Equipment docking method, electronic equipment and computer storage medium

Abstract

The invention discloses a device docking method, and the method comprises the steps: obtaining first device information of a to-be-moved device and second device information of a positioned device, the first device information and the second device information comprising positioning information, attitude information and size information; obtaining a target position, a target attitude and a movement planning path of the to-be-moved device according to the first device information and the second device information; and controlling the to-be-moved device to move to the target position according to the movement planning path, and controlling the to-be-moved device to be adjusted to the target posture so as to be in butt joint with the positioned device. In the application, according to the first equipment information of the to-be-moved equipment and the second equipment information of the positioned equipment, the target position, the target attitude and the movement planning path where the to-be-moved equipment can realize butt joint with the positioned equipment are obtained, so that the whole collaborative operation process does not need manual operation, and the operation efficiency is improved. The problem of inaccurate butt joint easily caused by manual operation is avoided, the production progress is guaranteed, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to an equipment docking method, an electronic device and a computer storage medium. Background Art

[0002] When the process requires the coordinated operation of equipment, the equipment needs to be connected before the process begins. For example, in the mining process, due to the strict requirements on the size classification of stones, a single mobile crushing station is difficult to meet the needs. Therefore, the mobile crushing station and the mobile screening station need to work together to achieve multi-level processing and accurate classification of stones, so as to meet the requirements of different process flows. Please refer to Figure 1 Before collaborative operation, both the mobile crushing station and the mobile screening station need to be manually controlled by a remote control handle to move the crawler mobile chassis to the predetermined working position.

[0003] However, the existing technology relies entirely on manual operation for equipment docking, which is a cumbersome, complicated and time-consuming process, thus affecting production progress. In addition, due to the subjective deviation of manual cognition of the relative posture of the two devices, it is difficult to ensure accurate docking between the devices. If the docking is inaccurate, the probability of material falling will increase, thus affecting production efficiency and safety. Summary of the invention

[0004] The purpose of this application is to provide a device docking method, electronic device and computer storage medium, aiming to solve the problem of inaccurate docking between devices, low production progress and production efficiency due to large errors and low efficiency in manual operation in the prior art.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a device docking method, the method comprising:

[0007] Acquire first device information of the moving device and second device information of the positioned device, wherein the first device information and the second device information include positioning information, posture information and size information;

[0008] Acquire the target position, target posture and moving planned path of the moving device according to the first device information and the second device information;

[0009] The mobile device is controlled to move to the target position according to the mobile planning path, and the mobile device is controlled to adjust to the target posture so as to dock with the located device.

[0010] In one embodiment, obtaining the target position, target posture, and movement planning path of the moving device according to the first device information and the second device information includes:

[0011] Acquire a target position and a target posture of the mobile device according to the first device information and the second device information;

[0012] Determining a path reference point of the mobile device;

[0013] Obtaining positioning information of the path reference point;

[0014] The positioning information in the first device information, the positioning information of the path reference point and the target position are input into a preset path planning algorithm model to obtain the mobile planning path.

[0015] In one embodiment, determining the path reference point of the moving device includes:

[0016] The path reference point is determined according to the first device information, the target position, the target posture, and the size information of the located device.

[0017] In one embodiment, controlling the moving device to move to the target location according to the moving planned path includes:

[0018] During the movement of the mobile device, first real-time positioning information of the mobile device is obtained;

[0019] Acquire a follow target point in real time on the mobile planning path according to the first real-time positioning information and a preset forward distance;

[0020] Acquire the current optimal turning radius of the mobile device according to the first real-time positioning information and the positioning information of the target point to be followed;

[0021] Obtaining target speeds of the left and right tracks according to the optimal turning radius;

[0022] The movement of the moving device is controlled according to the target speed, so that the moving trajectory of the moving device follows the moving planning path to reach the target position.

[0023] In one embodiment, the obtaining the current optimal turning radius of the mobile device according to the first real-time positioning information and the positioning information of the target point to be followed includes:

[0024] Acquire a turning curvature according to the first real-time positioning information and the second real-time positioning information;

[0025] The optimal turning radius is obtained according to the turning curvature and the forward-looking distance.

