Method and apparatus for docking robot with storage box, robot, structure and electrode device

Abstract

A method for docking a robot with a storage box, comprising: a robot acquires an instruction for docking with a storage box, the instruction for docking with the storage box comprises a docking point of the storage box and an action instruction for docking with the storage box; the robot moves to the docking point of the storage box on the basis of the instruction for docking with the storage box, and determines whether the difference between a measured value of a left sensor and a measured value of a right sensor of the robot meets a preset deviation or not; and if the difference between the measured value of the left sensor and the measured value of the right sensor of the robot meets the preset deviation, a driving motor of the robot executes the action instruction for docking with the storage box to release a hook to lock a tractor of the storage box, to complete docking. According to the method, high-success-rate automatic docking can be achieved under imprecise alignment requirements and complex terrain conditions. Also provided are a robot for docking with a storage box, a structure adapted for the robot to dock with a storage box, an apparatus for docking the robot with a storage box, an electronic device, and a computer-readable storage medium.

Description

Robot docking storage box method, robot, structure, device and electronic equipment Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method, a device and an electronic device for docking a robot with a storage box. Background Art

[0002] With the rapid development of technology, robotics has gradually penetrated every corner of our lives. Especially in indoor environments, traditional mobile robots have begun to take on more complex tasks, including freight transportation. They are no longer just simple automated tools, but are gradually becoming valuable assistants in our daily lives and work.

[0003] Despite the increasing capabilities of robots, achieving fast, automated connections between robots and storage bins remains a challenge. Currently, most robots still require manual operation, which undoubtedly increases operational complexity and time costs. In our fast-paced modern world, any technology that can automate and simplify is more likely to be widely adopted.

[0004] Furthermore, existing automated docking methods often require extremely precise alignment between the robot and the storage bin. However, in practice, due to environmental uncertainties, robot manufacturing errors, or uneven surfaces, the robot and the bin may be uneven or have significant left-right distance deviations. In these situations, existing docking methods often struggle to achieve successful docking, impacting the robot's practicality and efficiency.

[0005] Therefore, overcoming these challenges and achieving fast, accurate, and automatic docking between robots and storage bins is an important research direction. This will not only help improve the efficiency of robots, but also bring a more convenient and efficient life experience to humans.

[0006] Therefore, a method, device and electronic equipment for a robot to dock a storage box are proposed.

[0007] Summary of the Invention

[0008] This specification provides a method, device, and electronic device for a robot to dock a storage box, which can achieve a high success rate of automatic docking under complex terrain conditions with less precise alignment requirements.

[0009] This specification provides a method for a robot to dock with a storage box, including:

[0010] The robot obtains an instruction for docking with the storage box, wherein the instruction for docking with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box;

[0011] The robot moves to the docking point of the storage box based on the instruction of the docking storage box, and determines whether the difference between the measurement value of the left sensor of the robot and the test value of the right sensor meets the preset deviation;

[0012] When the difference between the left sensor measurement value and the right sensor measurement value of the robot meets the preset deviation, the driving motor of the robot executes the action instruction of the docking storage box to release the hook to clamp the tractor of the storage box, thereby completing the docking.

[0013] Optionally, also include:

[0014] When the difference between the left sensor measurement value and the right sensor measurement value of the robot does not meet the preset deviation, determining the size of the left sensor measurement value and the right sensor measurement value;

[0015] When the left sensor measurement value is greater than the right sensor measurement value, the robot turns left and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets a preset deviation.

[0016] Optionally, also include:

[0017] When the left sensor measurement value is less than the right sensor measurement value, the robot turns right and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets the preset deviation.

[0018] This specification provides a robot for docking a storage box, comprising: a drive motor, a left sensor, a right sensor, and a hook assembly;

[0019] The hook assembly includes two symmetrically arranged horizontally rotatable hooks, and the hooks include a support rod and an anti-drop block;

[0020] The left sensor and the right sensor are symmetrically arranged on the same transverse axis of the robot. The drive motor is installed at the central axis inside the robot. One end of the support rod is connected to the drive motor, and the other end of the support rod is installed with the anti-drop block.

