Goods conveying method, unmanned transport vehicle and storage medium

Abstract

The invention provides a cargo conveying method, an unmanned transport vehicle and a storage medium, and relates to the technical field of cargo conveying. Under the condition that it is determined that the unmanned transport vehicle arrives at a target area, deviation pose data, collected by a pose collection assembly, of the edge of one end of a conveying roller relative to a butt joint production line can be obtained; and under the condition that the deviation pose data is larger than a set first threshold value and smaller than a set second threshold value, the first driving motor is controlled to drive one side of the conveying roller to stretch, and / or the second driving motor is controlled to drive the other side of the conveying roller to stretch until the deviation pose data is smaller than or equal to the set first threshold value. Therefore, the position and the posture of the unmanned transport vehicle in butt joint with the butt joint production line are accurate and are not influenced by factors such as positioning navigation precision, and the phenomenon that cargoes fall off or are scratched with the butt joint production line in the process that the cargoes are in butt joint with the unmanned transport vehicle and the butt joint production line is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of cargo transportation, and in particular to a cargo transportation method, an unmanned transport vehicle and a storage medium. Background Art

[0002] The transfer of semi-finished / finished materials between the company's production workshop and final assembly workshop / three-dimensional warehouse can utilize unmanned transport vehicles instead of manual forklifts, enabling point-to-point, continuous 24-hour unmanned transfer of goods.

[0003] At present, when unmanned transport vehicles are delivering goods, they can navigate to the designated loading and unloading area, and then dock the goods with the production line on one side of the loading and unloading area. However, when unmanned transport vehicles are affected by factors such as mechanical transmission and positioning navigation accuracy, the unmanned transport vehicles are prone to inaccurate postures when docking with the loading and unloading area and the docking production line, which in turn causes the unmanned transport vehicles to be unable to dock with the docking production line normally (for example, the goods fall or are scratched by the docking production line). Summary of the invention

[0004] The present application provides a cargo delivery method, an unmanned transport vehicle and a storage medium, which are used to solve the problem in the prior art that the unmanned transport vehicle is prone to inaccurate posture when docking with the loading and unloading area and the docking production line, which in turn causes the unmanned transport vehicle to be unable to normally dock with the cargo at the docking production line.

[0005] In a first aspect, the present application provides a cargo conveying method, which is applied to a main controller of an unmanned transport vehicle, wherein the unmanned transport vehicle further includes a retractable conveying roller, a first drive motor for driving one side of the conveying roller to retract, a second drive motor for driving the other side of the conveying roller to retract, and a posture acquisition component disposed at one end of the conveying roller. The method provided by the present application includes:

[0006] In response to the cargo transportation instruction, controlling the unmanned transport vehicle to move to a target area associated with the cargo transportation instruction;

[0007] When it is determined that the unmanned transport vehicle has arrived at the target area, the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture collection component is obtained;

[0008] When the offset posture data is greater than a set first threshold and less than a set second threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch, and / or the second drive motor is controlled to drive the other side of the conveying roller to stretch, until the offset posture data is less than or equal to the set first threshold.

[0009] In some embodiments, the offset posture data is the distance data of the edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold value and less than a set second threshold value, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold value, including:

[0010] When the distance data is greater than the set first distance threshold and less than the set second distance threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch, and the second drive motor is controlled to drive the other side of the conveying roller to stretch, until the distance data is less than or equal to the set first distance threshold.

[0011] In some embodiments, the posture acquisition component includes a first distance sensor disposed on a first side of the conveying roller, and a second distance sensor disposed on a second side of the conveying roller, and obtaining the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture acquisition component includes:

[0012] Receive first distance data of one side of one end of the conveying roller relative to the docking production line collected by the first distance sensor, and second distance data of one side of one end of the conveying roller relative to the docking production line collected by the second distance sensor, and determine the average of the first distance data and the second distance data as the distance data of the edge of one end of the conveying roller relative to the docking production line.

