot docking control methods.

[0241] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement any of the above-mentioned robot docking control methods.

[0242] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0243] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0244] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0245] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A robot docking control method, characterized in that: The robot comprises a chassis and a turntable, and the method comprises: Acquire the machine posture of the machine to be docked and the chassis posture of the chassis; Generate a planned docking path for the robot according to the machine platform posture and the chassis posture; According to the planned docking path, the chassis is controlled to move along the planned docking path, and the heading of the turntable is controlled to remain unchanged relative to the ground during the movement.

2. The method according to claim 1, characterized in that According to the planned docking path, controlling the chassis to move along the planned docking path, and controlling the heading of the turntable to remain unchanged relative to the ground during the movement, includes: Acquire the current state of the chassis, determine the expected chassis motion parameters of the chassis according to the planned docking path and the current state of the chassis, and generate chassis control parameters according to the expected chassis motion parameters, wherein the chassis control parameters are used to instruct the chassis of the robot to move along the planned docking path; Determine an expected angular velocity of the turntable according to the expected motion parameters of the chassis, wherein the expected rotation speed of the turntable can keep the heading of the turntable of the robot unchanged relative to the ground; The chassis control parameters and the desired angular velocity of the turntable are sent to the robot driver for execution.

3. The method according to claim 2, characterized in that in, The chassis expected motion parameters include chassis expected angular velocity; Accordingly, determining the expected angular velocity of the turntable according to the expected motion parameter of the chassis includes: The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis.

4. The method according to claim 3, characterized in that The step of determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes: Determine the magnitude of the expected angular velocity of the chassis as the magnitude of the expected angular velocity of the turntable; The opposite direction of the desired angular velocity of the chassis is determined as the direction of the desired angular velocity of the turntable.

5. The method according to claim 3, characterized in that: Before determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis, the method further includes: Using a preset controller algorithm, determining a heading deviation according to the posture deviation; Accordingly, determining the expected angular velocity of the turntable according to the expected angular velocity of the chassis includes: determining an angular velocity control amount according to the heading deviation; The expected angular velocity of the turntable is determined according to the expected angular velocity of the chassis and in combination with the angular velocity control amount.

6. The method according to any one of claims 3 to 5, characterized in that: The chassis expected motion parameters also include chassis expected speed; The obtaining of the current state of the chassis and determining the expected chassis motion parameters of the chassis according to the planned docking path and the current state of the chassis include: A preset path tracking control algorithm is used to perform tracking control operations on the planned docking path according to the current state of the chassis to obtain an expected chassis speed and an expected chassis angular velocity of the chassis.

7. The method according to claim 6, characterized in that Generating chassis control parameters according to the expected chassis motion parameters includes: According to the chassis expected speed and chassis expected angular speed of the chassis, the expected speeds of the left and right wheel motors of the chassis are generated.

8. The method according to any one of claims 1 to 5, characterized in that: The step of obtaining the machine posture of the machine to be docked and the chassis posture of the chassis includes: Initiate an identification command to control the robot to identify the machine position of the machine to be docked; The machine platform posture and the chassis posture of the chassis sent by the robot are received.

9. The method according to claim 8, characterized in that The generating a planned docking path of the robot according to the machine platform posture and the chassis posture includes: Calculating a posture deviation according to the machine posture and the chassis posture; A planned docking path of the robot is generated according to the posture deviation.

10. The method according to claim 9, characterized in that Generating a planned docking path of the robot according to the posture deviation includes: Acquire a nonholonomic kinematic model of the chassis; The posture deviation is input into the non-holonomic motion model to output a planned docking path of the robot.

11. A robot docking control device, characterized in that: The robot comprises a chassis and a turntable, and the device comprises: An acquisition module, used for acquiring the machine posture of the machine to be docked and the chassis posture of the chassis; A generation module, used to generate a planned docking path of the robot according to the machine platform posture and the chassis posture; The control module is used to control the chassis to move along the planned docking path according to the planned docking path, and to control the heading of the turntable to remain unchanged relative to the ground during the movement.

12. A robot docking control device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 10.

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

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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