Robot material docking control method and apparatus, device and storage medium

Abstract

A robot material docking control method. The method is applied to a robot (101), the robot (101) comprising a vehicle body (11) and a first cantilever shaft (12), the first cantilever shaft (12) being movably connected to the vehicle body (11), and the tail end of the first cantilever shaft (12) being provided with an identification device. The method comprises: acquiring position information of an apparatus (102) to be docked; on the basis of the position information, determining a first positioning point; controlling the vehicle body (11) to move to the first positioning point, and after the vehicle body (11) reaches the first positioning point, controlling the identification device to scan an identification code of said apparatus (102), said apparatus (102) comprising a second cantilever shaft (13), and the tail end of the second cantilever shaft (13) being provided with the identification code; on the basis of the scanning result, adjusting the position of the first cantilever shaft (12) until the positional deviation between the first cantilever shaft (12) and the second cantilever shaft (13) satisfies a preset requirement; and controlling the vehicle body (11) to move until the first cantilever shaft (12) and the second cantilever shaft (13) are docked. Further provided are a robot material docking control apparatus, a device, a storage medium and a computer program product.

Description

Control methods, devices, equipment, and storage media for robot material handling Technical Field

[0001] This disclosure belongs to the field of robot control technology, specifically relating to a control method, device, equipment, and storage medium for robot material docking. Background Technology

[0002] Autonomous Mobile Robots (AMRs) encompass a class of robotic technologies capable of autonomous navigation and task execution. By utilizing sensors, navigation algorithms, and advanced control systems, AMRs perform various tasks in complex environments. In many logistics applications, including raw material distribution, material transfer between different workstations on a production line, and finished product transportation, AMRs need to interface with material handling platforms at different workstations, such as conveyor belts, buffer stations, shelves, and loading mechanisms.

[0003] When performing material docking tasks, autonomous mobile robots can directly drive to the docking position of the device to be docked by using the location information of the device to be docked that is pre-stored in the logistics system, and dock the material to the device. Summary of the Invention

[0004] This disclosure relates to a control method, apparatus, equipment, and storage medium for robot material docking, which improves the efficiency of robot material docking.

[0005] In a first aspect, this disclosure provides a control method for robot material docking, applied to a robot, the robot including a vehicle body and a first cantilever shaft, the first cantilever shaft being movably connected to the vehicle body, and an identification device being provided at the end of the first cantilever shaft, the method including: acquiring position information of a device to be docked; determining a first positioning point of the robot based on the position information; controlling the vehicle body to move to the first positioning point, and after the vehicle body reaches the first positioning point, controlling the identification device to scan the identification code of the device to be docked to obtain a scanning result, wherein the device to be docked includes a second cantilever shaft, and the identification code is located at the end of the second cantilever shaft; adjusting the position of the first cantilever shaft based on the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets a preset requirement; controlling the vehicle body to move until the first cantilever shaft and the second cantilever shaft complete docking.

[0006] This disclosure provides a material docking method for robots, in which the robot transfers material to a second cantilever axis of the device to be docked via a first cantilever axis. Before docking, the position information of the device to be docked is first acquired, and a first positioning point is determined based on this position information. The robot can then roughly align the first and second cantilever axes at the first positioning point. Next, an identification device on the first cantilever axis scans the identification code on the second cantilever axis. Based on the identification result, the positional deviation between the first and second cantilever axes can be accurately determined, and the positional deviation is continuously adjusted during the scanning process. According to the material docking method of this disclosure, positional deviations caused by deformation, displacement, etc., can be identified and adjusted during the docking process, achieving precise and rapid docking of the first and second cantilever axes, improving the accuracy of material docking carried on the robot, and thus improving the efficiency of robot material docking.

[0007] Optionally, adjusting the position of the first cantilever shaft according to the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirement includes: adjusting the position of the first cantilever shaft in a first direction and / or a second direction according to the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirement; wherein, the first direction is a vertical direction, the second direction is perpendicular to the first direction, and the second direction is perpendicular to the axial direction of the first cantilever shaft when the first cantilever shaft is in a horizontal state.

[0008] During the scanning process of the identification code on the second cantilever axis by the scanning device on the first cantilever axis, this disclosure can control the robot to adjust the deviation of the first cantilever axis relative to the second cantilever axis in a first direction, i.e., the vertical direction, and can also adjust the deviation of the first cantilever axis relative to the second cantilever axis in a second direction perpendicular to the first direction, i.e., the horizontal plane. By adjusting the positional deviation of the first cantilever axis in the two directions during the scanning process, the deviation control between the first and second cantilever axes can be accurately achieved, further improving the robot's control accuracy and docking accuracy.

[0009] Optionally, controlling the vehicle body to move until the first cantilever shaft and the second cantilever shaft are fully connected includes: controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are fully connected; wherein, the third direction is the axial direction of the first cantilever shaft when the first cantilever shaft is in the horizontal state, and the third direction is perpendicular to the first direction.

[0010] Here, after adjusting the positional deviation between the first cantilever shaft and the second cantilever shaft in the first and second directions, the present disclosure allows the vehicle body to be controlled to move along the axis direction when the first cantilever shaft is in a horizontal state. Specifically, by controlling the vehicle body to move along the forward direction to approach the device to be docked, the first cantilever shaft and the second cantilever shaft can be connected during this process, achieving precise docking of the two cantilever shafts, which facilitates the accurate and rapid transfer of materials from the first cantilever shaft to the second cantilever shaft.

[0011] Optionally, the robot further includes a distance detection device disposed at the end of the first cantilever shaft; controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked includes: controlling the vehicle body to move along the third direction, and during the movement of the vehicle body along the third direction, using the distance detection device to collect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft; when the distance between the end of the first cantilever shaft and the end of the second cantilever shaft meets a preset docking distance threshold, determining that the first cantilever shaft and the second cantilever shaft are docked, and stopping the movement of the vehicle body along the third direction.

[0012] In some embodiments of this disclosure, a distance detection device is provided at the end of the first cantilever shaft of the robot. The distance detection device can accurately detect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft, thereby achieving precise control of the robot body during movement. By detecting this distance, the positioning and displacement control of the entire robot can be quickly achieved, further improving the accuracy and efficiency of robot docking control.

[0013] Optionally, the end of the first cantilever shaft is provided with a locking part, which is used to lock the first cantilever shaft and the second cantilever shaft together when the first cantilever shaft and the second cantilever shaft are docked.

[0014] Optionally, a mating part is provided at the end of the second cantilever shaft to cooperate with the locking part; wherein, one of the locking part and the mating part is a convex structure, and the other of the locking part and the mating part is a concave structure, and when the first cantilever shaft and the second cantilever shaft are docked, the convex structure and the concave structure are locked together.

[0015] In some embodiments of this disclosure, the second cantilever shaft of the docking device often suffers from poor rigidity and large deformation. During the docking process, as the material moves from the robot's first cantilever shaft to the second cantilever shaft of the docking device, the second cantilever shaft of the docking device tends to deform due to the increasing pressure, leading to an increase in the thrust required for material movement and, in severe cases, jamming. To address these issues, this disclosure also provides a locking part at the end of the first cantilever shaft. When the ends of the first and second cantilever shafts are docked, the locking part can lock the first and second cantilever shafts together. The first cantilever shaft can provide some support to the second cantilever shaft through the locking part, reducing the failure rate during material docking and further improving the efficiency and reliability of robot material docking.

[0016] Optionally, the robot further includes a pushing component, which is movably connected to the first cantilever shaft in the axial direction of the first cantilever shaft; after controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked, the method further includes: controlling the pushing component to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft through the pushing component.

[0017] Here, after the first cantilever axis of the robot completes docking with the second cantilever axis of the device to be docked, the present disclosure controls the pushing component set on the first cantilever axis to move along the axial direction of the first cantilever axis towards the device to be docked, thereby pushing the material onto the second cantilever axis, realizing efficient material transfer between the first and second cantilever axes, and further improving the efficiency of robot docking control.

[0018] Optionally, the first cantilever shaft is further provided with a stopper, which is used to prevent the material from falling off the end of the first cantilever shaft when the material is on the first cantilever shaft. The stopper is retractable in the radial direction of the first cantilever shaft. Before controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft by the pushing assembly, the method further includes: controlling the stopper to retract into the first cantilever shaft.

[0019] In some embodiments of this disclosure, a material stopper is also provided. When material is loaded on the first cantilever shaft, the material stopper can prevent the material from falling off, thereby improving the stability of the robot's material docking. On the other hand, when the pushing component pushes the material to the docking device, the material stopper is first controlled to retract into the first cantilever shaft. Through precise control of the material stopper, the stability of the robot's material docking is improved.