[0021] This specification provides a structure of a robot adapted for docking a storage box, comprising: a hollow traction frame, a support spring;

[0022] The hollow traction frame is rotatably arranged along the longitudinal center axis of the storage box and is fixed to the storage box through the support spring;

[0023] When the robot executes the instruction to dock the storage box, the driving motor releases the hook, and the hook rotates around an end axis close to the robot until the anti-slip blocks of the two hooks cross and the hollow traction frame of the storage box is clamped to complete the docking.

[0024] This specification provides a device for docking a robot with a storage box, including:

[0025] An acquisition module is used for the robot to obtain an instruction for docking with the storage box, wherein the instruction for docking with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box;

[0026] a judgment module, configured to cause the robot to move to a docking point of the storage box based on an instruction to dock the storage box, and to judge whether a difference between a measurement value of a left sensor and a test value of a right sensor of the robot satisfies a preset deviation;

[0027] The docking module is used to release the hook to lock the tractor of the storage box when the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation, thereby completing the docking.

[0028] Optionally, also include:

[0029] When the difference between the left sensor measurement value and the right sensor measurement value of the robot does not meet the preset deviation, determining the size of the left sensor measurement value and the right sensor measurement value;

[0030] When the left sensor measurement value is greater than the right sensor measurement value, the robot turns left and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets a preset deviation.

[0031] Optionally, also include:

[0032] When the left sensor measurement value is less than the right sensor measurement value, the robot turns right and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets a preset deviation.

[0033] This specification also provides an electronic device, wherein the electronic device includes:

[0034] A processor; and a memory storing processor-executable instructions, wherein the executable instructions, when executed, cause the processor to perform any of the methods described above.

[0035] This specification also provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a processor, any of the above methods is implemented.

[0036] The present invention has at least one of the following advantages:

[0037] 1. The present invention achieves an automatic towing function by using a hook at the robot end and a tractor at the storage box end. This design simplifies the structure, reduces manufacturing costs, and also improves the efficiency and success rate of docking.

[0038] 2. The hollow structure of the tractor allows the robot and the storage box to be on different levels, thus overcoming the problem of uneven ground. Even if there are certain height differences or unevenness on the ground, it will not affect the docking process.

[0039] 3. The hook and retractor structure of the present invention allows for successful docking even with some vertical misalignment. This is primarily due to the cross-hook design of the hook and the hollow structure of the retractor, which allow the hook to slide and adjust on the retractor, thereby achieving alignment.

[0040] 4. By using two ranging sensors, the position and distance of the storage bin can be detected at a low cost. This design reduces the number and complexity of sensors, thereby lowering the cost of the entire system. Furthermore, since only two ranging sensors are required for alignment, the sensor accuracy requirements are not very high, further reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] FIG1 is a schematic diagram showing the principle of a method for a robot to dock with a storage box according to an embodiment of this specification;

[0043] FIG2 is a schematic structural diagram of a robot for docking with a storage box according to an embodiment of this specification;

[0044] FIG3 is a schematic diagram of the structure of a robot adapted to dock with a storage box according to an embodiment of this specification;

[0045] FIG4 is a schematic diagram of the docking of the robot provided in an embodiment of this specification with a storage box when the ground surface is flat and uneven;

[0046] FIG5 is a schematic diagram of a hook of a robot adapted to dock with a storage box according to an embodiment of the present disclosure when being retracted;

[0047] FIG6 is a schematic diagram of a successful docking of a robot provided by an embodiment of this specification when the left and right sides of the storage box are not aligned;

[0048] FIG7 is a schematic structural diagram of a device for docking a robot with a storage box according to an embodiment of this specification;

[0049] FIG8 is a schematic structural diagram of an electronic device provided in an embodiment of this specification;

[0050] FIG9 is a schematic diagram showing the principle of a computer-readable medium provided in an embodiment of this specification. DETAILED DESCRIPTION

[0051] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0052] The following describes more fully exemplary embodiments of the present invention in conjunction with Figures 1-9. However, the exemplary embodiments can be implemented in various forms, and the present invention should not be construed as being limited to the embodiments set forth herein. On the contrary, providing these exemplary embodiments enables the present invention to be more comprehensive and complete, and more easily conveys the inventive concept to those skilled in the art. In the figures, the same reference numerals represent the same or similar elements, components, or parts, and thus their repeated description will be omitted.