[0013] In some embodiments, the offset posture data is the angle data of the edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold value and less than a set second threshold value, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold value, including:

[0014] When the angle data is greater than the set first angle threshold and less than the set second angle threshold, if one side of the conveying roller is farther away from the other side of the conveying roller, the first drive motor is controlled to drive one side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller is closer to the other side of the conveying roller, the second drive motor is controlled to drive the other side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold.

[0015] In some embodiments, the posture acquisition component includes a first distance sensor disposed on a first side of the conveying roller, and a second distance sensor disposed on a second side of the conveying roller, and obtaining the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture acquisition component includes:

[0016] Receiving first distance data of one side of one end of the conveying roller relative to the docking production line collected by the first distance sensor, and second distance data of one side of one end of the conveying roller relative to the docking production line collected by the second distance sensor;

[0017] According to the distance difference between the first distance data and the second distance data, and the preset distance between the first distance sensor and the second distance sensor, the angle data of the edge of one end of the conveying roller relative to the docking production line are determined.

[0018] In some embodiments, the offset posture data includes distance data and angle data of an edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold value and less than a set second threshold value, the first drive motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold value, including:

[0019] In the case where the angle data is greater than a set first angle threshold and less than a set second angle threshold; and the distance data is greater than a set first distance threshold and less than a set second distance threshold, if one side of the conveying roller is farther away from the other side of the conveying roller, the first drive motor is controlled to drive one side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller is closer to the other side of the conveying roller, the second drive motor is controlled to drive the other side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold;

[0020] At the same time, the first driving motor is controlled to drive one side of the conveying roller to stretch, and the second driving motor is controlled to drive the other side of the conveying roller to stretch, until the distance data is less than or equal to the set first distance threshold.

[0021] In some embodiments, after obtaining the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture collection component, the method provided by the present application further includes:

[0022] When the offset posture data is greater than the set second threshold, a fault prompt message is output.

[0023] In the second aspect, the present application also provides an unmanned transport vehicle, including a retractable conveying roller, a first drive motor for driving one side of the conveying roller to retract, a second drive motor for driving the other side of the conveying roller to retract, a posture acquisition component arranged at one end of the conveying roller, and a main controller for executing the method provided in the first aspect of the present application.

[0024] In some embodiments, the retractable conveying roller includes a non-retractable first sub-conveying roller and a retractable second sub-conveying roller aligned in the conveying direction, the first drive motor is used to drive one side of the second sub-conveying roller to retract, the second drive motor is used to drive the other side of the second sub-conveying roller to retract, and the posture acquisition component is arranged on the second sub-conveying roller.

[0025] In a third aspect, the present application further provides a storage medium storing a computer program, which, when executed, enables a main controller to execute the method provided in the first aspect of the present application.

[0026] In a fourth aspect, the present application also provides a computer program product, including a computer program, which, when executed, enables a computer to execute the method provided in the first aspect of the present application.

[0027] The present application provides a cargo conveying method, an unmanned transport vehicle, and a storage medium. When it is determined that the unmanned transport vehicle has reached the target area, the offset posture data of the edge of one end of the conveying roller collected by the posture acquisition component relative to the docking production line can be obtained; when the offset posture data is greater than the set first threshold and less than the set second threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch, and / or the second drive motor is controlled to drive the other side of the conveying roller to stretch, until the offset posture data is less than or equal to the set first threshold. In this way, the posture of the unmanned transport vehicle docking with the docking production line is accurate and is not affected by factors such as positioning and navigation accuracy, avoiding the phenomenon of cargo falling or scratching the docking production line during the process of the unmanned transport vehicle docking with the docking production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 A schematic diagram of the structure of the unmanned transport vehicle provided in an embodiment of the present application;

[0030] Figure 2 A flow chart of a cargo delivery method provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of the principle of determining the angle data of the edge of one end of the conveying roller relative to the docking production line provided in an embodiment of the present application;

[0032] Figure 4A schematic diagram of the principle of controlling the extension and retraction of the conveying roller when the distance data is greater than a set first distance threshold provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of the principle of controlling the extension and retraction of the conveying roller provided in an embodiment of the present application when the angle data is greater than a set first angle threshold;

[0034] Figure 6 This is a functional module block diagram of the cargo conveying device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0036] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0037] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element may be directly on the other layer / element or an intervening layer / element may exist therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, the layer / element may be "below" the other layer / element when the orientation is reversed.