[0020] Optionally, the robot further includes a current detection device or a flexible detection device; when the robot includes the current detection device, controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft via the pushing assembly, includes: controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the pushing assembly, using the current detection device to collect the current change of the motor of the pushing assembly, and determining whether the material has been pushed to the second cantilever shaft based on the current change. The material is pushed to the target position; when the robot includes a flexible detection device, the pushing assembly includes a flexible component, and controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft by the pushing assembly, includes: controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the pushing assembly, using the flexible detection device to collect the deformation state of the flexible component, and judging whether the material has been pushed to the target position based on the deformation state.

[0021] Here, this disclosure can include a current detection device or a flexible detection device. The current detection device or the flexible detection device can determine whether the material has been pushed to the target position by detecting changes in current or deformation. Through precise detection and judgment, the moving distance or stopping point of the pushing component can be accurately controlled, thereby achieving precise control of the robot, preventing losses caused by incomplete pushing or excessive force, and further improving the accuracy of robot docking control.

[0022] Optionally, after controlling the pushing assembly to move closer to the docking device along the axial direction of the first cantilever shaft to push the material to the second cantilever shaft, the method further includes: controlling the pushing assembly to move away from the docking device along the axial direction of the first cantilever shaft until the pushing assembly retracts to the first cantilever shaft.

[0023] In some embodiments of this disclosure, after the pusher assembly pushes the material to the second cantilever shaft of the docking device, the pusher assembly can be controlled to retract to the first cantilever shaft to achieve precise control of the robot.

[0024] Optionally, after controlling the pushing assembly to move away from the docking device along the axial direction of the first cantilever shaft until the pushing assembly retracts to the first cantilever shaft, the method further includes: controlling the vehicle body to move away from the docking device along the third direction; controlling the first cantilever shaft to descend a preset height along the first direction while the first cantilever shaft and the second cantilever shaft are not disengaged; continuing to execute the steps of "controlling the vehicle body to move away from the docking device along the third direction" and "controlling the first cantilever shaft to descend a preset height along the first direction while the first cantilever shaft and the second cantilever shaft are not disengaged" until the first cantilever shaft and the second cantilever shaft are disengaged.

[0025] Because the second cantilever shaft of the docking device has poor rigidity and large deformation, during the docking process, after the first and second cantilever shafts are locked together by the locking mechanism, the weight of the material itself may cause the second cantilever shaft to deform, causing the end of the first cantilever shaft to descend a certain distance. The deformation caused by the descent of the ends of the two cantilever shafts may cause the locking mechanism to jam and prevent separation. Therefore, this disclosure can attempt to separate the first and second cantilever shafts. If separation is not possible, the deformation can be reduced by lowering the first cantilever shaft, facilitating separation. To ensure precise control, the first cantilever shaft can be lowered sequentially from a small preset height, attempting to separate it from the second cantilever shaft until complete separation is achieved. This realizes a complete material docking process, improves the stability of material docking, and extends the service life of the robot.

[0026] Optionally, after the first cantilever shaft and the second cantilever shaft are disengaged, the method further includes: controlling the vehicle body to move to a preset material picking position and completing the material picking.

[0027] In some embodiments of this disclosure, after the material docking is completed, the robot can return to the preset material picking position and pick up the material, preparing for the next docking task and improving the efficiency of robot material docking.

[0028] Optionally, before obtaining the location information of the device to be docked, the method further includes: in response to a material transport request, taking the material from a preset storage location onto the first cantilever shaft.

[0029] Here, the present disclosure can respond to a material transport request by retrieving materials from a preset storage location onto the first cantilever shaft, thereby achieving precise and efficient material retrieval.

[0030] Optionally, the first cantilever shaft further includes an angle detection device and a leveling component. The angle detection device is used to detect the deflection angle of the first cantilever shaft, and the leveling component is used to adjust the deflection angle of the first cantilever shaft. After the material is taken from a preset storage location and placed onto the first cantilever shaft in response to a material transport request, the method further includes: using the leveling component to adjust the deflection angle of the first cantilever shaft detected by the angle detection device to adjust the first cantilever shaft to a preset state, wherein the preset state is an upward state or a horizontal state.

[0031] The first cantilever shaft of this disclosure is also equipped with an angle detection device and a leveling component. When material is transported on the first cantilever shaft, the weight of the material itself may cause the first cantilever shaft to have an angular deviation in the horizontal direction. The angle detection device and the leveling component can adjust the first cantilever shaft to a horizontal or upward state to prevent the material from slipping off the first cantilever shaft during transportation, thereby improving the reliability of the robot's material docking. At the same time, keeping the first cantilever shaft in a horizontal state can ensure the accurate docking of the robot with the material to be docked.

[0032] Optionally, controlling the vehicle body to move to the first positioning point includes: controlling the first cantilever shaft to descend to a preset zero height in a first direction; when the first cantilever shaft is at the preset zero height, controlling the vehicle body to move to the first positioning point; and controlling the first cantilever shaft to rise to a preset docking height in the first direction.

[0033] In some embodiments of this disclosure, after the material is picked up and placed onto the first cantilever shaft of the robot, the robot needs to move the material on the first cantilever shaft to the first positioning point. During the movement, the first cantilever shaft is lowered to a preset zero height in advance. Low-position transportation can reduce the occurrence of instability caused by factors such as inertia or shaking during transportation, such as the phenomenon of material slipping off the first cantilever shaft due to inertia, thereby improving the reliability of the robot's material docking control.

[0034] Secondly, this disclosure provides a control device for robot material docking, comprising: an acquisition module configured to acquire position information of a device to be docked; a determination module configured to determine a first positioning point of the robot based on the position information; a first control module configured to control the robot's body to move to the first positioning point, and after the body reaches the first positioning point, control an identification device to scan the identification code of the device to be docked to obtain a scanning result, wherein a first cantilever shaft is movably connected to the body, the identification device is located at the end of the first cantilever shaft, the device to be docked includes a second cantilever shaft, and the identification code is located at the end of the second cantilever shaft; a first adjustment module configured to adjust the position of the first cantilever shaft based on the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets a preset requirement; and a second control module configured to control the body to move until the first cantilever shaft and the second cantilever shaft complete docking.

[0035] Optionally, the first adjustment module is specifically configured to: adjust the position of the first cantilever shaft in a first direction and / or a second direction according to the scanning result, until the positional deviation between the first cantilever shaft and the second cantilever shaft meets a preset requirement; wherein, the first direction is the vertical direction, and the second direction is perpendicular to the first direction.

[0036] Optionally, the second control module is specifically configured to: control the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked; wherein, the third direction is the axial direction of the first cantilever shaft when the first cantilever shaft is in the horizontal state, and the third direction is perpendicular to the first direction and the second direction respectively.

[0037] Optionally, the robot further includes a distance detection device disposed at the end of the first cantilever shaft; the second control module is further specifically configured to: control the vehicle body to move along the third direction, and during the movement of the vehicle body along the third direction, use the distance detection device to collect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft; when the distance between the end of the first cantilever shaft and the end of the second cantilever shaft meets a preset docking distance threshold, determine that the first cantilever shaft and the second cantilever shaft have completed docking, and stop the vehicle body from moving along the third direction.

[0038] Optionally, the end of the first cantilever shaft is provided with a locking part, which is used to lock the first cantilever shaft and the second cantilever shaft together when the first cantilever shaft and the second cantilever shaft are docked.

[0039] Optionally, the robot further includes a pushing component, which is movably connected to the first cantilever shaft in the axial direction of the first cantilever shaft; the device further includes a pushing control module configured to: after controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked, control the pushing component to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft through the pushing component.

[0040] Optionally, the first cantilever shaft is further provided with a stopper, which is used to prevent the material from falling off the end of the first cantilever shaft when the material is on the first cantilever shaft. The stopper is retractable in the radial direction of the first cantilever shaft. The above device also includes a material blocking control module, configured to: control the stopper to retract within the first cantilever shaft before controlling the pushing assembly to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft by the pushing assembly.

[0041] Optionally, the robot further includes a current detection device or a flexible detection device; when the robot includes the current detection device, the material pushing control module is specifically configured to: control the material pushing component to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the material pushing component, use the current detection device to collect the current change of the motor of the material pushing component, and determine whether the material has been pushed to the target position based on the current change; when the robot includes a flexible detection device, the material pushing component includes a flexible component, and the material pushing control module is specifically configured to: control the material pushing component to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the material pushing component, use the flexible detection device to collect the deformation state of the flexible component, and determine whether the material has been pushed to the target position based on the deformation state.

