Cargo transfer method, unmanned transport vehicle, and storage medium

Abstract

The application provides a cargo conveying method, an unmanned transport vehicle and a storage medium, and relates to the technical field of cargo transmission. In a case where it is determined that the unmanned transport vehicle reaches a target area, offset pose data of an edge of one end of a conveying roller relative to a docking production line is acquired from a pose acquisition component; in a case where the offset pose data is greater than a set first threshold value and less than a set second threshold value, a first drive motor is controlled to drive one side of the conveying roller to stretch, and / or a second drive motor is controlled to drive the other side of the conveying roller to stretch, until the offset pose data is less than or equal to the set first threshold value. In this way, the pose 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, thereby 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.

Description

TECHNICAL FIELD

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

[0002] The semi-finished product / finished product material transfer between the production workshop and the final assembly workshop / sterile warehouse of an enterprise can use an unmanned transport vehicle to replace a manual forklift, and can realize point-to-point continuous 24-hour unmanned transfer operation of goods.

[0003] At present, when the unmanned transport vehicle is conveying goods, it can navigate to a designated goods loading / unloading area, and then dock the goods with a production line on one side of the goods loading / unloading area. However, under the influence of mechanical transmission and positioning and navigation accuracy and other factors, the unmanned transport vehicle is prone to inaccurate pose docking with the goods loading / unloading area and the docking production line, thereby causing the unmanned transport vehicle to fail to normally dock the goods with the docking production line (for example, the goods fall or scratch the docking production line). SUMMARY

[0004] The present application provides a goods conveying method, an unmanned transport vehicle and a storage medium, which are used to solve the problem that the unmanned transport vehicle is prone to inaccurate pose docking with the goods loading / unloading area and the docking production line in the prior art, thereby causing the unmanned transport vehicle to fail to normally dock the goods with the docking production line.

[0005] In a first aspect, the present application provides a goods conveying method applied to a main controller of an unmanned transport vehicle, the unmanned transport vehicle further comprising a telescopic conveying roller, a first driving motor for driving one side of the conveying roller to telescope, a second driving motor for driving the other side of the conveying roller to telescope, and a pose acquisition assembly arranged at one end of the conveying roller, and the method provided by the present application comprises:

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

[0007] In a case where it is determined that the unmanned transport vehicle reaches the target area, acquiring offset pose data of an edge of the one end of the conveying roller relative to the docking production line from the pose acquisition assembly;

[0008] In a case where the offset pose data is greater than a set first threshold value and less than a set second threshold value, controlling the first driving motor to drive one side of the conveying roller to stretch, and / or controlling the second driving motor to drive the other side of the conveying roller to stretch, until the offset pose data is less than or equal to the set first threshold value.

[0009] In some embodiments, the offset pose data is distance data of an edge of one end of the conveying roller relative to the docking production line, and in a case where the offset pose 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 pose data is less than or equal to the set first threshold value, including:

[0010] In a case where the distance data is greater than a set first distance threshold value and less than a set second distance threshold value, 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 simultaneously until the distance data is less than or equal to the set first distance threshold value.

[0011] In some embodiments, the pose acquisition assembly 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 offset pose data of an edge of one end of the conveying roller relative to the docking production line is obtained from the pose acquisition assembly, including:

[0012] The first distance data of one side of one end of the conveying roller relative to the docking production line acquired by the first distance sensor and the second distance data of one side of one end of the conveying roller relative to the docking production line acquired by the second distance sensor are received, and an average of the first distance data and the second distance data is determined 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 pose data is angle data of an edge of one end of the conveying roller relative to the docking production line, and in a case where the offset pose 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 pose data is less than or equal to the set first threshold value, including:

[0014] In a case where the angle data is greater than a set first angle threshold value and less than a set second angle threshold value, if one side of the conveying roller is farther away from the other side of the conveying roller, the first driving 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 value, and if one side of the conveying roller is closer to the other side of the conveying roller, the second driving 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 value.