[0038] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0039] The embodiment of the present application provides a cargo delivery method, which is applied to the main controller of the unmanned transport vehicle 101. Figure 1 As shown, the unmanned transport vehicle 101 also includes a retractable conveying roller 103, a first drive motor 109 for driving one side of the conveying roller 103 to retract, a second drive motor 110 for driving the other side of the conveying roller 103 to retract, and a posture acquisition component disposed at one end of the conveying roller 103. Figure 2 As shown, the method provided in the embodiment of the present application includes:

[0040] S201: In response to a cargo transportation instruction, the unmanned transport vehicle 101 is controlled to move toward a target area associated with the cargo transportation instruction.

[0041] Exemplarily, the unmanned transport vehicle 101 may receive a cargo transportation instruction from a dispatch server, wherein the cargo transportation instruction includes the address of the target area. Furthermore, the unmanned transport vehicle 101 may move in the direction of the target area according to the address of the target area. When it is determined that the location tag set in the target area or the collected GPS positioning information is within the target area, it is determined that the unmanned transport vehicle 101 has arrived at the target area. The target area is the loading area or unloading area on one side of the docking production line 102.

[0042] S202: When it is determined that the unmanned transport vehicle 101 has arrived at the target area, the offset posture data of the edge of one end of the conveying roller 103 relative to the docking production line 102 collected by the posture collection component is obtained.

[0043] For example, Figure 1 As shown, the posture acquisition component may be, but is not limited to, a first distance sensor 107 disposed on a first side of the conveying roller 103, and a second distance sensor 108 disposed on a second side of the conveying roller 103. The offset posture data includes distance data and / or angle data of an edge of one end of the conveying roller 103 relative to the docking production line 102.

[0044] In some embodiments, the distance data of the edge of one end of the conveying roller 103 relative to the docking production line 102 can be obtained by: receiving the first distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the first distance sensor 107, and the second distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the second distance sensor 108, and determining the average of the first distance data and the second distance data as the distance data of the edge of one end of the conveying roller 103 relative to the docking production line 102.

[0045] In some embodiments, Figure 3As shown, the method for acquiring the angle data a of the edge of one end of the conveying roller 103 relative to the docking production line 102 is as follows: receiving the first distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the first distance sensor 107, and the second distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the second distance sensor 108; according to the distance difference d1 between the first distance data and the second distance data, and the preset distance d2 between the first distance sensor 107 and the second distance sensor 108, determine the angle data a of the edge of one end of the conveying roller 103 relative to the docking production line 102.

[0046] It should be noted that when the offset posture data is greater than the set second threshold, it means that the overall posture deviation of the unmanned transport vehicle 101 is too large, and it is impossible to achieve accurate posture adjustment by adjusting the posture of the conveying roller 103, and then output a fault prompt message.

[0047] S203: When the offset posture data is greater than the set first threshold and less than the set second threshold, control the first drive motor 109 to drive one side of the conveying roller 103 to stretch, and / or control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch, until the offset posture data is less than or equal to the set first threshold.

[0048] Specifically, S203 includes but is not limited to the following three implementations:

[0049] The first type: the offset posture data is the distance data of the edge of one end of the conveying roller 103 relative to the docking production line 102. When the distance data is greater than the set first distance threshold and less than the set second distance threshold, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch, and the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch, until the distance data is less than or equal to the set first distance threshold.