[0026] In one embodiment, obtaining the target speeds of the left and right tracks according to the optimal turning radius includes:

[0027] Obtaining a chassis yaw speed according to a preset chassis longitudinal speed and the optimal turning radius;

[0028] Get the track spacing between the left and right track geometric centers;

[0029] The target speeds of the left and right tracks are obtained according to the chassis longitudinal speed, the chassis yaw speed and the track spacing.

[0030] In one embodiment, controlling the movement of the moving device according to the target speed so that the moving trajectory of the moving device follows the moving planning path to reach the target position includes:

[0031] Matching the target speeds of the left and right crawlers with a preset crawler chassis speed calibration table to obtain the valve openings of the left and right hydraulic motors corresponding to the target speeds of the left and right crawlers;

[0032] The movement of the moving device is controlled according to the opening of the left and right hydraulic motor valves, so that the moving trajectory of the moving device follows the moving planning path to reach the target position.

[0033] In one embodiment, after controlling the mobile device to be moved to a target posture, the method further includes:

[0034] Determine whether the error between the current posture and the current position of the mobile device to be moved and the current posture and the current position of the located device is greater than a preset error threshold;

[0035] If so, the mobile device is controlled to retreat a preset distance in the direction away from the positioned device, and in the process of controlling the mobile device to move toward the positioned device, the current posture and current position of the mobile device are readjusted so that the errors between the current posture and current position of the mobile device and the current posture and current position of the positioned device, respectively, are less than the error threshold.

[0036] In a second aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the device docking method as described above when executing the computer program.

[0037] In a third aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the device docking method as described above are implemented.

[0038] In the present application, based on the first device information of the mobile device and the second device information of the located device, the target position, target posture and moving planned path of the mobile device that can dock with the located device are obtained. In this way, the entire collaborative operation process does not require manual operation, avoiding the problem of inaccurate docking caused by manual operation, ensuring production progress and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The figure is a schematic diagram of the docking process of a mobile crushing station and a mobile screening station in the prior art.

[0040] Figure 2 A schematic diagram of a flow chart of a device docking method provided in an embodiment of the present invention.

[0041] Figure 3 A schematic diagram of a movement planning path generated based on a second-order Bezier curve provided in an embodiment of the present invention.

[0042] Figure 4 A schematic diagram of a tracking algorithm provided by an embodiment of the present invention.

[0043] Figure 5 A schematic diagram of a kinematic model of a crawler mobile chassis provided in an embodiment of the present invention.

[0044] Figure 6 A schematic flow chart of another device docking method provided in an embodiment of the present invention.

[0045] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0048] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, 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. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0049] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0050] It should be noted that in this article, step codes such as S1 and S2 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. When implementing the step, those skilled in the art may execute S2 first and then S1, etc., but these should all be within the scope of protection of this application.

[0051] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0053] The following is an explanation of the terms that may be involved in this application, as follows:

[0054] Mobile crushing station: A mobile device that integrates material crushing, screening and transportation.

[0055] Mobile screening station: A movable device used to classify and screen materials according to particle size.

[0056] IMU (Inertial Measurement Unit) is an abbreviation for inertial measurement unit, which is a device used to measure the three-axis angular velocity and acceleration of an object. An IMU may be equipped with a three-axis gyroscope and a three-axis accelerometer to measure the angular velocity and acceleration of an object in three-dimensional space. The IMU sensor is a combination of an accelerometer and a gyroscope sensor, which is used to detect acceleration and angular velocity to indicate movement and movement intensity.

[0057] Please refer to Figure 2 , Figure 2 A device docking method is shown, the method comprising:

[0058] S1. Obtain first device information of the device to be moved and second device information of the located device, wherein the first device information and the second device information include positioning information, posture information, and size information. Specifically, in this embodiment, the first device information of the device to be moved and the second device information of the located device both include positioning information, posture information, and size information that can be obtained based on the industrial Internet platform.

[0059] Among them, the positioning information can be a kind of geographic coordinates obtained based on GPS (Global Positioning System), the posture information can be a kind of acceleration and angular velocity obtained based on IMU, and the size information can be a kind of parameters such as body length, width, height, wheelbase, etc. that are disclosed when the equipment leaves the factory.