[0042] Optionally, the above device further includes a third control module configured to: after controlling the pushing component to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft by the pushing component, control the pushing component to move along the axial direction of the first cantilever shaft away from the device to be docked, until the pushing component is retracted to the first cantilever shaft.

[0043] Optionally, the above-mentioned device further includes a fourth control module, configured to: after controlling the pushing component to move away from the docking device along the axial direction of the first cantilever shaft until the pushing component is retracted to the first cantilever shaft, control the vehicle body to move away from the docking device along the third direction; if the first cantilever shaft and the second cantilever shaft are not disengaged, control the first cantilever shaft to descend a preset height along the first direction; continue to execute the steps of "controlling the vehicle body to move away from the docking device along the third direction" and "controlling the first cantilever shaft to descend a preset height along the first direction if the first cantilever shaft and the second cantilever shaft are not disengaged" until the first cantilever shaft and the second cantilever shaft are disengaged.

[0044] Optionally, the above device further includes a first material handling control module, configured to: after the first cantilever shaft and the second cantilever shaft are disengaged, control the vehicle body to move to a preset material handling position and complete the material handling.

[0045] Optionally, the above device further includes a second material handling control module, configured to: in response to a material transport request, retrieve the material from a preset storage location onto the first cantilever shaft before acquiring the location information of the device to be docked.

[0046] Optionally, the first cantilever shaft further includes an angle detection device and a leveling component. The angle detection device is configured to detect the deflection angle of the first cantilever shaft, and the leveling component is configured to adjust the deflection angle of the first cantilever shaft. The device further includes a second adjustment module, configured to: after the material is taken from a preset storage location and placed onto the first cantilever shaft in response to a material transport request, adjust the deflection angle of the first cantilever shaft detected by the angle detection device using the leveling component, so as to adjust the first cantilever shaft to a preset state, wherein the preset state is an upward state or a horizontal state.

[0047] Optionally, the first control module is specifically configured to: control the first cantilever shaft to descend to a preset zero height in the first direction; when the first cantilever shaft is at the preset zero height, control the vehicle body to move to the first positioning point; and control the first cantilever shaft to rise to a preset docking height in the first direction.

[0048] Thirdly, this disclosure provides a robot, comprising: a vehicle body; a first cantilever shaft movably connected to the vehicle body; an identification device disposed at the end of the first cantilever shaft; and at least one processor connected to the first cantilever shaft and the identification device, the at least one processor being configured to implement the method as described in any of the first aspects.

[0049] Fourthly, this disclosure provides a non-transitory computer-readable storage medium storing computer program instructions that, when executed by at least one processor, are used to implement the method described in any one of the first aspects.

[0050] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by at least one processor, implements the method described in any one of the first aspects.

[0051] This disclosure provides a control method, apparatus, device, and storage medium for robot material docking. Before material docking, the method first acquires the position information of the device to be docked. Based on this position information, a first positioning point can be determined. The robot can roughly align the first cantilever shaft and the second cantilever shaft at the first positioning point. Then, the identification device on the first cantilever shaft scans the identification code on the second cantilever shaft. Based on the identification result, the positional deviation between the first and second cantilever shafts can be accurately determined, and the positional deviation can be continuously adjusted during the scanning process. This allows for the identification and adjustment of positional deviations caused by deformation, displacement, and other problems during docking, achieving precise and rapid docking of the first and second cantilever shafts. This improves the accuracy of material docking carried on the robot and thus increases the efficiency of robot material docking. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 is a schematic diagram of an application scenario for robot material docking control provided by an embodiment of this disclosure.

[0054] Figure 2 is a flowchart illustrating a control method for robot material docking provided in an embodiment of this disclosure.

[0055] Figure 3 is a schematic diagram of the end structure of a first cantilever shaft and the end structure of a second cantilever shaft provided in an embodiment of this disclosure.

[0056] Figure 4 is a schematic diagram of the locked state structure of a robot and a device to be docked after docking, according to an embodiment of this disclosure.

[0057] Figure 5 is a flowchart illustrating another robot material docking control method provided in an embodiment of this disclosure.

[0058] Figure 6 is a structural schematic diagram of a first cantilever shaft provided in an embodiment of this disclosure.

[0059] Figure 7 is a flowchart illustrating another robot material docking control method provided in an embodiment of this disclosure.

[0060] Figure 8 is a schematic diagram of each step of a robot material transportation process provided in an embodiment of this disclosure.

[0061] Figure 9 is a schematic diagram of the structure of a robot material docking control device provided in an embodiment of this disclosure.

[0062] Figure 10 is a schematic diagram of the structure of a robot material docking control device provided in an embodiment of this disclosure.

[0063] The accompanying drawings illustrate some embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0065] It should be noted that although the terms "first," "second," etc., are used to describe various types of information in the embodiments of this disclosure, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. Optionally, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0066] It should be understood that the terms "comprising" or "including" indicate the presence of the previously mentioned features, steps, or operations, but do not exclude the presence, occurrence, or addition of one or more other features, steps, or operations. The terms "and / or," etc., used in this disclosure can be interpreted as inclusive, or mean any one or any combination thereof. For example, "A and / or B" means "any one of the following: A; B; A and B." Additionally, the character " / " in this document generally indicates that the preceding and following objects are in an "or" relationship.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0068] Exemplarily, Figure 1 is a schematic diagram of an application scenario for robot material docking control provided by an embodiment of this disclosure. This application scenario can also be a system for controlling robot material docking. As shown in Figure 1, the application scenario of this embodiment includes a robot 101 and a docking device 102. The robot 101 includes a vehicle body 11 and a first cantilever shaft 12, and the docking device 102 includes a second cantilever shaft 13 and a device body 14. In the application scenario of Figure 1, when the robot 101 performs a material docking task, the robot 101 can carry materials in the shape of rolls or cylinders through the first cantilever shaft 12, and dock the materials on the first cantilever shaft 12 to the second cantilever shaft 13 on the docking device 102 by moving the vehicle body 11.

[0069] Optionally, robot 101 is an autonomous mobile robot, which may also be referred to as a mobile robot in this embodiment of the disclosure.

[0070] In related technologies, when performing material docking tasks, autonomous mobile robots can travel to the docking position of the device to be docked by using the pre-stored position information of the device to be docked in the logistics system, and directly transport the material from the first cantilever shaft to the second cantilever shaft at the docking position. However, during the material docking process, it is impossible to adaptively adjust to problems such as deformation and displacement of the autonomous mobile robot and / or the device to be docked during the docking process. As a result, the robot cannot meet the docking requirements of high precision and high stability, and the material docking speed is slow, reducing work efficiency.

[0071] In view of this, the present disclosure provides a control method, apparatus, device, and storage medium for robot material docking. The robot can roughly align the first cantilever axis and the second cantilever axis, and then scan the identification code on the second cantilever axis using an identification device on the first cantilever axis. Based on the identification result, the positional deviation between the first cantilever axis and the second cantilever axis can be accurately determined, and the positional deviation can be continuously adjusted during the scanning process, thereby achieving precise and rapid docking of the first cantilever axis and the second cantilever axis.

[0072] Furthermore, the embodiments disclosed herein can also solve other problems that occur during the docking process of the second cantilever shaft on the device to be docked.

[0073] It is understood that the structures illustrated in the embodiments of this disclosure do not constitute a specific limitation on the control system architecture for robot material docking, the structure of the robot, and the structure of the docking device. In other feasible embodiments of this disclosure, the above architecture may include more or fewer components than illustrated, or combine some components, or split some components, or arrange different components, which can be determined according to the actual application scenario and is not limited here. The components shown in Figure 1 can be implemented in hardware, software, or a combination of software and hardware.

[0074] Optionally, the robot further includes at least one memory and at least one processor. The method of this disclosure embodiment can be implemented by at least one processor reading instructions from at least one memory and executing the instructions.

[0075] Optionally, the above-mentioned robot material docking control system further includes a control device. The control device can communicate with the robot and includes at least one memory and at least one processor. The control device can execute the method of the present disclosure embodiment, which can be achieved by at least one processor reading instructions from at least one memory and executing the instructions.

[0076] Furthermore, the system architecture and application scenarios described in this disclosure are for the purpose of more clearly illustrating the technical solutions of this disclosure and do not constitute a limitation on the technical solutions provided in this disclosure. Those skilled in the art will recognize that, with the evolution of system architecture and the emergence of new application scenarios, the technical solutions provided in this disclosure are also applicable to similar technical problems.

[0077] The technical solutions disclosed herein will now be described in detail through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for identical or similar content, the description will not be repeated in different embodiments.

