WO2021027665A1 - 对接装置、移动机器人和对接装置的对接方法 - Google Patents

对接装置、移动机器人和对接装置的对接方法 Download PDF

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Publication number
WO2021027665A1
WO2021027665A1 PCT/CN2020/107278 CN2020107278W WO2021027665A1 WO 2021027665 A1 WO2021027665 A1 WO 2021027665A1 CN 2020107278 W CN2020107278 W CN 2020107278W WO 2021027665 A1 WO2021027665 A1 WO 2021027665A1
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Prior art keywords
docking
photosensitive
laser
light sensitive
devices
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PCT/CN2020/107278
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English (en)
French (fr)
Inventor
许哲涛
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北京海益同展信息科技有限公司
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Application filed by 北京海益同展信息科技有限公司 filed Critical 北京海益同展信息科技有限公司
Priority to US17/632,143 priority Critical patent/US20230125504A1/en
Priority to EP20851638.5A priority patent/EP4015160A4/en
Publication of WO2021027665A1 publication Critical patent/WO2021027665A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/646—Docking or rendezvous systems
    • B64G1/6462—Docking or rendezvous systems characterised by the means for engaging other vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser

Definitions

  • the embodiments of the present disclosure relate to the field of electrical control, in particular to a docking method of a docking device, a mobile robot, and a docking device.
  • the docking methods of the docking device mainly include: "ring-cone” type, “rod-cone” type, “different body and isomorphic peripheral” type, “gripper-collision lock” type and so on.
  • a spacecraft docking device can be used to realize docking, connection and separation between spacecraft. Through it, the mechanical, electrical and hydraulic connections of two spacecraft can be realized. After the two are connected to form a track complex, the transfer of personnel and materials can be realized.
  • the present disclosure proposes a docking device, a mobile robot, and a docking method of the docking device.
  • an embodiment of the present disclosure provides a docking device, the docking device includes a processor and a plurality of light sensitive devices electrically connected to the processor, wherein: the processor determines from the plurality of light sensitive devices A photosensitive device that receives laser light, wherein the laser is emitted by the opposite end device that is docked with the docking device; the docking device is controlled according to the positional deviation between the photosensitive device that receives the laser light and the target photosensitive device Move to the docking position calibrated by the target photosensitive device, so that the docking device is docked with the opposite end device.
  • the docking position is a position where the target light sensitive device receives the laser light emitted by the opposite device.
  • the plurality of photosensitive devices are arranged in an array, and the target photosensitive device is located at the center of the array formed by the plurality of photosensitive devices.
  • the processor determines the photosensitive device that receives the laser light from the plurality of photosensitive devices in the following manner: determines from the plurality of photosensitive devices that the voltage at both ends is greater than or equal to a preset voltage threshold.
  • Device as a light-sensitive device that receives laser light.
  • the opposite device stops emitting laser in response to determining that the docking device is successfully docked with the opposite device, and in response to determining that the docking device is not docked with the opposite device, emits laser; or, the above processing
  • the device controls the opposite device to stop emitting laser light, and in response to determining that the docking device is not docked with the opposite device, controls the opposite device to emit laser light.
  • the opposite device is provided with a switch for controlling laser emission, and the switch is disconnected when the opposite device and the docking device are successfully docked to suspend the laser emission.
  • the switch is connected between the opposite device and the docking device. When the docking device is not docked, it is closed to emit laser light.
  • the docking device further includes a lidar positioning system, wherein: the processor further controls the docking device to move according to the relative position of the docking device and the opposite device determined by the lidar positioning system. The position where the light sensitive device in the plurality of light sensitive devices receives the laser light emitted by the opposite end device.
  • the light sensitive device is a photoresistor or a photodiode.
  • an embodiment of the present disclosure provides a mobile robot, wherein the mobile robot includes the docking device according to any one of the embodiments in the first aspect.
  • the embodiments of the present disclosure provide a docking method of a docking device, wherein the docking device includes a plurality of light sensitive devices, and the method includes: determining the light sensitivity of the received laser from the plurality of light sensitive devices.
  • the laser is emitted by the opposite end device that is docked with the docking device; according to the positional deviation between the photosensitive device receiving the laser and the target photosensitive device, the docking device is controlled to move to the target light The calibrated docking position of the sensitive device so that the docking device is docked with the opposite end device.
  • the determination of the photosensitive device receiving the laser from the plurality of photosensitive devices includes: determining, from the plurality of photosensitive devices, the photosensitive device whose voltage across both ends is greater than or equal to a preset voltage threshold, as Light-sensitive device that receives laser light.