[0053] Under the premise of being consistent with the technical concept of the present invention, the features, structures, characteristics or other details described in a specific embodiment do not exclude that they can be combined in one or more other embodiments in a suitable manner.

[0054] In the description of specific embodiments, the features, structures, characteristics, or other details of the present invention are described to enable those skilled in the art to fully understand the embodiments. However, this does not preclude those skilled in the art from practicing the technical solutions of the present invention without one or more of the specific features, structures, characteristics, or other details.

[0055] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0056] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0057] The term "and / or" or "and / or" includes all combinations of any one or more of the associated listed items.

[0058] FIG1 is a schematic diagram showing the principle of a method for a robot to dock with a storage box according to an embodiment of this specification. The method may include:

[0059] S110: The robot obtains an instruction for docking with the storage box, where the instruction for docking with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box;

[0060] S120: The robot moves to the docking point of the storage box based on the instruction of docking the storage box, and determines whether the difference between the measurement value of the left sensor of the robot and the test value of the right sensor meets the preset deviation;

[0061] In a specific embodiment of the present specification, when a robot receives a command to dock with a storage box, it first uses its navigation system to determine the location of the docking point. This docking point is a specific point on the storage box used for docking with the robot. The robot's navigation system internally records the preset position coordinates of the docking point, which are obtained through pre-measurement and calibration. Once the robot determines the location of the docking point, it begins to move and adjust its posture to ensure accurate and stable docking with the storage box. During this process, the robot uses its sensor system to detect the surrounding environment and obstacles to ensure safe movement and avoid collisions.

[0062] When the robot approaches a storage box, it uses ranging sensors to detect the distance and position of the storage box. These ranging sensors provide distance information between the robot and the storage box, helping the robot to accurately locate and adjust its position.

[0063] After determining the relative position between the robot and the storage box, the robot further determines whether the docking conditions are met. Specifically, the robot calculates the difference between the left and right sensor measurements to assess the left-right alignment between the robot and the storage box.

[0064] S130: When the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation, the driving motor of the robot executes the action instruction of the docking storage box to release the hook to clamp the tractor of the storage box, thereby completing the docking.

[0065] In the specific implementation of this specification, if the difference between the left sensor's measurement and the right sensor's measurement is within a preset tolerance range, the robot will determine that it is aligned with the storage box and can proceed with docking. At this point, the robot will execute the corresponding action instructions, such as opening the hook and moving the tractor, to complete the docking with the storage box.

[0066] Optionally, also include:

[0067] When the difference between the left sensor measurement value and the right sensor measurement value of the robot does not meet the preset deviation, determining the size of the left sensor measurement value and the right sensor measurement value;

[0068] When the left sensor measurement value is greater than the right sensor measurement value, the robot turns left and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets a preset deviation.

[0069] In a specific embodiment of this specification, when the difference between the robot's left and right sensor measurements does not meet a preset deviation, the robot needs to perform further judgment and processing. First, the robot determines the relative magnitude of the left and right sensor measurements. If the left sensor measurement is greater than the right sensor measurement, it indicates that the robot's position relative to the storage box is biased to the left. In this case, to align the robot with the storage box, the robot needs to turn left. By turning left, the robot can adjust its position to align with the storage box and meet the docking conditions.