[0078] Optionally, Figure 2 is a flowchart illustrating a robot material docking control method according to an embodiment of this disclosure. This method is applied to the robot 101 in Figure 1. The robot 101 includes a body 11 and a first cantilever shaft 12, which is movably connected to the body 11. An identification device is provided at the end of the first cantilever shaft 12. The executing entity in this embodiment can be a control device communicatively connected to the robot 101 in Figure 1, or the processor of the robot 101 in Figure 1. The specific executing entity can be determined according to the actual application scenario. As shown in Figure 2, the method includes the following steps S201 to S205.

[0079] In step S201, the position information of the device to be docked is obtained.

[0080] In embodiments of this disclosure, the device to be docked includes a second cantilever shaft, and an identification code is provided at the end of the second cantilever shaft.

[0081] Optionally, the position information includes coordinate information and direction information. The direction information can be the direction of the axis of the second cantilever shaft when the second cantilever shaft on the docking device is in a horizontal state.

[0082] Optionally, the location information of the device to be docked can be obtained through a material transportation request issued by the logistics system.

[0083] Alternatively, the location information of the device to be docked can be obtained from information pre-stored in the logistics system.

[0084] In step S202, the robot's first positioning point is determined based on the position information.

[0085] Optionally, the position information of the robot's first positioning point can be determined based on the position information of the device to be docked.

[0086] Specifically, based on a preset recognition distance, the distance between the end of the robot's first cantilever shaft and the end of the second cantilever shaft of the device to be docked is determined. Based on the orientation information of the device to be docked, the orientation information of the first positioning point, i.e., the robot's orientation, is determined.

[0087] It is understood that the preset recognition distance here can be a preset distance between the robot and the device to be docked, used to achieve the recognition function. For example, in this embodiment, the preset recognition distance can be set according to the focal length of the recognition device (e.g., a camera). For example, the preset recognition distance can be 40mm, 80mm, or other suitable distances. However, this embodiment does not impose specific limitations on this, and the preset recognition distance can be determined according to the actual situation.

[0088] In step S203, the vehicle body is controlled to move to the first positioning point, and after the vehicle body reaches the first positioning point, the identification device is controlled to scan the identification code of the device to be docked.

[0089] Optionally, the bottom of the vehicle body includes an omnidirectional moving chassis: capable of movement along the X and Y axes and rotation about the Z axis. The omnidirectional moving chassis allows the vehicle body to be moved to a first positioning point.

[0090] After the vehicle moves to the first positioning point, the identification device (e.g., a barcode scanner) at the end of the first cantilever shaft faces the end of the second cantilever shaft of the device to be docked. Since the end of the second cantilever shaft of the device to be docked has an identification code, the identification code can be scanned by the identification device.

[0091] Optionally, the identification device is a camera.

[0092] Optionally, the identification device is a vision sensor, and the identification code is a visual positioning marker. Based on the position of the visual positioning marker in the image captured by the vision sensor, combined with the intrinsic parameters (such as focal length, principal point coordinates, etc.) and extrinsic parameters (such as the position and orientation of the vision sensor), the actual position of the visual positioning marker in three-dimensional space can be calculated. By comparing the preset position of the visual positioning marker with the actual position, the positional deviation between the first cantilever axis and the second cantilever axis can be evaluated.

[0093] In one possible implementation, a vision sensor is provided at the end of the cantilever shaft of the autonomous mobile robot, and a concave structure is provided at the end of the cantilever shaft of the device to be docked. A visual positioning mark is provided in the concave structure. The specific position of the visual positioning mark is read by the vision sensor, and the mobile robot chassis moves along the Y-axis and the cantilever shaft assembly moves along the Z-axis according to the position, so as to achieve precise physical docking of the two cantilever shafts.

[0094] In step S204, the position of the first cantilever shaft is adjusted according to the scanning results until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements.

[0095] Optionally, adjusting the position of the first cantilever shaft according to the scanning results until the positional deviation between the first and second cantilever shafts meets a preset requirement includes: adjusting the position of the first cantilever shaft in a first direction and / or a second direction according to the scanning results until the positional deviation between the first and second cantilever shafts meets the preset requirement. In this embodiment, for example, the positional deviation between the first and second cantilever shafts meeting the preset requirement can mean that the positional deviations of the first and second cantilever shafts in the X-axis, Y-axis, and / or Z-axis directions respectively meet preset requirements. For example, in the Z-axis direction, the deviation between the positions of the first and second cantilever shafts (e.g., the center point of the end face of the first cantilever shaft in the X-axis direction and the center point of the end face of the second cantilever shaft in the X-axis direction) in the Z-axis direction is less than or equal to ±1 mm. In the Y-axis direction, the deviation between the positions of the first and second cantilever shafts in the Y-axis direction is less than or equal to ±1 mm. For the X-axis direction, the deviation of the distance between the first cantilever shaft and the second cantilever shaft in the X-axis direction is less than or equal to ±1mm. For example, when the vehicle body moves to the first positioning point and the set distance between the first cantilever shaft and the second cantilever shaft in the X-axis direction is n, the actual distance between the first cantilever shaft and the second cantilever shaft in the X-axis direction must satisfy n±1mm.

[0096] In this embodiment of the disclosure, the first direction is the vertical direction, and the second direction is perpendicular to the first direction.

[0097] In this embodiment of the disclosure, the first direction is the Z-axis direction in Figure 1, and the second direction is the Y-axis direction in Figure 1.

[0098] Optionally, the first cantilever axle is connected to the vehicle body via a cantilever axle assembly, and the position of the first cantilever axle in the Y-axis direction can be adjusted via the cantilever axle assembly. The cantilever axle assembly may include a drive structure for driving the first cantilever axle to move relative to the vehicle body in the Y-axis direction.

[0099] Optionally, the position of the first cantilever shaft in the Y-axis direction can be adjusted by moving the entire vehicle body in the Y-axis direction.

[0100] Optionally, the first cantilever shaft can be moved along the Z-axis by means of a lifting structure inside the vehicle body.

[0101] During the scanning process of the identification code on the second cantilever axis by the scanning device on the first cantilever axis, the embodiments of this disclosure can control the robot to adjust the deviation of the first cantilever axis relative to the second cantilever axis in a first direction, i.e., the vertical direction, and can also adjust the deviation of the first cantilever axis relative to the second cantilever axis in a second direction perpendicular to the first direction, i.e., a second direction on the horizontal plane. By adjusting the positional deviation of the first cantilever axis in the two directions during the scanning process, the deviation control between the first and second cantilever axes can be accurately achieved, further improving the robot's control accuracy and docking accuracy.

[0102] In step S205, the vehicle body is controlled to move until the first cantilever shaft and the second cantilever shaft are docked.

[0103] Optionally, controlling the vehicle body to move until the first cantilever shaft and the second cantilever shaft are docked includes: controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked.

[0104] In this embodiment of the disclosure, the third direction is the direction in which the axis of the first cantilever shaft is located when the first cantilever shaft is in a horizontal state, and the third direction is perpendicular to the first direction and the second direction respectively.

[0105] In this embodiment of the disclosure, the third direction is the X-axis direction in Figure 1.

[0106] Here, in this embodiment of the present disclosure, after adjusting the positional deviation between the first cantilever shaft and the second cantilever shaft in the first and second directions, the vehicle body can be controlled to move along the axis direction when the first cantilever shaft is in a horizontal state. Specifically, the vehicle body is controlled to move along the forward direction to approach the device to be docked. During this process, the first cantilever shaft and the second cantilever shaft can be connected to achieve precise docking of the two cantilever shafts, which facilitates the accurate and rapid transfer of materials from the first cantilever shaft to the second cantilever shaft.

[0107] Optionally, the robot further includes a distance detection device disposed at the end of the first cantilever shaft; controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked includes: controlling the vehicle body to move along a third direction, and during the movement of the vehicle body, using the distance detection device to collect the distance between the ends of the first cantilever shaft and the second cantilever shaft; when the distance between the ends of the first cantilever shaft and the second cantilever shaft meets a preset docking distance threshold, determining that the first cantilever shaft and the second cantilever shaft have been docked, and stopping the movement of the vehicle body along the third direction. In this embodiment of the present disclosure, the distance detection device may include, but is not limited to, a laser sensor, an ultrasonic sensor, an infrared sensor, a vision sensor, etc.

[0108] In this embodiment, the preset docking distance threshold can be determined based on actual conditions, and this embodiment does not impose specific limitations on it. Optionally, the preset docking distance threshold is determined by the structure of the first cantilever shaft and the second cantilever shaft. Optionally, the preset docking distance threshold is determined based on the focal length of the identification device (e.g., a camera).