[0015] In some embodiments, the pose acquisition assembly 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 offset pose data of an edge of one end of the conveying roller relative to the docking production line is obtained from the pose acquisition assembly, including:

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

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

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

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

[0020] The first driving motor is controlled to drive the 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 at the same time until the distance data is less than or equal to the preset first distance threshold value.

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

[0022] In a case where the offset pose data is greater than the preset second threshold value, fault prompt information is output.

[0023] In a second aspect, the present application further provides an unmanned transport vehicle, including a telescopic conveying roller, a first driving motor for driving one side of the conveying roller to stretch, a second driving motor for driving the other side of the conveying roller to stretch, a pose collection component arranged at one end of the conveying roller, and a main controller of the unmanned transport vehicle for executing the method provided by the first aspect of the present application.

[0024] In some embodiments, the telescopic conveying roller comprises a first non-telescopic sub-conveying roller and a second telescopic sub-conveying roller aligned in the conveying direction, a first driving motor is configured to drive one side of the second sub-conveying roller to telescope, a second driving motor is configured to drive the other side of the second sub-conveying roller to telescope, and the pose acquisition assembly is arranged on the second sub-conveying roller.

[0025] In a third aspect, the present application also provides a storage medium, which stores a computer program. When the computer program is executed, the main controller is configured 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, which comprises a computer program. When the computer program is executed, the computer is configured to execute the method provided in the first aspect of the present application.

[0027] The present application provides a goods conveying method, an unmanned transport vehicle and a storage medium. In the case that the unmanned transport vehicle reaches a target area, the offset pose data of the edge of one end of the conveying roller relative to the docking production line is obtained from the pose acquisition assembly. In the case that the offset pose 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, and / or the second driving motor is controlled to drive the other side of the conveying roller to stretch, until the offset pose data is less than or equal to the set first threshold value. In this way, the pose 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, thereby avoiding the phenomenon of goods falling or scratching the docking production line in the process of the unmanned transport vehicle docking with the docking production line. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1 The structural schematic diagram of the unmanned transport vehicle provided by the embodiments of the present application;

[0030] Figure 2 The flowchart of the goods conveying method provided by the embodiments of the present application;

[0031] Figure 3 The principle schematic diagram for determining the angle data of the edge of one end of the conveying roller relative to the docking production line provided by the embodiments of the present application;

[0032] Figure 4A principle diagram of controlling the extension and retraction of the conveying roller according to the distance data being greater than a set first distance threshold is provided for the embodiments of the present application.

[0033] Figure 5 A principle diagram of controlling the extension and retraction of the conveying roller according to the angle data being greater than a set first angle threshold is provided for the embodiments of the present application.

[0034] Figure 6 A function module block diagram of the goods conveying device is provided for the embodiments of the present application. DETAILED DESCRIPTION

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

[0036] In the drawings, various structural diagrams according to the embodiments of the present disclosure are shown. These diagrams are not drawn to scale, in which certain details are exaggerated for the purpose of clarity, and certain details can be omitted. The shapes of various regions, layers, and the relative size and positional relationship between them shown in the drawings are merely exemplary, and in actuality, they can deviate due to manufacturing tolerances or technical limitations, and a person skilled in the art can additionally 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 located "on" another layer / element, the layer / element can be directly located on the other layer / element, or there can be an intermediate layer / element between them. In addition, if a layer / element is located "on" another layer / element in one orientation, it can be located "under" the other layer / element when the orientation is reversed.

[0038] Hereinafter, the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0039] The embodiments of the present application provide a goods conveying method, applied to a main controller of an unmanned transport vehicle 101. As shown in Figure 1 The unmanned transport vehicle 101 further includes a retractable conveying roller 103, a first driving motor 109 for driving the extension and retraction of one side of the conveying roller 103, a second driving motor 110 for driving the extension and retraction of the other side of the conveying roller 103, and a pose acquisition assembly arranged at one end of the conveying roller 103. As shown inFigure 2 As shown, the method provided by the embodiments of the present application comprises:

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

[0041] Illustratively, the unmanned transport vehicle 101 can receive the goods transportation instruction from the dispatch server, wherein the goods transportation instruction comprises the address of the target area. Further, the unmanned transport vehicle 101 can move in the direction of the target area according to the address of the target area. In the case where it is determined that the position tag arranged in the target area or the collected GPS positioning information is in the target area, it is determined that the unmanned transport vehicle 101 reaches the target area. Wherein, the target area is the loading area or the unloading area located on the side of the docking production line 102.