[0060] It is understandable that the equipment to be moved and the equipment already located are not specifically limited. When the mobile screening station is used as the equipment to be moved, the mobile crushing station is the equipment already located. Conversely, when the mobile crushing station is used as the equipment to be moved, the mobile screening station is the equipment already located.

[0061] S2. Obtain the target position, target posture, and movement planning path of the moving device according to the first device information and the second device information. Specifically, in this embodiment, the target position to which the moving device is about to go, the target posture for docking with the positioned device after moving to the target position, and the movement planning path used to move to the target position are obtained through the first device information and the second device information obtained in step S1.

[0062] S3, control the mobile device to move to the target position according to the mobile planning path, and control the mobile device to adjust to the target posture to dock with the located device. Specifically, in this embodiment, the mobile device will autonomously move to the target position according to the mobile planning path obtained in step S2, and after moving to the target position, autonomously adjust the current posture to the target posture to achieve accurate docking with the located device.

[0063] In one implementation, the control subject that executes steps S1 to S3 may be a device to be moved, a located device, a third-party control device, or the like.

[0064] By executing steps S1 to S3, based on the first device information of the mobile device and the second device information of the positioned device, the target position, target posture and movement planning path of the mobile device that can be docked with the positioned device are obtained. In this way, the entire collaborative operation process does not require manual operation, avoiding the problem of inaccurate docking caused by manual operation, ensuring production progress and improving production efficiency.

[0065] In one embodiment, obtaining the target position, target posture, and movement planning path of the moving device according to the first device information and the second device information in step S2 includes:

[0066] S21, obtaining the target position and target posture of the mobile device according to the first device information and the second device information. Specifically, in this embodiment, the mobile device is equipped with GPS, IMU sensors and a computing module, and the mobile device obtains the positioning information of the main body and the positioning information of the located device through GPS, and the computing module calculates the target position of the mobile device according to the two. The mobile device obtains the posture information of the main body and the posture information of the located device through the IMU sensor, and the computing module calculates the target posture of the mobile device according to the two.

[0067] S22, determining a path reference point of the moving device. Specifically, in this embodiment, the path reference point is a virtual coordinate point that changes dynamically with the movement of the moving device and is used to assist in generating a moving planning path.

[0068] S23, obtaining the location information of the path reference point. Specifically, in this embodiment, the GPS carried by the mobile device obtains the location information of the path reference point determined in step S22, that is, the geographical coordinates.

[0069] S24, input the positioning information in the first device information, the positioning information of the path reference point, and the target position into the preset path planning algorithm model to obtain the mobile planning path. Specifically, in one embodiment, the distance between the initial position of the mobile device to be moved and the positioned device is relatively close, and there is no impassable obstacle in between. At this time, the second-order Bezier curve without the need for a global map is used as the preset path planning algorithm model. Among them, the second-order Bezier curve can effectively generate a mobile planning path that adapts to the characteristics of the crawler mobile chassis through a smooth curve design, thereby achieving continuous steering and smooth movement, and avoiding drastic direction changes.

[0070] Furthermore, the mobile planning path is obtained by inputting the positioning information in the first device information, the positioning information of the path reference point and the target position into a preset path planning algorithm model.

[0071] The mobile planning path is obtained by the following formula:

[0072] B(t)=(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 (0≤t≤1)

[0073] Please refer to Figure 3 In one embodiment, P 0 (x 0 ,y 0 ) is the positioning information (starting point) in the first device information, P 2 (x 2 ,y 2 ) is the target position (end point), P 1 (x 1 ,y 1 ) is the positioning information (control point) of the path reference point, and t is a parameter. As t changes from 0 to 1, the curve moves from the starting point P 0 Smooth transition to the end point P 2 The control points determine the shape of the curve. By changing the position of the control points, the curvature and direction of the curve can be adjusted.

[0074] In one embodiment, the GPS, IMU sensor and computing module may also be mounted on a positioned device or a third-party control device, and steps S21 to S24 may be performed by the positioned device or the third-party control device, which is not limited here.