[0050] For example, Figure 4As shown, when the distance data is greater than the set 10cm and less than 30cm, it means that the unmanned transport vehicle 101 has accurately reached the target area, but the edge of the conveying roller 103 of the unmanned transport vehicle 101 is far from the docking production line 102. At this time, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch, and the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch, so that the edge of one end of the conveying roller 103 is close to the docking production line 102, until the distance data is less than or equal to the set first distance threshold. At this time, the edge of the conveying roller 103 of the unmanned transport vehicle 101 is close to the docking production line 102, and the cargo docking can be reliably completed (such as transferring the cargo on the unmanned transport vehicle 101 to the docking production line 102, or receiving the cargo transferred from the docking production line 102), and the cargo will not fall or rub against the docking production line 102.

[0051] The second type: the offset posture data is the angle data of the edge of one end of the conveying roller 103 relative to the docking production line 102. When the angle data is greater than the set first angle threshold and less than the set second angle threshold, if one side of the conveying roller 103 is farther away from the other side of the conveying roller 103, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller 103 is closer to the other side of the conveying roller 103, the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold.

[0052] When the angle data is greater than the set 1 degree and less than the set 3 degrees, it means that the edge of one end of the conveyor roller 103 is not parallel to the edge of the docking production line 102, but the angle data deviation is not large. At this time, if one side of the conveyor roller 103 is far away from the other side of the conveyor roller 103, the first drive motor 109 is controlled to drive one side of the conveyor roller 103 to stretch until the angle data is less than or equal to the set 1 degree; if one side of the conveyor roller 103 is close to the other side of the conveyor roller 103, the second drive motor 110 is controlled to drive the other side of the conveyor roller 103 to stretch until the angle data is less than or equal to the set 1 degree. Figure 5 As shown, at this time, the edge of one end of the conveying roller 103 is parallel to the edge of the docking production line 102, and the cargo docking can be reliably completed (such as conveying the cargo on the unmanned transport vehicle 101 to the docking production line 102, or receiving the cargo conveyed from the docking production line 102), and the cargo will not fall or scratch the docking production line 102.

[0053] The third type: the offset posture data includes the distance data and angle data of the edge of one end of the conveying roller 103 relative to the docking production line 102. When the angle data is greater than the set first angle threshold and less than the set second angle threshold; and when the distance data is greater than the set first distance threshold and less than the set second distance threshold, if one side of the conveying roller 103 is farther away from the other side of the conveying roller 103, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller 103 is closer to the other side of the conveying roller 103, the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold; at the same time, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch, and the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch until the distance data is less than or equal to the set first distance threshold.

[0054] In some embodiments, Figure 1 As shown, the retractable conveying roller 103 includes a non-retractable first sub-conveying roller 104 and a retractable second sub-conveying roller 105 aligned in the conveying direction, a first driving motor 109 is used to drive one side of the second sub-conveying roller 105 to retract, a second driving motor 110 is used to drive the other side of the second sub-conveying roller 105 to retract, and a posture acquisition component is disposed on the second sub-conveying roller 105. Specifically, the posture acquisition component may include but is not limited to a first distance sensor 107 disposed on the first side of the conveying roller 103, and a second distance sensor 108 disposed on the second side of the conveying roller 103.

[0055] Specifically, the first drive motor 109 is connected to a first telescopic rod, one end of which is connected to a first telescopic chain 111, and the first telescopic chain 111 is connected to one side of the first sub-conveying roller 104. The first drive motor 109 is used to drive the first telescopic rod to extend and retract, so as to drive the first telescopic chain 111 to extend and retract, thereby driving one side of the first sub-conveying roller 104 to extend and retract. The second drive motor 110 is connected to a second telescopic rod, one end of which is connected to a second telescopic chain 112, and the second telescopic chain 112 is connected to one side of the second sub-conveying roller 105. The second drive motor 110 is used to drive the second telescopic rod to extend and retract, thereby driving the second telescopic chain 112 to extend and retract, thereby driving one side of the second sub-conveying roller 105 to extend and retract.