[0042] S202: In the case where it is determined that the unmanned transport vehicle 101 reaches the target area, the offset pose data of the edge of one end of the conveying roller 103 relative to the docking production line 102 is acquired from the pose acquisition assembly.

[0043] Illustratively, still as Figure 1 As shown, the pose acquisition assembly can be, but is not limited to, the first distance sensor 107 arranged on the first side of the conveying roller 103, and the second distance sensor 108 arranged on the second side of the conveying roller 103. The offset pose data comprises the distance data and / or the angle data of the 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 acquired in the following manner: 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 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.

[0045] In some embodiments, as Figure 3As shown, the angle data a of one end of the conveyor roller 103 relative to the docking production line 102 is obtained as follows: the first distance data of one side of one end of the conveyor 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 conveyor roller 103 relative to the docking production line 102 collected by the second distance sensor 108 are received; the angle data a of one end of the conveyor roller 103 relative to the docking production line 102 is determined 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.

[0046] It should be noted that if the offset pose data is greater than the set second threshold, it indicates that the overall pose deviation of the unmanned transport vehicle 101 is too large, and it is impossible to achieve accurate pose adjustment by adjusting the pose of the conveyor roller 103, thereby outputting a fault prompt message.

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

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

[0049] The first method involves using offset pose data as the distance between the edge of one end of the conveyor roller 103 and the docking production line 102. When the distance data is greater than a set first distance threshold and less than a set second distance threshold, the first drive motor 109 is simultaneously controlled to stretch one side of the conveyor roller 103, and the second drive motor 110 is controlled to stretch the other side of the conveyor roller 103, until the distance data is less than or equal to the set first distance threshold.

[0050] For example, such as Figure 4 As shown, when the distance data is greater than the set 10cm but less than 30cm, it indicates that the unmanned transport vehicle 101 has accurately reached the target area. However, the edge of the conveyor 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 simultaneously controlled to stretch one side of the conveyor roller 103, and the second drive motor 110 is controlled to stretch the other side of the conveyor roller 103, so that the edge of one end of the conveyor roller 103 approaches the docking production line 102, until the distance data is less than or equal to the set first distance threshold, such as... Figure 4As shown, at this time, the edge of the conveyor roller 103 of the unmanned transport vehicle 101 is close to the docking production line 102, so the docking of goods can be reliably completed (such as transferring the goods on the unmanned transport vehicle 101 to the docking production line 102, or receiving the goods transferred from the docking production line 102), and there will be no phenomenon of goods falling or scraping against the docking production line 102.

[0051] The second method: The offset pose data is the angle data of the edge of one end of the conveyor 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 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 first angle threshold; 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 first angle threshold.

[0052] like Figure 5 As shown, when the angle data is greater than the set 1 degree and less than the set 3 degrees, it indicates 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 deviation of the angle data is not large. In this case, if one side of the conveyor roller 103 is far from the other side, 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, 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 conveyor roller 103 is parallel to the edge of the docking production line 102, which can reliably complete the docking of goods (such as transferring the goods on the unmanned transport vehicle 101 to the docking production line 102, or receiving the goods transferred from the docking production line 102), and there will be no phenomenon of goods falling or scraping against the docking production line 102.

[0053] The third type: The offset pose data includes distance data and angle data of the edge of one end of the conveyor roller 103 relative to the docking production line 102. When 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 conveyor roller 103 is farther 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 first angle threshold. If one side of the conveyor roller 103 is closer 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 first angle threshold. At the same time, the first drive motor 109 is controlled to drive one side of the conveyor roller 103 to stretch, and the second drive motor 110 is controlled to drive the other side of the conveyor roller 103 to stretch until the distance data is less than or equal to the set first distance threshold.