[0075] In one embodiment, determining the path reference point of the moving device in step S22 includes:

[0076] The path reference point is determined according to the first device information, the target position, the target posture, and the size information of the positioned device. Specifically, in this embodiment, the size information and posture information in the first device information are first obtained, and then the path reference point is determined according to the size information, posture information, target position, and target posture. Among them, the size information is the body width of the mobile device to be moved. The mobile device to be moved determines the path reference point by obtaining the body width of the main body, posture information, the target position and target posture obtained in step S21.

[0077] Furthermore, in the process of generating the mobile planning path, the body width will significantly affect the turning radius of the mobile device to be moved, and the turning radius will affect the curvature of the mobile planning path. Therefore, by limiting the size information to the body width, the accuracy of the docking between the mobile device to be moved and the positioned device can be improved.

[0078] Please refer to Figure 4 In one embodiment, the step of controlling the mobile device to move to the target location according to the mobile planning path in step S3 includes:

[0079] During the movement of the mobile device, the first real-time positioning information of the mobile device is obtained; and the following target point is obtained in real time on the mobile planning path according to the first real-time positioning information and the preset forward distance. Specifically, in this embodiment, the mobile device is also equipped with a path tracker. In the illustrated structure, (X R ,Y R ) is the first real-time positioning information acquired by the GPS carried by the mobile device, L d The preset look-ahead distance selected for the mobile chassis, (X T ,Y T ) is a path tracker that obtains the follow-up target point in real time on the mobile planning path according to the first real-time positioning information and the preset forward distance.

[0080] Furthermore, the calculation module mounted on the mobile device will calculate the current optimal turning radius of the main body according to the first real-time positioning information and the positioning information of the follow-up target point.

[0081] Furthermore, the mobile device realizes control operations such as movement and steering through the left and right tracks. The mobile device obtains the target speed of the left and right tracks according to the optimal turning radius, and controls the movement of the mobile device according to the target speed, so that the movement trajectory of the main body follows the movement planning path to reach the target position.

[0082] In one embodiment, obtaining the current optimal turning radius of the mobile device according to the first real-time positioning information and the positioning information of the target point to be followed includes:

[0083] The turning curvature is obtained according to the first real-time positioning information and the second real-time positioning information, and the optimal turning radius is obtained according to the turning curvature and the forward distance. Specifically, in this embodiment, the turning curvature and the optimal turning radius are obtained respectively by the following formulas:

[0084]

[0085] Where α is the turning curvature; (X R ,Y R ) first real-time positioning information; (X T ,Y T ) follow the target point; R is the optimal turning radius; L d is the preset look-ahead distance.

[0086] Please refer to Figure 5 In one embodiment, the target speeds of the left and right tracks are obtained according to the optimal turning radius, including:

[0087] The chassis yaw speed is obtained according to the preset chassis longitudinal speed and the optimal turning radius. Specifically, in this embodiment, the crawler chassis of the mobile equipment always maintains a constant speed when traveling on the mobile planning path. In other words, its chassis longitudinal speed V X is a fixed value. The optimal turning radius has been obtained through the above steps, so the chassis yaw speed is calculated by the following formula:

[0088]

[0089] Where W is the chassis yaw speed, that is, the yaw angular velocity of the tracked chassis; V X is the longitudinal speed of the chassis; R is the optimal turning radius.

[0090] Further, the track spacing between the geometric centers of the left and right tracks is obtained, and the target speeds of the left and right tracks are obtained according to the longitudinal speed of the chassis, the yaw speed of the chassis, and the track spacing. Specifically, in this embodiment, the calculation module of the mobile device first obtains the track spacing between the geometric centers of the left and right tracks of the body, and then calculates the target speeds of the left and right tracks according to the longitudinal speed of the chassis, the yaw speed of the chassis, and the track spacing.

[0091] Based on the above geometric relationship, the forward kinematics model carried by the calculation module can calculate the chassis longitudinal speed and chassis yaw speed according to the track spacing and the speed of the left and right tracks. The specific formula is as follows:

[0092]

[0093] Among them, V X is the longitudinal velocity of the chassis, W is the yaw angular velocity of the chassis, V L and V R are the left track speed and the right track speed of the crawler mobile chassis respectively, and D is the distance between the geometric centers of the left and right tracks of the chassis.