[0070] After turning left, the robot returns to the step where it determines whether the difference between the left and right sensor measurements meets the preset tolerance. Through continuous adjustment and judgment, the robot gradually approaches and ultimately achieves accurate docking with the storage box. If the left sensor measurement is less than or equal to the right sensor measurement, the robot's position relative to the storage box is offset to the right or otherwise misaligned. In this case, the robot needs to turn right or perform other adjustments to achieve accurate docking with the storage box.

[0071] Through this judgment and processing mechanism, the robot can self-adjust when the preset deviation is not met, and gradually achieve accurate docking with the storage box. This intelligent docking method improves the robot's adaptability and reliability, enabling it to perform accurate docking operations in a variety of complex environments and conditions.

[0072] Optionally, also include:

[0073] When the left sensor measurement value is less than the right sensor measurement value, the robot turns right and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets the preset deviation.

[0074] In this specific embodiment, when the left sensor measurement value is less than the right sensor measurement value, it indicates that the robot is positioned to the right relative to the storage box. To align the robot with the storage box, the robot needs to turn right. By turning right, the robot can adjust its position so that it is aligned with the storage box and meets the docking conditions.

[0075] After turning right, the robot returns to the process of determining whether the difference between the left and right sensor measurements meets the preset tolerance. Through continuous adjustment and judgment, the robot can gradually approach and ultimately achieve accurate docking with the storage box.

[0076] This mechanism enables the robot to adjust itself if the preset deviations are not met, gradually achieving accurate docking with the storage box. This intelligent docking method improves the robot's adaptability and reliability, enabling it to perform accurate docking operations in a variety of complex environments and conditions.

[0077] FIG2 is a schematic diagram of the structure of a robot for docking a storage box according to an embodiment of this specification, which may include:

[0078] Drive motor 1, left sensor 2, right sensor 3, hook assembly; the hook assembly includes two symmetrically arranged horizontally rotatable hooks, and the hook includes a support rod 41 and an anti-slip block 42; the left sensor 2 and the right sensor 3 are symmetrically arranged on the same transverse axis of the robot, the drive motor 1 is installed at the central axis inside the robot, one end of the support rod 41 is connected to the drive motor 1, and the other end of the support rod 41 is installed with the anti-slip block 42.

[0079] In a specific embodiment of the present invention, the left sensor 2 and the right sensor 3 are symmetrically arranged on the same transverse axis of the robot to monitor the relative position between the robot and the storage box. When the robot receives a command to dock with the storage box, it moves to the docking point of the storage box based on the docking command. During movement, the left sensor 2 and the right sensor 3 monitor the relative position between the robot and the storage box and feed the data back to the robot's control system. When the difference between the measured values ​​of the left sensor 2 and the right sensor 3 exceeds a preset deviation range, the control system determines that the robot is not aligned with the storage box. At this time, the drive motor 1 starts and drives the support rod 41 to rotate, which in turn drives the hook to rotate horizontally. By adjusting the angle of the hook, the robot can precisely adjust its position to ensure alignment with the storage box. The design of the anti-slip block 42 prevents the hook from uncoupling during docking. When the hook contacts the storage box buckle, the anti-slip block 42 can be locked at a specific position on the buckle, ensuring that the hook is firmly connected to the storage box, thereby achieving stable docking.

[0080] This design allows the robot to automatically adjust its position and posture in complex environments, achieving accurate and stable docking with the storage box. This greatly improves docking efficiency and reliability, providing strong support for various application scenarios.

[0081] FIG3 is a schematic diagram of the structure of a robot adapted for docking with a storage box according to an embodiment of the present invention, comprising: a hollow traction frame 5 and a support spring 6; the hollow traction frame 5 is rotatably arranged along the longitudinal center axis of the storage box and is fixed to the storage box via the support spring 6;

[0082] When the robot executes the instruction to dock the storage box, the driving motor releases the hook, and the hook rotates around an end axis close to the robot until the anti-slip blocks of the two hooks cross and the hollow traction frame of the storage box is clamped to complete the docking.