[0054] In some implementations, it is still as follows Figure 1 As shown, the retractable conveyor roller 103 includes a non-retractable first sub-conveyor roller 104 and a retractable second sub-conveyor roller 105 aligned in the conveying direction. A first drive motor 109 drives one side of the second sub-conveyor roller 105 to extend or retract, and a second drive motor 110 drives the other side of the second sub-conveyor roller 105 to extend or retract. A pose acquisition component is disposed on the second sub-conveyor roller 105. Specifically, the pose acquisition component may include, but is not limited to, a first distance sensor 107 disposed on the first side of the conveyor roller 103 and a second distance sensor 108 disposed on the second side of the conveyor roller 103.

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

[0056] Further, the middle of the bottom of the second sub-conveying roller 105 is provided with a fixed bearing plate 113, and the middle of the bottom of the first sub-conveying roller 104 is provided with an extendable bearing plate 114, the extendable bearing plate 114 is connected with the fixed bearing plate 113, when one side of the first sub-conveying roller 104 is extended and retracted and one side of the second sub-conveying roller 105 is extended and retracted, the extendable bearing plate 114 is driven to extend and retract, so that the extendable bearing plate 114 can provide support force for the first sub-conveying roller 104, avoiding the first sub-conveying roller 104 from sagging due to the pressure of the goods when the goods are conveyed to the first sub-conveying roller 104, so as to ensure that the goods can be normally docked with the docking production line 102.

[0057] To sum up, the embodiment of the application provides a goods conveying method, which can acquire offset pose data of the edge of one end of the conveying roller 103 relative to the docking production line 102 from the pose acquisition assembly under the condition that it is determined that the unmanned transport vehicle 101 reaches the target area; in the case that the offset pose data is greater than a set first threshold value and less than a set second threshold value, the first drive motor 109 is controlled to drive one side of the conveying roller 103 to stretch, and / or the second drive motor 110 is controlled to drive the other side of the conveying roller 103 to stretch, until the offset pose data is less than or equal to the set first threshold value. In this way, the pose of the unmanned transport vehicle 101 docking with the docking production line 102 is accurate, and is not affected by factors such as positioning and navigation accuracy, avoiding the phenomenon of goods falling or scratching the docking production line 102 in the process of the unmanned transport vehicle 101 docking with the docking production line 102.

[0058] In addition, referring to Figure 6 The embodiment of the application also provides a goods conveying device, which is applied to a main controller of an unmanned transport vehicle 101, and the unmanned transport vehicle 101 further comprises an extendable conveying roller 103, a first drive motor 109 for driving one side of the conveying roller 103 to extend and retract, a second drive motor 110 for driving the other side of the conveying roller 103 to extend and retract, and a pose acquisition assembly arranged at one end of the conveying roller 103. It should be noted that the basic principle and the technical effects of the goods conveying device provided by the embodiment of the application are the same as those of the above-mentioned embodiments, and for brief description, the parts not mentioned in the embodiment of the application can refer to the corresponding contents in the above-mentioned embodiments. As shown in Figure 6 The device provided by the embodiment of the application comprises a movement control unit, a data acquisition unit and an offset control unit, wherein,

[0059] The movement control unit is used for controlling the unmanned transport vehicle 101 to move to a target area associated with a goods transport instruction in response to the goods transport instruction;

[0060] The data acquisition unit is configured to acquire offset pose data of an edge of one end of the conveying roller 103 relative to the docking production line 102 when it is determined that the unmanned transport vehicle 101 reaches the target area.

[0061] The offset control unit is configured to control the first driving motor 109 to drive one side of the conveying roller 103 to stretch and / or control the second driving motor 110 to drive the other side of the conveying roller 103 to stretch until the offset pose data is less than or equal to the first threshold value when the offset pose data is greater than the first threshold value and less than the second threshold value.

[0062] In some embodiments, the offset pose data is 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 configured to simultaneously control the first driving motor 109 to drive one side of the conveying roller 103 to stretch and control the second driving 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 first distance threshold value when the distance data is greater than the first distance threshold value and less than the second distance threshold value.