[0094] Furthermore, the inverse kinematics model can be obtained by inversely deducing the forward kinematics model mentioned above. The specific formula is as follows:

[0095]

[0096] Among them, the inverse kinematics model carried in the calculation module can calculate the target speed of the left and right tracks based on the chassis longitudinal speed, chassis yaw speed and track spacing obtained by the pure tracking algorithm.

[0097] In one embodiment, controlling the movement of the moving device according to the target speed so that the moving trajectory of the moving device follows the moving planned path to reach the target position includes:

[0098] The target speeds of the left and right crawlers are matched with the preset crawler chassis speed calibration table to obtain the left and right hydraulic motor valve openings corresponding to the target speeds of the left and right crawlers. Specifically, in this embodiment, the preset crawler chassis speed calibration table is a table used to calibrate the relationship between the crawler mobile chassis and the hydraulic valve opening, which provides an indirect speed control method for the crawler mobile chassis. In actual implementation, the control system can perform path tracking according to the preset speed requirement (the longitudinal speed V of the chassis) X ), select the corresponding left and right hydraulic motor valve openings from the calibration table to ensure accurate control and adjustment of the left and right track speeds.

[0099] Furthermore, the movement of the moving device is controlled according to the valve openings of the left and right hydraulic motors, so that the moving trajectory of the moving device follows the moving planning path to reach the target position. Specifically, in this embodiment, the control system of the moving device controls the movement of the main body by matching the valve openings of the left and right hydraulic motors from the preset crawler chassis speed calibration table in the previous step, so that the moving trajectory of the main body can always follow the moving planning path to reach the target position.

[0100] Among them, the existing mobile screening station or mobile crushing station is usually not equipped with a speed sensor due to cost control. In the absence of a speed sensor, the above steps not only improve the control accuracy of the crawler mobile chassis, but also avoid the cost of additionally assembling a speed sensor, providing a reliable guarantee for the automatic control of the crawler mobile chassis.

[0101] In one embodiment, after controlling the mobile device to be adjusted to the target posture in step S3, the method further includes:

[0102] Determine whether the error between the current posture and current position of the mobile device and the current posture and current position of the positioned device is greater than a preset error threshold. If so, control the mobile device to retreat a preset distance in the direction away from the positioned device, and in the process of controlling the mobile device to move toward the positioned device, readjust the current posture and current position of the mobile device to make the error between the current posture and current position of the mobile device and the current posture and current position of the positioned device less than the error threshold. Specifically, in this embodiment, when the mobile device reaches the target position, it will adjust its own posture through the function of rotating in situ to achieve the target posture.

[0103] Furthermore, the mobile device is also equipped with a visual sensor and a millimeter-wave radar measurement, which will measure the distance information between the mobile device and the positioned device to determine whether the error between the position information (position information and / or posture information) of the mobile device relative to the positioned device is greater than a preset error threshold.

[0104] If so, the mobile device will retreat in the direction away from the positioned device, and readjust its position and posture when approaching the positioned device again, until the error between the mobile device and the positioned device is less than a preset error threshold.

[0105] If not, accurate docking with the located device is directly achieved within the allowable error threshold.

[0106] Please refer to Figure 6 Taking the mobile equipment to be moved as a mobile screening station and the positioned equipment as a mobile crushing station as an example, another equipment docking method is shown, the method includes:

[0107] Step 1: The staff controls the mobile crushing station to move to the target location A through the remote control.

[0108] Step 2: The GPS and IMU sensors carried by the mobile screening station will obtain the actual posture information of the main body and the actual posture information of the mobile screening station respectively.

[0109] Step 3: The computing module carried by the mobile screening station calculates the mobile planning route for the main body to reach the target position (optimal position) according to the global path planning algorithm.

[0110] Step 4: The mobile screening station calculates the chassis longitudinal velocity V according to the trajectory tracking algorithm and the inverse kinematics model. X And the chassis yaw speed W.

[0111] Step 5: The mobile screening station obtains the target speed of the left and right tracks according to the longitudinal speed and lateral speed of the chassis, and obtains the valve openings of the left and right hydraulic motors by matching them with the preset track chassis speed calibration table. The movement of the main body is controlled according to the valve openings of the left and right hydraulic motors, so that the movement trajectory of the main body can always follow the planned movement path to reach the target position.