[0083] In a specific embodiment of the present invention, a hollow traction frame is arranged along the longitudinal center axis of the storage box and can rotate about this center axis. This hollow traction frame is fixed to the storage box via a support spring. When the robot executes the instruction to dock with the storage box, the drive motor releases the hook. Each hook can rotate around an axis at one end closest to the robot. When the anti-slip blocks of the two hooks intersect, they clamp the hollow traction frame of the storage box, thereby firmly connecting the robot and the storage box, completing the docking.

[0084] This design allows the robot to perform stable and reliable docking operations in various environmental conditions, improving docking efficiency and accuracy. At the same time, the hollow traction frame and support spring design also increase the stability of the storage box, making it safer and more reliable during transportation and storage.

[0085] Referring to Figure 4, the hollow structure of the tractor allows the robot and storage box to be positioned at different levels when the floor is uneven. This design resolves the docking difficulties caused by uneven floors. Even slight height differences or unevenness in the floor will not affect the docking process. The hollow structure of the tractor can absorb these height differences, making the docking between the robot and storage box more stable. This design also improves the robot's adaptability and reliability, enabling accurate docking operations in a variety of complex environments and conditions.

[0086] During the docking process, the robot's control system adjusts accordingly based on ground height differences and posture changes to ensure accurate docking with the storage box. This automated docking method improves work efficiency and docking accuracy, providing a convenient and efficient solution for various application scenarios.

[0087] Referring to Figure 5, when not in use, the two hooks are usually hidden inside the robot, which not only protects the hooks from damage by the external environment, but also makes the robot look neater. When the robot needs to execute the instruction to dock the storage box, the hook assembly will be activated. The drive motor releases the hooks, causing them to extend from the inside of the robot and rotate around the end axis. This design allows the hooks to be quickly deployed when needed and conveniently retracted into the robot after the docking is completed. The rotation of the hooks is controlled by the drive motor, which ensures that the hooks can be precisely aligned with the docking point of the storage box. At the same time, since the hooks are hidden inside the robot, no additional space is required to accommodate the movement of the hooks during the docking process, which allows the robot to effectively perform docking operations even in space-constrained environments.

[0088] The hidden hook design also helps improve the robot's safety. When the robot is moving or performing other tasks, the hidden hook will not accidentally hit surrounding objects or people, thus reducing potential safety risks.

[0089] Referring to Figure 6, the hook is flexible and adaptable enough to engage with the storage box's buckle or hollow traction frame even when they are not perfectly aligned. This is due to the hook's special shape and material, which enable it to maintain good grip and stability even in non-perfect alignment. The design of the anti-slip block also plays a key role. When the hook is engaged with the storage box's buckle or hollow traction frame, the anti-slip block prevents accidental uncoupling. This ensures a stable connection even with a certain degree of vertical deviation of the docking device. In addition, the robot's control system will make fine adjustments based on actual conditions. If a mismatch or deviation is detected between the hook and the storage box's buckle or hollow traction frame, the control system will adjust the output of the drive motor to accommodate this mismatch and ensure successful docking. This design significantly improves the robot's adaptability and robustness during the docking process, enabling it to successfully cope with various position and posture changes, thereby achieving efficient and reliable docking operations in various application scenarios.

[0090] The present invention has at least one of the following advantages:

[0091] 1. The present invention achieves an automatic towing function by using a hook at the robot end and a tractor at the storage box end. This design simplifies the structure, reduces manufacturing costs, and also improves the efficiency and success rate of docking.

[0092] 2. The hollow structure of the tractor allows the robot and the storage box to be on different levels, thus overcoming the problem of uneven ground. Even if there are certain height differences or unevenness on the ground, it will not affect the docking process.

[0093] 3. The hook and retractor structure of the present invention allows for successful docking even with some vertical misalignment. This is primarily due to the cross-hook design of the hook and the hollow structure of the retractor, which allow the hook to slide and adjust on the retractor, thereby achieving alignment.