[0109] In this embodiment of the present disclosure, a distance detection device is provided at the end of the first cantilever shaft of the robot. The distance detection device can accurately detect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft, thereby achieving precise control of the robot body during movement. By detecting this distance, the positioning and displacement control of the entire robot can be quickly achieved, further improving the accuracy and efficiency of robot docking control.

[0110] This disclosure provides a material docking method for a robot. The robot transfers material to a second cantilever axis of a device to be docked via a first cantilever axis. Before docking, the position information of the device to be docked is first acquired. Based on this position information, a first positioning point can be determined, allowing the robot to roughly align the first and second cantilever axes at the first positioning point. Next, an identification device on the first cantilever axis scans an identification code on the second cantilever axis. Based on the identification result, the positional deviation between the first and second cantilever axes can be accurately determined, and the positional deviation is continuously adjusted during the scanning process. According to this disclosure, the material docking method can identify and adjust positional deviations caused by deformation, displacement, or other problems during the docking process, achieving precise and rapid docking of the first and second cantilever axes. This improves the accuracy of material docking on the robot and thus increases the efficiency of robot material docking.

[0111] In known material handling systems, during docking with certain devices, such as lithium battery stacking machines, in addition to requiring high docking accuracy, adjustments are needed to address issues like deformation and displacement of the devices during docking to meet material docking requirements and ensure normal material transport between the autonomous robot and the devices. Optionally, this embodiment addresses the problem of poor stiffness and large deformation of the cantilever shaft of the device to be docked by providing a locking part at the end of the first cantilever shaft.

[0112] Specifically, the end of the first cantilever shaft is provided with a locking part, which is used to lock the first cantilever shaft and the second cantilever shaft together when the first cantilever shaft and the second cantilever shaft are docked.

[0113] Optionally, the locking part includes any component capable of locking together after contact, such as a groove, a protrusion, an annular wall, or a magnetic element. Correspondingly, a mating part that mates with the locking part is provided on the second cantilever shaft of the device to be docked. When the end of the first cantilever shaft contacts the end of the second cantilever shaft, the locking part can lock the first cantilever shaft and the second cantilever shaft together.

[0114] Optionally, a mating part that engages with the locking part is provided at the end of the second cantilever shaft; wherein, one of the locking part and the mating part is a convex structure, and the other of the locking part and the mating part is a concave structure, and the convex structure and the concave structure are locked together when the first cantilever shaft and the second cantilever shaft are docked.

[0115] In one possible implementation, the locking part is a convex structure and the mating part is a concave structure. Optionally, FIG3 is a schematic diagram of the end structure of a first cantilever shaft and the end structure of a second cantilever shaft according to an embodiment of the present disclosure. As shown in FIG3, the end of the first cantilever shaft 12 is provided with a locking part 31, and the end of the second cantilever shaft 13 is provided with a mating part 32.

[0116] In conjunction with the locking part in the embodiments of this disclosure, the locking part, as a support structure, can reduce the deformation of the second cantilever shaft of the device to be docked to a certain extent. Figure 4 is a schematic diagram of the locked state structure of the robot and the device to be docked after docking, provided by an embodiment of this disclosure. As shown in Figure 4, during the docking process, as the material moves from the first cantilever shaft of the autonomous mobile robot to the second cantilever shaft of the device to be docked, the second cantilever shaft of the device to be docked will exhibit the deformation trend shown by the dotted line in Figure 4 due to the continuously increasing pressure. Without a support structure, the two cantilever shafts will exhibit a V-shaped state, which will increase the thrust required for material movement and, in severe cases, cause material jamming.

[0117] In this embodiment, since the second cantilever shaft of the docking device often has poor rigidity and large deformation, during the docking process, as the material moves from the robot's first cantilever shaft to the second cantilever shaft of the docking device, the second cantilever shaft of the docking device will deform due to the increasing pressure. This leads to an increase in the thrust required for material movement, and in severe cases, material jamming. To address these issues, this embodiment also provides a locking part at the end of the first cantilever shaft. When the ends of the first and second cantilever shafts are docked, the locking part can lock the first and second cantilever shafts together. The first cantilever shaft can provide some support to the second cantilever shaft through the locking part, reducing the failure rate during the material docking process and further improving the efficiency and reliability of robot material docking.

[0118] Optionally, after the first cantilever shaft and the second cantilever shaft are docked, the material can be transported through the connection between the first cantilever shaft and the second cantilever shaft in this embodiment of the present disclosure. Accordingly, Figure 5 is a flowchart illustrating another robot material docking control method provided in this embodiment of the present disclosure, which includes the following steps S501 to S506.

[0119] In step S501, the position information of the device to be docked is obtained.

[0120] In step S502, the robot's first positioning point is determined based on the position information.

[0121] In step S503, the vehicle body is controlled to move to the first positioning point, and after the vehicle body reaches the first positioning point, the identification device is controlled to scan the identification code of the device to be docked.

[0122] In this embodiment of the present disclosure, the device to be docked includes a second cantilever shaft, and an identification code is provided at the end of the second cantilever shaft.

[0123] In step S504, the position of the first cantilever shaft is adjusted according to the scanning results until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements.

[0124] In step S505, the vehicle body is controlled to move until the first cantilever shaft and the second cantilever shaft are docked.

[0125] In the embodiments disclosed herein, the implementation methods of steps S501 to S505 are the same as those of steps S201 to S205, and will not be described in detail here.

[0126] In step S506, the material pushing assembly is controlled to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft through the material pushing assembly.

[0127] In this embodiment of the present disclosure, the robot further includes a pushing component, which is movably connected to the first cantilever shaft along its axial direction. Exemplarily, FIG6 is a schematic diagram of the structure of a first cantilever shaft provided in this embodiment of the present disclosure. As shown in FIG6, the first cantilever shaft 12 includes a pushing component 51. When the robot transports materials, if the minimum distance between the material and the vehicle body on the first cantilever shaft is greater than the maximum distance between the pushing component 51 and the vehicle body on the first cantilever shaft, the pushing component 51 can push the material to the second cantilever shaft.

[0128] Optionally, the pusher assembly is mounted on the first cantilever shaft to enable movement along the X-axis.

[0129] In this embodiment, after the first cantilever axis of the robot is docked with the second cantilever axis of the device to be docked, the pushing component set on the first cantilever axis is controlled to move along the axial direction of the first cantilever axis toward the device to be docked, so as to push the material onto the second cantilever axis, thereby realizing efficient material transfer between the first and second cantilever axes and further improving the efficiency of robot docking control.

[0130] Optionally, the robot may also include current detection devices or flexible detection devices.

[0131] When the robot includes a current detection device, controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft, includes: controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the pushing assembly, using the current detection device to collect the current change of the motor of the pushing assembly, and determining whether the material has been pushed to the target position based on the current change. When the robot includes a flexible detection device, the pushing assembly includes a flexible component. Controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft, includes: controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the pushing assembly, using the flexible detection device to collect the deformation state of the flexible component, and determining whether the material has been pushed to the target position based on the deformation state. In this embodiment of the disclosure, the current detection device may include, but is not limited to, Hall current sensors, current sensing resistors, electromagnetic current transformers, etc., and the flexible detection device may include, but is not limited to, piezoelectric sensors, resistance strain gauges, fiber optic sensors, acoustic sensors, etc.

[0132] In some possible implementations, when the pushing assembly moves axially along the first cantilever shaft towards the docking device, if the pushing direction is not obstructed, the current of the pushing assembly's motor should remain constant or within a certain current range. If the pushing direction is obstructed, the current tends to increase as the material is pushed to the target position. Therefore, if the current of the pushing assembly's motor increases, or if the change in the pushing assembly's motor current exceeds a preset current change threshold, it is determined that the material has been pushed to the target position. It is understood that the preset current change threshold can be determined based on actual conditions, and this disclosure does not impose specific limitations on it.

[0133] Optionally, the target position here can be determined according to the actual situation, for example by a first limiting member set on the first cantilever shaft or a second limiting member set on the second cantilever shaft.

[0134] Alternatively, the flexible component can be a spring.

[0135] In some possible implementations, when the pushing assembly moves axially along the first cantilever shaft towards the docking device, if the flexible component does not deform, the material has not yet been pushed to the target position and the pushing process continues. If the flexible component deforms, the material has already been pushed to the target position.

[0136] Alternatively, the deformation state of the flexible component can be detected using a flexible sensor.

[0137] Here, in this embodiment of the disclosure, a current detection device or a flexible detection device can be set. The current detection device or the flexible detection device can determine whether the material has been pushed to the target position by detecting changes in current or deformation. Through precise detection and judgment, the moving distance or stopping point of the pushing component can be accurately controlled, thereby achieving precise control of the robot, preventing losses caused by incomplete pushing or excessive force, and further improving the accuracy of robot docking control.