[0112] Step 6: The binocular vision sensor and millimeter wave radar carried by the mobile screening station will obtain the distance information between the main body and the mobile crushing station, and determine whether the error requirements are met. If so, the equipment docking is completed and the process ends; if not, the main body is controlled to retreat, and the position and posture are readjusted in the process of approaching the mobile crushing station again until the error requirements are met.

[0113] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 7 As shown, the device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 7The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 7 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the method applied to the above device is implemented.

[0114] The device may also include: at least one network interface 312. The various components in the device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 7 Various buses are labeled as bus system 313.

[0115] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0116] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the device. Examples of these data include: any computer program used to operate on the device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0117] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer-readable storage medium, in which a computer program is stored. The computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the above method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0118] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0120] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A device docking method, characterized in that: The method comprises: Acquire first device information of the moving device and second device information of the positioned device, wherein the first device information and the second device information include positioning information, posture information and size information; Acquire the target position, target posture and moving planned path of the moving device according to the first device information and the second device information; The mobile device is controlled to move to the target position according to the mobile planning path, and the mobile device is controlled to adjust to the target posture so as to dock with the located device.

2. The method according to claim 1, characterized in that The acquiring the target position, target posture and moving planned path of the moving device according to the first device information and the second device information includes: Acquire a target position and a target posture of the mobile device according to the first device information and the second device information; Determining a path reference point of the mobile device; Obtaining positioning information of the path reference point; The positioning information in the first device information, the positioning information of the path reference point and the target position are input into a preset path planning algorithm model to obtain the mobile planning path.

3. The method according to claim 2, characterized in that The determining of the path reference point of the mobile device includes: The path reference point is determined according to the first device information, the target position, the target posture, and the size information of the located device.

4. The method according to claim 1, characterized in that: The step of controlling the mobile device to move to the target location according to the mobile planning path includes: During the movement of the mobile device, first real-time positioning information of the mobile device is obtained; Acquire a follow target point in real time on the mobile planning path according to the first real-time positioning information and a preset forward distance; Acquire the current optimal turning radius of the mobile device according to the first real-time positioning information and the positioning information of the target point to be followed; Obtaining target speeds of the left and right tracks according to the optimal turning radius; The movement of the moving device is controlled according to the target speed, so that the moving trajectory of the moving device follows the moving planning path to reach the target position.

5. The method according to claim 4, characterized in that The obtaining the current optimal turning radius of the mobile device according to the first real-time positioning information and the positioning information of the follow-up target point includes: Acquire a turning curvature according to the first real-time positioning information and the second real-time positioning information; The optimal turning radius is obtained according to the turning curvature and the forward-looking distance.

6. The method according to claim 5, characterized in that The step of obtaining the target speeds of the left and right tracks according to the optimal turning radius includes: Obtaining a chassis yaw speed according to a preset chassis longitudinal speed and the optimal turning radius; Get the track spacing between the left and right track geometric centers; The target speeds of the left and right tracks are obtained according to the chassis longitudinal speed, the chassis yaw speed and the track spacing.

7. The method according to claim 4, characterized in that The step of controlling the movement of the moving device according to the target speed so that the moving trajectory of the moving device follows the moving planning path to reach the target position includes: Matching the target speeds of the left and right crawlers with a preset crawler chassis speed calibration table to obtain the valve openings of the left and right hydraulic motors corresponding to the target speeds of the left and right crawlers; The movement of the moving device is controlled according to the opening of the left and right hydraulic motor valves, so that the moving trajectory of the moving device follows the moving planning path to reach the target position.

8. The method according to claim 1, characterized in that After controlling the mobile device to be moved to a target posture, the method further includes: Determine whether the error between the current posture and the current position of the mobile device to be moved and the current posture and the current position of the located device is greater than a preset error threshold; If so, the mobile device is controlled to retreat a preset distance in the direction away from the positioned device, and in the process of controlling the mobile device to move toward the positioned device, the current posture and current position of the mobile device are readjusted so that the errors between the current posture and current position of the mobile device and the current posture and current position of the positioned device, respectively, are less than the error threshold.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the device docking method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the processor executes the computer program, the steps of the device docking method according to any one of claims 1 to 8 are implemented.

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