[0056] Furthermore, a fixed supporting plate 113 is arranged in the middle of the bottom of the second sub-conveying roller 105, and a retractable supporting plate 114 is arranged in the middle of the bottom of the first sub-conveying roller 104. The retractable supporting plate 114 is connected to the fixed supporting plate 113. When one side of the first sub-conveying roller 104 and one side of the second sub-conveying roller 105 are retracted or extended, the retractable supporting plate 114 is driven to retract or extend, so that the retractable supporting plate 114 can provide support for the first sub-conveying roller 104 to prevent the goods from sagging due to the pressure of the goods when they are conveyed to the first sub-conveying roller 104, thereby ensuring that the goods can be normally docked with the docking production line 102.

[0057] In summary, the embodiment of the present application provides a cargo conveying method, which can obtain the offset posture data of the edge of one end of the conveying roller 103 relative to the docking production line 102 collected by the posture acquisition component when determining that the unmanned transport vehicle 101 has arrived at the target area; when the offset posture data is greater than the set first threshold and less than the set second threshold, control the first drive motor 109 to drive one side of the conveying roller 103 to stretch, and / or control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch, until the offset posture data is less than or equal to the set first threshold. In this way, the posture of the unmanned transport vehicle 101 docking with the docking production line 102 is accurate and not affected by factors such as positioning and navigation accuracy, avoiding the phenomenon of cargo falling or scratching the docking production line 102 during the process of the unmanned transport vehicle 101 docking with the docking production line 102.

[0058] Also, see Figure 6 , the embodiment of the present application also provides a cargo conveying device, which is applied to the main controller of the unmanned transport vehicle 101. The unmanned transport vehicle 101 also includes a retractable conveying roller 103, a first drive motor 109 for driving one side of the conveying roller 103 to retract, a second drive motor 110 for driving the other side of the conveying roller 103 to retract, and a posture acquisition component arranged at one end of the conveying roller 103. It should be noted that the basic principle and technical effect of the cargo conveying device provided in the embodiment of the present application are the same as those in the above embodiment. For the sake of brief description, for matters not mentioned in the embodiment of the present application, reference can be made to the corresponding content in the above embodiment. Figure 6 As shown, the device provided in the embodiment of the present application includes a movement control unit, a data acquisition unit and an offset control unit, wherein:

[0059] A mobile control unit, for controlling the unmanned transport vehicle 101 to move to a target area associated with the cargo transportation instruction in response to the cargo transportation instruction;

[0060] A data acquisition unit, used to acquire offset posture data of an edge of one end of the conveying roller 103 relative to the docking production line 102 collected by the posture acquisition component when it is determined that the unmanned transport vehicle 101 has arrived at the target area;

[0061] An offset control unit is used to control the first drive motor 109 to drive one side of the conveying roller 103 to stretch, and / or control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch, when the offset posture data is greater than a set first threshold and less than a set second threshold, until the offset posture data is less than or equal to the set first threshold.

[0062] In some embodiments, the offset posture data is the distance data of the edge of one end of the conveying roller 103 relative to the docking production line 102, and the offset control unit is specifically used to control the first drive motor 109 to drive one side of the conveying roller 103 to stretch, and control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch, when the distance data is greater than a set first distance threshold and less than a set second distance threshold, until the distance data is less than or equal to the set first distance threshold.

[0063] In some embodiments, the posture acquisition component includes a first distance sensor 107 disposed on a first side of the conveying roller 103, and a second distance sensor 108 disposed on a second side of the conveying roller 103. The data acquisition unit is specifically used to receive the first distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the first distance sensor 107, and the second distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the second distance sensor 108, and determine the average value of the first distance data and the second distance data as the distance data of the edge of one end of the conveying roller 103 relative to the docking production line 102.