[0063] In some embodiments, the pose acquisition component includes a first distance sensor 107 arranged on the first side of the conveying roller 103 and a second distance sensor 108 arranged on the second side of the conveying roller 103. The data acquisition unit is specifically configured to receive 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 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 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 pose data is 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 configured to control the first driving motor 109 to drive one side of the conveying roller 103 to stretch until the angle data is less than or equal to the first angle threshold value if the one side of the conveying roller 103 is farther away from the other side of the conveying roller 103 when the angle data is greater than the first angle threshold value and less than the second angle threshold value, and control the second driving 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 first angle threshold value if the one side of the conveying roller 103 is closer to the other side of the conveying roller 103.

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

[0066] In some embodiments, the offset pose 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 configured to, when the angle data is greater than a first angle threshold and less than a second angle threshold, and the distance data is greater than a first distance threshold and less than a second distance threshold, if one side of the conveying roller 103 is farther away from the other side of the conveying roller 103, control the first driving motor 109 to drive one side of the conveying roller 103 to stretch until the angle data is less than or equal to the first angle threshold; if one side of the conveying roller 103 is closer to the other side of the conveying roller 103, control the second driving 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 first angle threshold; and simultaneously control the first driving motor 109 to drive one side of the conveying roller 103 to stretch, and control the second driving 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 first distance threshold.

[0067] In some embodiments, the device provided by the embodiments of the present application further includes a fault prompting unit configured to output fault prompting information when the offset pose data is greater than a second threshold.

[0068] In addition, the embodiment of the present application further provides an unmanned transport vehicle 101, comprising a telescopic conveying roller 103, a first driving motor 109 for driving one side of the conveying roller 103 to be telescopic, a second driving motor 110 for driving the other side of the conveying roller 103 to be telescopic, and a pose acquisition assembly arranged at one end of the conveying roller 103, wherein the main controller of the unmanned transport vehicle 101 is configured to execute the method provided in the above embodiment of the present application. In some embodiments, the telescopic conveying roller 103 comprises a first non-telescopic sub-conveying roller 104 and a second telescopic sub-conveying roller 105 aligned in a conveying direction, the first driving motor 109 is configured to drive one side of the second sub-conveying roller 105 to be telescopic, the second driving motor 110 is configured to drive the other side of the second sub-conveying roller 105 to be telescopic, and the pose acquisition assembly is arranged at the second sub-conveying roller 105.

[0069] In addition, the embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and the computer program is configured to execute the method provided in the above embodiment of the present application.

[0070] In addition, the embodiment of the present application further provides a computer program product, comprising a computer program, and the computer program is configured to execute the method provided in the above embodiment of the present application when the computer program is executed.

[0071] In the above description, the technical details such as the configuration of each layer are not described in detail. However, those skilled in the art should understand that the layers, regions and the like with the required shapes can be formed by various technical means. In addition, those skilled in the art can also design methods that are not exactly the same as the methods described above in order to form the same structure. In addition, although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination.

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

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

Claims

1. A method of conveying goods, characterized in that, The application relates to a main controller applied to an unmanned transport vehicle, wherein the unmanned transport vehicle further comprises a telescopic conveying roller, a first driving motor for driving one side of the conveying roller to stretch, a second driving motor for driving the other side of the conveying roller to stretch, and a pose acquisition assembly arranged at one end of the conveying roller, and the method comprises the following steps: In response to a cargo transport instruction, the unmanned transport vehicle is controlled to move to a target area associated with the cargo transport instruction; When it is determined that the unmanned transport vehicle reaches the target area, offset pose data of an edge of one end of the conveying roller relative to a docking production line is acquired from the pose acquisition assembly; When the offset pose data is greater 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 offset pose data is smaller than or equal to the set first threshold value.

2. The method of claim 1, wherein, The offset pose data is distance data of an edge of one end of the conveying roller relative to the docking production line, when the offset pose data is greater 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, until the offset pose data is smaller than or equal to the set first threshold value, which comprises the following steps: When the distance data is greater than a set first distance threshold value and smaller than a set second distance threshold value, 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 smaller than or equal to the set first distance threshold value.