[0094] 4. By using two ranging sensors, the position and distance of the storage bin can be detected at a low cost. This design reduces the number and complexity of sensors, thereby lowering the cost of the entire system. Furthermore, since only two ranging sensors are required for alignment, the sensor accuracy requirements are not very high, further reducing costs.

[0095] FIG7 is a schematic diagram of a structure of a device for docking a robot with a storage box according to an embodiment of this specification. The device may include:

[0096] An acquisition module 100 is used for the robot to acquire an instruction for docking with a storage box, wherein the instruction for docking with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box;

[0097] A judgment module 200 is configured to cause the robot to move to a docking point of the storage box based on an instruction to dock the storage box, and to determine whether a difference between a measurement value of a left sensor and a test value of a right sensor of the robot satisfies a preset deviation;

[0098] The docking module 300 is used to release the hook to lock the tractor of the storage box when the difference between the left sensor measurement value and the right sensor measurement value of the robot meets the preset deviation, thereby completing the docking.

[0099] Optionally, also include:

[0100] When the difference between the left sensor measurement value and the right sensor measurement value of the robot does not meet the preset deviation, determining the size of the left sensor measurement value and the right sensor measurement value;

[0101] When the left sensor measurement value is greater than the right sensor measurement value, the robot turns left and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets a preset deviation.

[0102] Optionally, also include:

[0103] When the left sensor measurement value is less than the right sensor measurement value, the robot turns right and returns to the step of determining whether the difference between the left sensor measurement value and the right sensor test value of the robot meets the preset deviation.

[0104] The functions of the device in the embodiment of the present invention have been described in the above method embodiment. Therefore, for details not fully described in this embodiment, please refer to the relevant description in the above embodiment and will not be repeated here.

[0105] Based on the same inventive concept, an embodiment of this specification also provides an electronic device.

[0106] The following describes an electronic device embodiment of the present invention, which can be considered a specific physical implementation of the method and apparatus embodiments of the present invention described above. Details described in the electronic device embodiment of the present invention should be considered supplementary to the above-mentioned method or apparatus embodiments; details not disclosed in the electronic device embodiment of the present invention can be implemented with reference to the above-mentioned method or apparatus embodiments.

[0107] Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. The electronic device 300 according to this embodiment of the present invention is described below with reference to Figure 8. The electronic device 300 shown in Figure 8 is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0108] As shown in FIG8 , electronic device 300 is implemented as a general-purpose computing device. Components of electronic device 300 may include, but are not limited to, at least one processing unit 310, at least one storage unit 320, a bus 330 connecting various system components (including storage unit 320 and processing unit 310), and a display unit 340.

[0109] The storage unit stores program code that can be executed by the processing unit 310, so that the processing unit 310 performs the steps according to various exemplary embodiments of the present invention described in the above processing method section of this specification. For example, the processing unit 310 can perform the steps shown in Figure 1.

[0110] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 3201 and / or a cache memory unit 3202 , and may further include a read-only memory unit (ROM) 3203 .

[0111] The storage unit 320 may also include a program / utility 3204 having a set (at least one) of program modules 3205, such program modules 3205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0112] Bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0113] The electronic device 300 can also communicate with one or more external devices 400 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a viewer to interact with the electronic device 300, and / or any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 350. Furthermore, the electronic device 300 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 360. The network adapter 360 can communicate with other modules of the electronic device 300 via the bus 330. It should be understood that, although not shown in FIG. 8 , other hardware and / or software modules can be used in conjunction with the electronic device 300, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0114] The above description of the embodiments will be readily understood by those skilled in the art. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, server, or network device, etc.) to execute the above-mentioned method according to the present invention. When the computer program is executed by a data processing device, the computer-readable medium is enabled to implement the above-mentioned method of the present invention, i.e., the method shown in FIG1 .

[0115] FIG9 is a schematic diagram showing the principle of a computer-readable medium provided in an embodiment of this specification.