[0138] Optionally, a stopper is also provided on the first cantilever shaft. The stopper is used to prevent the material from falling off the end of the first cantilever shaft when the material is on the first cantilever shaft. The stopper is retractable in the radial direction of the first cantilever shaft. Before controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft by the pushing assembly, the method further includes: controlling the stopper to retract into the first cantilever shaft.

[0139] Optionally, the structure of the baffle is shown in Figure 6, and the first cantilever shaft 12 also includes a baffle 52.

[0140] Optionally, before the robot picks up the material onto the first cantilever shaft, the stopper is controlled to retract into the first cantilever shaft; after the robot picks up the material onto the first cantilever shaft, the stopper is controlled to extend out of the first cantilever shaft to prevent the material from falling off.

[0141] In this embodiment of the disclosure, the baffle 52 in FIG6 is in a retracted state, that is, the baffle 52 is retracted inside the first cantilever shaft 12 and is not exposed on the surface of the first cantilever shaft 12. In this case, the material can be smoothly pushed to the second cantilever shaft.

[0142] In this embodiment of the present disclosure, the robot is also equipped with a material stopper. When the first cantilever shaft is loaded with material and the material is being transported, the material stopper can prevent the material from falling off, thereby improving the stability of the robot's material docking. On the other hand, when the pushing component pushes the material to the docking device, it first controls the material stopper to retract into the first cantilever shaft. Through precise control of the material stopper, the stability of the robot's material docking is improved.

[0143] Optionally, after controlling the pushing assembly to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft by the pushing assembly, the method further includes: controlling the pushing assembly to move along the axial direction of the first cantilever shaft toward the device to be docked, until the pushing assembly is retracted to the first cantilever shaft.

[0144] In this embodiment of the present disclosure, after the pusher component pushes the material to the second cantilever shaft of the docking device, the pusher component can be controlled to retract to the first cantilever shaft to achieve precise control of the robot.

[0145] Optionally, after controlling the pushing assembly to move away from the docking device along the axial direction of the first cantilever shaft until the pushing assembly retracts to the first cantilever shaft, the method further includes: controlling the vehicle body to move away from the docking device along a third direction; if the first cantilever shaft and the second cantilever shaft are not disengaged, controlling the first cantilever shaft to descend a preset height along a first direction; continuing to execute the steps of "controlling the vehicle body to move away from the docking device along a third direction" and "if the first cantilever shaft and the second cantilever shaft are not disengaged, controlling the first cantilever shaft to descend a preset height along a first direction" until the first cantilever shaft and the second cantilever shaft are disengaged.

[0146] As shown by the dashed line in Figure 4, the deformation trend successfully disengages the first cantilever shaft from the second cantilever shaft. This embodiment of the present disclosure can successfully disengage the first and second cantilever shafts by controlling the first cantilever shaft to descend gradually by a certain distance. It is understood that the preset height here can be determined according to actual conditions, and this embodiment of the present disclosure does not impose specific limitations on it. For example, the preset height is 5mm.

[0147] Because the second cantilever shaft of the docking device has poor rigidity and large deformation, during the docking process, after the first and second cantilever shafts are locked together by the locking part, the weight of the material itself may cause the second cantilever shaft to deform, which in turn causes the end of the first cantilever shaft to descend a certain distance. The deformation caused by the descent of the ends of the two cantilever shafts may cause the locking part to jam and prevent separation. Therefore, in this embodiment, an attempt can be made to separate the first and second cantilever shafts. If separation is not possible, the deformation can be reduced by lowering the first cantilever shaft, which facilitates the separation of the first and second cantilever shafts. To ensure precise control, a small preset height can be used to gradually lower the first cantilever shaft and attempt to separate it from the second cantilever shaft until complete separation is achieved. This realizes a complete material docking process, improves the stability of material docking, and extends the service life of the robot.

[0148] Optionally, after the first cantilever shaft and the second cantilever shaft are disengaged, the method further includes: controlling the vehicle body to move to a preset material picking position and completing the material picking.

[0149] In this embodiment of the disclosure, after the material docking is completed, the robot can return to the preset material picking position and pick up the material, preparing for the next docking task and improving the efficiency of robot material docking.

[0150] Optionally, the robot in this embodiment of the disclosure can perform material handling to achieve transportation. Accordingly, FIG7 is a schematic flowchart of another robot material docking control method provided in this embodiment of the disclosure, which includes the following steps S701 to S707.

[0151] In step S701, in response to a material transport request, the material is retrieved from a preset storage location and placed onto the first cantilever shaft.

[0152] Optionally, the material transport request may include information about a preset storage location and information about the device to be docked.

[0153] In step S702, the first cantilever shaft is adjusted to a preset state according to the angle detection device and the leveling component.

[0154] In this embodiment of the disclosure, the preset state is either an upward state or a horizontal state.

[0155] In this embodiment of the disclosure, the upward state is: the first cantilever shaft is tilted toward the top of the vehicle body, and the angle between the first cantilever shaft and the horizontal direction is greater than 0°.

[0156] Optionally, during material conveying, adjusting the first cantilever shaft to an upward angle can prevent the material from impacting the stop due to inertia when encountering obstacles or sudden stops by pedestrians during transport. This situation would reduce the lifespan of the robot's structural components. Controlling the upward angle improves the robot's lifespan.

[0157] Optionally, the weight of the material is obtained. If the weight of the material is greater than a preset weight threshold, the first cantilever shaft is adjusted to an upward state. If the weight of the material is not greater than the preset weight threshold, the first cantilever shaft is adjusted to a horizontal state.

[0158] For lightly loaded materials, the first cantilever shaft is adjusted to a horizontal position for conveying, which improves work efficiency. For heavily loaded materials, the first cantilever shaft is adjusted to a slightly upward position, which can further reduce instability caused by material falling or colliding during transportation.

[0159] Optionally, the first cantilever shaft further includes an angle detection device and a leveling assembly. The angle detection device (e.g., a tilt sensor) is used to detect the deflection angle of the first cantilever shaft, and the leveling assembly is used to adjust the deflection angle of the first cantilever shaft. In embodiments of this disclosure, the angle detection device may include, but is not limited to, a vision sensor, a laser displacement sensor, a tilt sensor, etc.

[0160] Specifically, the cantilever shaft assembly also includes a leveling component to enable the first cantilever shaft to rotate about the Y-axis (e.g., within a range of ±3°).

[0161] The cantilever shaft assembly of the autonomous mobile robot includes a leveling component. When the first cantilever shaft of the autonomous mobile robot is slightly deformed due to carrying material, it can be adjusted to a horizontal state by the leveling component.

[0162] In step S703, the position information of the device to be docked is obtained.

[0163] In step S704, the robot's first positioning point is determined based on the position information.

[0164] In step S705, the vehicle body is controlled to move to the first positioning point, and after the vehicle body reaches the first positioning point, the identification device is controlled to scan the identification code of the device to be docked.

[0165] In this embodiment of the present disclosure, the device to be docked includes a second cantilever shaft, and an identification code is provided at the end of the second cantilever shaft.

[0166] Optionally, controlling the vehicle body to move to the first positioning point includes: controlling the first cantilever shaft to descend to a preset zero height in a first direction; when the first cantilever shaft is at the preset zero height, controlling the vehicle body to move to the first positioning point; and controlling the first cantilever shaft to rise to a preset docking height in a first direction. The preset docking height is the height of the first cantilever shaft when it docks with the second cantilever shaft, and the preset docking height is determined by the height of the second cantilever shaft.

[0167] In this embodiment, after the material is picked up and placed onto the first cantilever shaft of the robot, the robot needs to move the material on the first cantilever shaft to a first positioning point. During the movement, this embodiment pre-lowers the first cantilever shaft to a preset zero height. Low-level transportation reduces instability caused by inertia or swaying during transport, such as material slipping off the first cantilever shaft due to inertia, thus improving the reliability of the robot's material docking control. In this embodiment, the zero height refers to the minimum allowable working height of the robot's first cantilever shaft, or the initial height of the first cantilever shaft when the robot leaves the factory.

[0168] In step S706, the position of the first cantilever shaft is adjusted according to the scanning results until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements.

[0169] In step S707, the vehicle body is controlled to move until the first cantilever shaft and the second cantilever shaft are docked.

[0170] In the embodiments of this disclosure, the implementation methods of steps S703 to S707 are the same as those of steps S201 to S205, and will not be described in detail here.

[0171] This embodiment of the disclosure can respond to a material transport request by retrieving materials from a preset storage location onto a first cantilever shaft, thereby achieving precise and efficient material retrieval.