3. The method of claim 2, wherein, The pose acquisition assembly comprises a first distance sensor arranged at a first side of the conveying roller and a second distance sensor arranged at a second side of the conveying roller, and the offset pose data of an edge of one end of the conveying roller relative to the docking production line acquired from the pose acquisition assembly comprises the following steps: The first distance data of one side of one end of the conveying roller relative to the docking production line acquired by the first distance sensor and the second distance data of one side of one end of the conveying roller relative to the docking production line acquired by the second distance sensor are received, and an average value of the first distance data and the second distance data is determined as the distance data of the edge of one end of the conveying roller relative to the docking production line.

4. The method of claim 1, wherein, The offset pose data is angle data of an edge of one end of the conveying roller relative to the docking production line, when the offset pose data is greater 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, until the offset pose data is smaller than or equal to the set first threshold value, which comprises the following steps: In a case where 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 driving 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 driving 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 of claim 4, wherein, The pose acquisition component includes a first distance sensor arranged on the first side of the conveying roller and a second distance sensor arranged on the second side of the conveying roller, and the offset pose data of the edge of one end of the conveying roller relative to the docking production line acquired from the pose acquisition component includes: receiving first distance data of one side of one end of the conveying roller acquired by the first distance sensor relative to the docking production line and second distance data of one side of one end of the conveying roller acquired by the second distance sensor relative to the docking production line; determining angle data of the edge of one end of the conveying roller relative to the docking production line according to a distance difference between the first distance data and the second distance data and a preset distance between the first distance sensor and the second distance sensor.

6. The method of claim 1, wherein, The offset pose data includes distance data and angle data of the edge of one end of the conveying roller relative to the docking production line, and in a case where the offset pose data is greater than a set first threshold and less than a set second threshold, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset pose data is less than or equal to the set first threshold, including: In a 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 driving 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 driving 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; Meanwhile, 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 of claim 1, wherein, After the offset pose data of the edge of one end of the conveying roller relative to the docking production line acquired from the pose acquisition component is acquired, the method further includes: In a case where the offset pose data is greater than the set second threshold, outputting a fault prompt information. In a case where 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 driving 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 driving 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. The pose acquisition component includes a first distance sensor arranged on the first side of the conveying roller and a second distance sensor arranged on the second side of the conveying roller, and the offset pose data of the edge of one end of the conveying roller relative to the docking production line acquired from the pose acquisition component includes: receiving first distance data of one side of one end of the conveying roller acquired by the first distance sensor relative to the docking production line and second distance data of one side of one end of the conveying roller acquired by the second distance sensor relative to the docking production line; determining angle data of the edge of one end of the conveying roller relative to the docking production line according to a distance difference between the first distance data and the second distance data and a preset distance between the first distance sensor and the second distance sensor. The offset pose data includes distance data and angle data of the edge of one end of the conveying roller relative to the docking production line, and in a case where the offset pose data is greater than a set first threshold and less than a set second threshold, the first driving motor is controlled to drive one side of the conveying roller to stretch until the offset pose data is less than or equal to the set first threshold, including: In a 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 driving 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 driving 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; Meanwhile, 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. After the offset pose data of the edge of one end of the conveying roller relative to the docking production line acquired from the pose acquisition component is acquired, the method further includes: In a case where the offset pose data is greater than the set second threshold, outputting a fault prompt information.

8. An unmanned transport vehicle, characterized in that, The unmanned transport vehicle comprises a telescopic conveying roller, a first driving motor for driving one side of the conveying roller to be telescopic, a second driving motor for driving the other side of the conveying roller to be telescopic, and a pose acquisition assembly arranged at one end of the conveying roller, and a main controller of the unmanned transport vehicle is configured to execute the method of any one of claims 1-7.

9. The unmanned transport vehicle of claim 8, wherein, The telescopic conveying roller comprises a first non-telescopic sub-conveying roller and a second telescopic sub-conveying roller aligned in a conveying direction, the first driving motor is configured to drive one side of the second sub-conveying roller to be telescopic, the second driving motor is configured to drive the other side of the second sub-conveying roller to be telescopic, and the pose acquisition assembly is arranged at the second sub-conveying roller.

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

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