[0116] The computer program implementing the method shown in Figure 1 can be stored on one or more computer-readable media. The computer-readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0117] The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. The data signal propagated may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0118] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the viewer computing device, partially on the viewer device, as a stand-alone software package, partially on the viewer computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the viewer computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0119] In summary, the present invention can be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that general data processing equipment such as a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and a computer program product) for executing a part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0120] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the present invention is not inherently related to any specific computer, virtual device, or electronic device, and various general-purpose devices can also implement the present invention. The above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

[0121] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0122] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for a robot to dock with a storage box, characterized in that, Including: The robot obtains an instruction to dock with a storage box, and the instruction to dock with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box; Based on the instruction to dock with the storage box, the robot moves to the docking point of the storage box and determines whether the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets a preset deviation; When the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation, the drive motor of the robot executes the action instruction for docking with the storage box to release the hook and catch the tractor of the storage box, completing the docking.

2. The method for a robot to dock with a storage box according to claim 1, characterized in that, Also including: When the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot does not meet the preset deviation, determine the magnitudes of the measurement value of the left sensor and the measurement value of the right sensor; When the measurement value of the left sensor is greater than the measurement value of the right sensor, the robot turns left and returns to determine whether the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation.

3. The method for a robot to dock with a storage box according to claim 2, wherein, Also including: When the measurement value of the left sensor is less than the measurement value of the right sensor, the robot turns right and returns to determine whether the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation.

4. A robot for docking with a storage box, characterized in that, Including: A drive motor, a left sensor, a right sensor, and a hook assembly; The hook assembly includes two symmetrically arranged hooks that can rotate horizontally, and each hook includes a support rod and an anti-detachment block; The left sensor and the right sensor are symmetrically arranged on the same horizontal axis of the robot, the drive motor is installed at the central axis inside the robot, one end of the support rod is connected to the drive motor, and the anti-detachment block is installed at the other end of the support rod.

5. Structure of a robot adapted to dock with a storage box, characterized in that, Including: A hollow traction frame and a support spring; The hollow traction frame is rotatably arranged along the longitudinal central axis of the storage box and is fixed to the storage box through the support spring; When the robot executes the instruction to dock with the storage box, the drive motor releases the hook, and the hook rotates around the axis near the robot until the anti-detachment blocks of the two hooks cross and catch the hollow traction frame of the storage box, completing the docking.

6. A device for a robot to dock with a storage box, characterized in that, Including: An acquisition module for the robot to obtain an instruction to dock with a storage box, and the instruction to dock with the storage box includes a docking point of the storage box and an action instruction for docking with the storage box; A judgment module for the robot to move to the docking point of the storage box based on the instruction to dock with the storage box and determine whether the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets a preset deviation; A docking module for when the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot meets the preset deviation, the drive motor of the robot executes the action instruction for docking with the storage box to release the hook and catch the tractor of the storage box, completing the docking.

7. The device for a robot to dock with a storage box according to claim 6, wherein, Also including: When the difference between the measurement value of the left sensor and the measurement value of the right sensor of the robot does not meet the preset deviation, determine the magnitudes of the measurement value of the left sensor and the measurement value of the right sensor; When the measurement value of the left sensor is greater than the measurement value of the right sensor, the robot turns left and returns to determine whether the difference between the measurement value of the left sensor and the test value of the right sensor of the robot meets a preset deviation.

8. The device for a robot to dock with a storage box according to claim 7, characterized in that, It further includes: When the measurement value of the left sensor is less than the measurement value of the right sensor, the robot turns right and returns to determine whether the difference between the measurement value of the left sensor and the test value of the right sensor of the robot meets a preset deviation.

9. An electronic device, wherein, The electronic device includes: a processor; and a memory storing processor-executable instructions, the executable instructions, when executed, cause the processor to execute the method according to any one of claims 1-3.

10. A computer-readable storage medium, wherein, The computer-readable storage medium stores one or more programs, and the one or more programs, when executed by the processor, implement the method according to any one of claims 1-3.

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