[0172] In one possible implementation, Figure 8 is a schematic diagram of the steps of a robot material transport process provided by an embodiment of this disclosure.

[0173] After the robot receives the material, the tilt sensor at the end of the robot's first cantilever shaft and the cantilever shaft leveling assembly are used to adjust the robot's first cantilever shaft to a horizontal position, and the robot's feed stop extends outward. Next, the robot chassis moves into the material-collecting preparation position. Then, the robot's cantilever shaft assembly is adjusted to the zero-position height. Next, the vision sensor at the end of the robot's first cantilever shaft detects the pose of the second cantilever shaft of the device to be docked. Next, the robot's cantilever shaft assembly is moved along the Y / Z axes so that the end of the robot's first cantilever shaft aligns with the end of the second cantilever shaft of the device to be docked. Next, the robot is moved along the X-axis, approaching the second cantilever shaft of the device to be docked, and the end of the robot's first cantilever shaft is inserted into the end of the second cantilever shaft of the device to be docked. Next, the robot's feed stop retracts to lower it. Next, the pushing assembly of the robot's first cantilever shaft moves along the X-axis towards the side closest to the second cantilever shaft of the device to be docked (the pushing assembly extends) to push the material from the robot's first cantilever shaft to the second cantilever shaft of the device to be docked. Next, the pushing component of the robot's first cantilever axis moves along the X-axis towards the side of the second cantilever axis away from the docking device (the pushing component retracts). Then, the robot's first cantilever axis descends a certain distance (e.g., 5mm) along the Z-axis, and the robot's chassis moves along the X-axis away from the second cantilever axis of the docking device, to pull the end of the robot's first cantilever axis from the end of the second cantilever axis of the docking device. Next, the robot's chassis moves to the ready-to-retrieve position. Then, the robot returns to the preset retrieving position and retrieves the material, preparing for the next docking task. This cycle repeats, enabling fast and high-precision material transport.

[0174] Figure 9 is a schematic diagram of a robot material docking control device provided in an embodiment of this disclosure. As shown in Figure 9, the device in this embodiment includes: an acquisition module 901, a determination module 902, a first control module 903, a first adjustment module 904, and a second control module 905. The robot material docking control device here can be the processor itself, or an integrated circuit that implements the functions of the processor. It should be noted that the division of the acquisition module 901, determination module 902, first control module 903, first adjustment module 904, and second control module 905 is only a logical functional division; physically, they can be integrated or independent.

[0175] In this embodiment of the disclosure, the acquisition module 901 is configured to acquire the location information of the device to be docked.

[0176] The module 902 is configured to determine the robot's first positioning point based on the location information.

[0177] The first control module 903 is configured to control the vehicle body to move to the first positioning point, and after the vehicle body arrives at the first positioning point, control the identification device to scan the identification code of the device to be docked, wherein the device to be docked includes a second cantilever shaft, and the end of the second cantilever shaft is provided with an identification code.

[0178] The first adjustment module 904 is configured to adjust the position of the first cantilever shaft according to the scanning results until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements.

[0179] The second control module 905 is configured to control the movement of the vehicle body until the first cantilever shaft and the second cantilever shaft are fully connected.

[0180] Optionally, the first adjustment module 904 is specifically configured to: adjust the position of the first cantilever shaft in the first direction and / or the second direction according to the scanning result, until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements; wherein, the first direction is the vertical direction, and the second direction is perpendicular to the first direction.

[0181] Optionally, the second control module 905 is specifically configured to: control the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are docked; wherein, the third direction is the direction of the axis of the first cantilever shaft when the first cantilever shaft is in a horizontal state, and the third direction is perpendicular to the first direction and the second direction respectively.

[0182] Optionally, the robot also includes a distance detection device, which is located at the end of the first cantilever shaft; the second control module 905 is further configured to: control the vehicle body to move along a third direction, and during the movement of the vehicle body, use the distance detection device to collect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft; when the distance between the end of the first cantilever shaft and the end of the second cantilever shaft meets the preset docking distance threshold, determine that the first cantilever shaft and the second cantilever shaft have completed docking, and stop the vehicle body from moving along the third direction.

[0183] Optionally, the end of the first cantilever shaft is provided with a locking part, which is used to lock the first cantilever shaft and the second cantilever shaft together when the first cantilever shaft and the second cantilever shaft are docked.

[0184] Optionally, the robot also includes a pushing component, which is movably connected to the first cantilever shaft along its axial direction. The device further includes a pushing control module configured to: after controlling the vehicle body to move along a third direction via a second control module until the first and second cantilever shafts are docked, control the pushing component to move along the axial direction of the first cantilever shaft towards the device to be docked, thereby pushing the material onto the second cantilever shaft.

[0185] Optionally, a stopper is also provided on the first cantilever shaft. The stopper is used to prevent material from falling off the end of the first cantilever shaft when the material is on it. The stopper is retractable in the radial direction of the first cantilever shaft. The above device also includes a material-stopping control module, configured to: control the stopper to retract within the first cantilever shaft before the material-pushing assembly is moved axially along the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft by the material-pushing assembly.

[0186] Optionally, the robot may also include current detection devices or flexible detection devices.

[0187] When the robot includes a current detection device, the feeding control module is specifically configured as follows: control the feeding component to move along the axial direction of the first cantilever shaft towards the device to be docked, and during the movement of the feeding component, use the current detection device to collect the current change of the motor of the feeding component, and determine whether the material has been pushed to the target position based on the current change.

[0188] When the robot includes a flexible detection device, the pushing component includes a flexible part. The pushing control module is specifically configured to control the pushing component to move along the axial direction of the first cantilever shaft towards the device to be docked. During the movement of the pushing component, the flexible detection device collects the deformation state of the flexible part and determines whether the material has been pushed to the target position based on the deformation state.

[0189] Optionally, the above device further includes: a third control module configured to: after controlling the pushing component to move along the axial direction of the first cantilever shaft towards the device to be docked by the pushing control module, so as to push the material to the second cantilever shaft by the pushing component, control the pushing component to move along the axial direction of the first cantilever shaft away from the device to be docked, until the pushing component retracts to the first cantilever shaft.

[0190] Optionally, the above-mentioned device further includes a fourth control module, configured to: control the pushing component to move away from the docking device along the axial direction of the first cantilever shaft through the third control module until the pushing component is retracted to the first cantilever shaft, then control the vehicle body to move away from the docking device along a third direction; if the first cantilever shaft and the second cantilever shaft are not disengaged, then control the first cantilever shaft to descend a preset height along the first direction; continue to execute the steps of "controlling the vehicle body to move away from the docking device along the third direction" and "if the first cantilever shaft and the second cantilever shaft are not disengaged, then control the first cantilever shaft to descend a preset height along the first direction" until the first cantilever shaft and the second cantilever shaft are disengaged.

[0191] Optionally, the above device further includes a first material handling control module, configured to: after the first cantilever shaft and the second cantilever shaft are disengaged, control the vehicle body to move to the preset material handling position and complete the material handling.

[0192] Optionally, the above device further includes a second material handling control module, configured to: in response to a material transport request, retrieve material from a preset storage location onto the first cantilever shaft before obtaining the location information of the device to be docked through the acquisition module.

[0193] Optionally, the first cantilever shaft further includes an angle detection device and a leveling component. The angle detection device is used to detect the deflection angle of the first cantilever shaft, and the leveling component is used to adjust the deflection angle of the first cantilever shaft. The above device also includes a second adjustment module, configured to: after the second material handling control module responds to a material transport request and retrieves material from a preset storage position onto the first cantilever shaft, adjust the first cantilever shaft to a preset state according to the angle detection device and the leveling component, wherein the preset state is an upward state or a horizontal state.

[0194] Optionally, the first control module 903 is specifically configured to: control the first cantilever shaft to descend to a preset zero height in a first direction; when the first cantilever shaft is at the preset zero height, control the vehicle body to move to the first positioning point; and control the first cantilever shaft to rise to a preset docking height in a first direction.

[0195] Referring to Figure 10, a schematic diagram of a control device suitable for implementing the robot material docking embodiments of the present disclosure is shown. The robot material docking control device 1000 can be a terminal device or a server. The terminal device can include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, personal digital assistants (PDAs), portable Android devices (PADs), portable media players (PMPs), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The robot material docking control device shown in Figure 10 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present disclosure.

[0196] As shown in Figure 10, the robot material docking control device 1000 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage device 1008 into the random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the robot material docking control device 1000. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0197] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the robot material docking control device 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 10 shows a robot material docking control device 1000 with various devices, it should be understood that the control device 1000 is not required to implement or possess all the devices shown. The control device 1000 may alternatively implement or possess more or fewer devices.