[0064] In some embodiments, the offset posture data is the angle data of the edge of one end of the conveying roller 103 relative to the docking production line 102. The offset control unit is specifically used to control the first drive motor 109 to drive one side of the conveying roller 103 to stretch when the angle data is greater than the set first angle threshold and less than the set second angle threshold, if one side of the conveying roller 103 is far away from the other side of the conveying roller 103, until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller 103 is close to the other side of the conveying roller 103, then control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold.

[0065] In some embodiments, the posture acquisition component includes a first distance sensor 107 disposed on a first side of the conveying roller 103, and a second distance sensor 108 disposed on a second side of the conveying roller 103. The data acquisition unit is specifically used to receive the first distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the first distance sensor 107, and the second distance data of one side of one end of the conveying roller 103 relative to the docking production line 102 collected by the second distance sensor 108; according to the distance difference between the first distance data and the second distance data, and the preset distance between the first distance sensor 107 and the second distance sensor 108, determine the angle data of the edge of one end of the conveying roller 103 relative to the docking production line 102.

[0066] In some embodiments, the offset posture data includes distance data and angle data of the edge of one end of the conveying roller 103 relative to the docking production line 102. The offset control unit is specifically used to control the first drive motor 109 to drive one side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold if the angle data is greater than the set first angle threshold and less than the set second angle threshold; and the distance data is greater than the set first distance threshold and less than the set second distance threshold, if one side of the conveying roller 103 is farther away from the other side of the conveying roller 103, and if one side of the conveying roller 103 is closer to the other side of the conveying roller 103, and control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch until the angle data is less than or equal to the set first angle threshold; and at the same time, control the first drive motor 109 to drive one side of the conveying roller 103 to stretch, and control the second drive motor 110 to drive the other side of the conveying roller 103 to stretch, until the distance data is less than or equal to the set first distance threshold.

[0067] In some embodiments, the device provided in the embodiments of the present application further includes: a fault prompt unit, configured to output fault prompt information when the offset posture data is greater than a set second threshold.

[0068] In addition, the embodiment of the present application further provides an unmanned transport vehicle 101, including a retractable conveying roller 103, a first drive motor 109 for driving one side of the conveying roller 103 to retract, a second drive motor 110 for driving the other side of the conveying roller 103 to retract, and a posture acquisition component disposed at one end of the conveying roller 103, and a main controller for executing the method provided in the above embodiment of the present application. In some embodiments, the retractable conveying roller 103 includes a non-retractable first sub-conveying roller 104 and a retractable second sub-conveying roller 105 aligned in the conveying direction, the first drive motor 109 is used to drive one side of the second sub-conveying roller 105 to retract, the second drive motor 110 is used to drive the other side of the second sub-conveying roller 105 to retract, and the posture acquisition component is disposed on the second sub-conveying roller 105.

[0069] In addition, an embodiment of the present application provides a storage medium, which stores a computer program. When the computer program is executed, the main controller is used to execute the method provided by the above embodiment of the present application.

[0070] In addition, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed, enables a computer to execute the method provided in the above embodiment of the present application.

[0071] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.

[0072] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A cargo delivery method, characterized in that: A main controller applied to an unmanned transport vehicle, the unmanned transport vehicle further comprising a retractable conveying roller, a first drive motor for driving one side of the conveying roller to retract, a second drive motor for driving the other side of the conveying roller to retract, and a posture acquisition component disposed at one end of the conveying roller, the method comprising: In response to a cargo transportation instruction, controlling the unmanned transport vehicle to move toward a target area associated with the cargo transportation instruction; When it is determined that the unmanned transport vehicle has arrived at the target area, obtaining offset posture data of an edge of one end of the conveying roller relative to the docking production line collected by the posture collection component; When the offset posture data is greater than a set first threshold and less than a set second threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch, and / or the second drive motor is controlled to drive the other side of the conveying roller to stretch, until the offset posture data is less than or equal to the set first threshold.