[0198] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1008, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0199] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, or infrared system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0200] The aforementioned computer-readable medium may be included in the aforementioned robot material docking control device; or it may exist independently and not be assembled into the robot material docking control device.

[0201] The aforementioned computer-readable medium carries one or more programs, which, when executed by the robot material docking control device, cause the robot material docking control device to perform the method shown in the above embodiments.

[0202] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0203] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0204] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0205] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0206] The control device for robot material docking in this embodiment can be used to execute the technical solutions in the above-described method embodiments of this disclosure. Its implementation principle and technical effect are similar, and will not be repeated here.

[0207] This disclosure also provides a non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by at least one processor, are used to implement the robot material docking control method described above.

[0208] This disclosure also provides a computer program product, including a computer program, which, when executed by at least one processor, is used to implement the robot material docking control method described above.

[0209] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0210] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0211] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0212] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for robot material docking, wherein, The method is applied to a robot, the robot including a body and a first cantilever shaft, the first cantilever shaft being movably connected to the body, and an identification device being provided at the end of the first cantilever shaft; the method includes: Obtain the location information of the device to be docked; Based on the location information, the first positioning point of the robot is determined; The vehicle body is controlled to move to the first positioning point, and after the vehicle body reaches the first positioning point, the identification device is controlled to scan the identification code of the device to be docked and obtain the scanning result. The device to be docked includes a second cantilever shaft, and the identification code is located at the end of the second cantilever shaft. Based on the scanning results, adjust the position of the first cantilever shaft until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements; Control the movement of the vehicle body until the first cantilever shaft and the second cantilever shaft are fully connected.

2. The method according to claim 1, wherein, The step of adjusting the position of the first cantilever shaft according to the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements includes: Based on the scanning results, the position of the first cantilever shaft is adjusted in the first direction and / or the second direction until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements. Wherein, the first direction is the vertical direction, the second direction is perpendicular to the first direction, and the second direction is perpendicular to the axis direction of the first cantilever shaft when the first cantilever shaft is in a horizontal state.

3. The method according to claim 2, wherein, Controlling the movement of the vehicle body until the first cantilever shaft and the second cantilever shaft are fully engaged includes: Control the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are fully connected; Wherein, the third direction is the axial direction of the first cantilever shaft when the first cantilever shaft is in the horizontal state, and the third direction is perpendicular to the first direction.

4. The method according to claim 3, wherein, The robot also includes a distance detection device, which is disposed at the end of the first cantilever shaft; The control of the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are fully engaged includes: The vehicle body is controlled to move along the third direction, and during the movement of the vehicle body along the third direction, the distance detection device is used to collect the distance between the end of the first cantilever shaft and the end of the second cantilever shaft; When the distance between the end of the first cantilever shaft and the end of the second cantilever shaft meets the preset docking distance threshold, it is determined that the first cantilever shaft and the second cantilever shaft have completed docking, and the vehicle body stops moving along the third direction.

5. The method according to any one of claims 1 to 4, wherein, The end of the first cantilever shaft is provided with a locking part, which is used to lock the first cantilever shaft and the second cantilever shaft together when the first cantilever shaft and the second cantilever shaft are docked.

6. The method according to claim 5, wherein, A mating part that engages with the locking part is provided at the end of the second cantilever shaft; In this configuration, one of the locking portion and the mating portion is a convex structure, and the other of the locking portion and the mating portion is a concave structure. When the first cantilever shaft and the second cantilever shaft are docked, the convex structure and the concave structure are locked together.

7. The method according to any one of claims 3 to 6, wherein, The robot also includes a pushing assembly, which is movably connected to the first cantilever shaft in the axial direction of the first cantilever shaft; After controlling the vehicle body to move along a third direction until the first cantilever shaft and the second cantilever shaft are fully engaged, the method further includes: The material pushing assembly is controlled to move along the axial direction of the first cantilever shaft toward the device to be docked, so as to push the material to the second cantilever shaft through the material pushing assembly.

8. The method according to claim 7, wherein, The first cantilever shaft is also provided with a stopper, which is used to prevent the material from falling off the end of the first cantilever shaft when the material is on the first cantilever shaft. The stopper is retractable in the radial direction of the first cantilever shaft. Before controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft via the pushing assembly, the method further includes: The feed stop is controlled to retract into the first cantilever shaft.

9. The method according to claim 7 or 8, wherein, The robot also includes a current detection device or a flexible detection device; When the robot includes the current detection device, controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft via the pushing assembly, includes: The material pushing assembly is controlled to move along the axis of the first cantilever shaft toward the device to be docked. During the movement of the material pushing assembly, the current detection device is used to collect the current change of the motor of the material pushing assembly, and the material is pushed to the target position based on the current change. When the robot includes a flexible inspection device, the pushing assembly includes a flexible component. Controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft via the pushing assembly, includes: The material pushing assembly is controlled to move along the axial direction of the first cantilever shaft toward the device to be docked. During the movement of the material pushing assembly, the deformation state of the flexible component is collected by the flexible detection device, and the material is pushed to the target position based on the deformation state.

10. The method according to any one of claims 7 to 9, wherein, After controlling the pushing assembly to move along the axial direction of the first cantilever shaft towards the device to be docked, so as to push the material to the second cantilever shaft by means of the pushing assembly, the method further includes: The material pushing assembly is controlled to move away from the docking device along the axial direction of the first cantilever shaft until the material pushing assembly retracts to the first cantilever shaft.

11. The method according to claim 10, wherein, After the pusher assembly is moved away from the docking device along the axial direction of the first cantilever shaft until it retracts to the first cantilever shaft, the method further includes: Control the vehicle body to move away from the docking device along the third direction; While the first cantilever shaft and the second cantilever shaft are not disengaged, the first cantilever shaft is controlled to descend a preset height along the first direction; Continue executing the steps of "controlling the vehicle body to move away from the docking device along the third direction" and "controlling the first cantilever shaft to descend a preset height along the first direction while the first cantilever shaft and the second cantilever shaft are not disengaged" until the first cantilever shaft and the second cantilever shaft are disengaged.

12. The method according to claim 11, wherein, After the first cantilever shaft and the second cantilever shaft are disconnected, the method further includes: Control the vehicle body to move to the preset material picking position and complete the material picking.

13. The method according to any one of claims 3 to 12, wherein, Before obtaining the location information of the device to be docked, the method further includes: In response to a material transport request, the material is retrieved from a preset storage location and placed onto the first cantilever shaft.

14. The method according to claim 13, wherein, The first cantilever shaft also includes an angle detection device and a leveling component. The angle detection device is used to detect the deflection angle of the first cantilever shaft, and the leveling component is used to adjust the deflection angle of the first cantilever shaft. After retrieving the material from a preset storage location and placing it onto the first cantilever shaft in response to a material transport request, the method further includes: The leveling component is used to adjust the deflection angle of the first cantilever shaft detected by the angle detection device to adjust the first cantilever shaft to a preset state, wherein the preset state is an upward state or a horizontal state.

15. The method according to any one of claims 1 to 14, wherein, The control of the vehicle body to move to the first positioning point includes: Control the first cantilever shaft to descend to a preset zero height in a first direction; When the first cantilever shaft is at the preset zero position height, control the vehicle body to move to the first positioning point; Control the first cantilever shaft to rise to a preset docking height in the first direction.

16. A control device for robot material docking, comprising: The acquisition module is configured to acquire the location information of the device to be docked. The determination module is configured to determine the first positioning point of the robot based on the position information; The first control module is configured to control the robot's body to move to the first positioning point, and after the body reaches the first positioning point, control the identification device to scan the identification code of the device to be docked and obtain the scanning result. The body is movably connected to a first cantilever shaft, the identification device is located at the end of the first cantilever shaft, the device to be docked includes a second cantilever shaft, and the identification code is located at the end of the second cantilever shaft. The first adjustment module is configured to adjust the position of the first cantilever shaft according to the scanning result until the positional deviation between the first cantilever shaft and the second cantilever shaft meets the preset requirements. The second control module is configured to control the movement of the vehicle body until the first cantilever shaft and the second cantilever shaft are fully connected.

17. A robot comprising: Vehicle body; The first cantilever shaft is movably connected to the vehicle body; A recognition device is installed at the end of the first cantilever shaft; as well as At least one processor connected to the first cantilever shaft and the identification device, the at least one processor being configured to perform the method as described in any one of claims 1 to 15.

18. A non-transitory computer-readable storage medium storing computer program instructions that, when executed by at least one processor, implement the method as described in any one of claims 1 to 15.

19. A computer program product comprising a computer program that, when executed by at least one processor, implements the method as described in any one of claims 1 to 15.

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