2. The method according to claim 1, characterized in that: The offset posture data is the distance data of the edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold value and less than a set second threshold value, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold value, including: When the distance data is greater than a set first distance threshold and less than a set second distance threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch, and the second drive motor is controlled to drive the other side of the conveying roller to stretch, until the distance data is less than or equal to the set first distance threshold.

3. The method according to claim 2, characterized in that The posture acquisition component includes a first distance sensor disposed on a first side of the conveying roller, and a second distance sensor disposed on a second side of the conveying roller, and the step of acquiring the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture acquisition component includes: Receive first distance data of one side of one end of the conveying roller relative to the docking production line collected by the first distance sensor, and second distance data of one side of one end of the conveying roller relative to the docking production line collected by the second distance sensor, and determine the average of the first distance data and the second distance data as the distance data of the edge of one end of the conveying roller relative to the docking production line.

4. The method according to claim 1, characterized in that The offset posture data is the angle data of the edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold value and less than a set second threshold value, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold value, including: When the angle data is greater than a set first angle threshold and less than a set second angle threshold, if one side of the conveying roller is farther away from the other side of the conveying roller, the first drive motor is controlled to drive one side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller is closer to the other side of the conveying roller, the second drive motor is controlled to drive the other side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold.

5. The method according to claim 4, characterized in that The posture acquisition component includes a first distance sensor disposed on a first side of the conveying roller, and a second distance sensor disposed on a second side of the conveying roller, and the step of acquiring the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture acquisition component includes: Receiving first distance data of one side of one end of the conveying roller relative to the docking production line collected by the first distance sensor, and second distance data of one side of one end of the conveying roller relative to the docking production line collected by the second distance sensor; According to the distance difference between the first distance data and the second distance data, and the preset distance between the first distance sensor and the second distance sensor, the angle data of the edge of one end of the conveying roller relative to the docking production line are determined.

6. The method according to claim 1, characterized in that The offset posture data includes distance data and angle data of the edge of one end of the conveying roller relative to the docking production line. When the offset posture data is greater than a set first threshold and less than a set second threshold, the first drive motor is controlled to drive one side of the conveying roller to stretch until the offset posture data is less than or equal to the set first threshold, including: In the case where the angle data is greater than a set first angle threshold and less than a set second angle threshold; and the distance data is greater than a set first distance threshold and less than a set second distance threshold, if one side of the conveying roller is farther away from the other side of the conveying roller, the first drive motor is controlled to drive one side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold; if one side of the conveying roller is closer to the other side of the conveying roller, the second drive motor is controlled to drive the other side of the conveying roller to stretch until the angle data is less than or equal to the set first angle threshold; At the same time, the first driving motor is controlled to drive one side of the conveying roller to stretch, and the second driving motor is controlled to drive the other side of the conveying roller to stretch, until the distance data is less than or equal to the set first distance threshold.

7. The method according to claim 1, characterized in that After acquiring the offset posture data of the edge of one end of the conveying roller relative to the docking production line collected by the posture collection component, the method further includes: When the offset posture data is greater than the set second threshold, a fault prompt message is output.

8. An unmanned transport vehicle, characterized in that: It includes a retractable conveying roller, a first drive motor for driving one side of the conveying roller to retract, a second drive motor for driving the other side of the conveying roller to retract, and a posture acquisition component arranged at one end of the conveying roller, and the main controller is used to execute any method described in claims 1-7.

9. The unmanned transport vehicle according to claim 8, characterized in that: The retractable conveying roller includes a non-retractable first sub-conveying roller and a retractable second sub-conveying roller aligned in the conveying direction, the first driving motor is used to drive one side of the second sub-conveying roller to retract, the second driving motor is used to drive the other side of the second sub-conveying roller to retract, and the posture acquisition component is arranged on the second sub-conveying roller.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein when the computer program is executed, the unmanned transport vehicle executes the method executed by the main controller in any one of claims 1 to 7.

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