  • an embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device, on which one or more programs are stored, when the above one or more programs are Is executed by two processors, so that the one or more processors implement the method in any one of the embodiments of the docking method of the third-party docking device.
  • the embodiments of the present disclosure provide a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, the method of any one of the embodiments of the docking method of the aforementioned third-party interfacing device is realized .
  • the docking device provided by the embodiment of the present disclosure includes a processor and a plurality of light sensitive devices electrically connected to the above-mentioned processor, wherein: the above-mentioned processor determines the light sensitive device that receives laser light from the above-mentioned multiple light sensitive devices, wherein, The laser is emitted by the opposite end device that is docked with the docking device; according to the positional deviation between the photosensitive device receiving the laser and the target photosensitive device, the docking device is controlled to move to the position calibrated by the target photosensitive device. The docking position allows the docking device to dock with the opposite end device.
  • the above-mentioned docking device realizes the docking of the docking device and the opposite device by determining the positional deviation between the photosensitive device receiving the laser from the target photosensitive device among the plurality of photosensitive devices, thereby improving the docking device and the pairing.
  • FIG. 1 is a schematic structural diagram of a docking device according to an embodiment of the present disclosure
  • FIGS. 2A and 2B are schematic diagrams of docking a docking device and a counterpart device according to the present disclosure
  • Fig. 3 is a schematic diagram of the arrangement of multiple light sensitive devices included in the docking device according to the present disclosure
  • Fig. 4A is a schematic structural diagram of the mobile robot according to the present disclosure
  • FIG. 4B is a top view of the mobile robot in FIG. 4A;
  • Fig. 5 is a schematic structural diagram of a counterpart device for docking with the mobile robot of the present disclosure
  • FIG. 6 is a flowchart of an embodiment of a docking method of a docking device according to the present disclosure
  • Fig. 7 is a schematic structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present disclosure.
  • FIG. 1 is a schematic structural diagram of a docking device according to an embodiment of the present disclosure.
  • the docking device includes a processor 10 and a plurality of photosensitive devices 11 electrically connected to the processor 10, and the plurality of photosensitive devices 11 includes a target photosensitive device 12.
  • the processor 10 firstly determines the photosensitive device that receives the laser light from the above-mentioned plurality of photosensitive devices. Wherein, the above-mentioned laser is emitted by the opposite end device that is connected to the above-mentioned docking device. Then, the processor 10 controls the docking device to move to the docking position calibrated by the target photosensor device 12 according to the positional deviation between the photosensitive device receiving the laser light and the target photosensitive device 12, so that the docking device Docking with the above-mentioned opposite device.
  • the above-mentioned opposite device can emit laser light through a laser transmitter fixedly installed on it.
  • the position of the target light sensitive device can be used to calibrate the docking position between the docking device and the opposite end device docked with the docking device.
  • FIGS. 2A and 2B are schematic diagrams of docking the docking device and the opposite device according to the present disclosure.
  • the opposite device 2 includes a laser transmitter 21 fixedly mounted thereon.
  • the laser transmitter 21 can emit laser light 22.
  • the processor 10 electrically connected to the plurality of photosensitive devices can determine the photosensitive device 13 that has received the laser 22 according to the resistance or voltage of each photosensitive device.
  • the position information of each photosensitive device may be stored in the processor 10 in advance.
  • the processor 10 can calculate the position offset between the photosensitive device 13 receiving the laser and the target photosensitive device 12.
  • the position shift indicates the relative position between the photosensitive device 13 receiving the laser and the target photosensitive device 12 (for example, the distance between the photosensitive device 13 receiving the laser and the target photosensitive device 12, the target photosensitive device 12 relative to the direction of the photosensitive device 13 receiving the laser light).
  • the processor 10 may control the docking device 1 to move to the docking position calibrated by the target light sensitive device 12, so that the docking device 1 and the opposite end device 2 are docked.
  • each light sensitive device mentioned above can be preset, and the light sensing area of each light sensitive device is limited. Since the position of the laser transmitter is fixed, the laser light received by different photosensitive devices can indicate that the docking device and the opposite device are in different relative positions.
  • the size, model, parameters (for example, the highest reverse working voltage, junction capacitance, resistance) and other properties of the aforementioned photosensitive devices may be the same or different from each other.
  • at least one of the light sensitive devices may have a size different from other light sensitive devices other than the light sensitive device in the plurality of light sensitive devices.
  • the aforementioned docking position indicates a relative position where the docking device and the opposite end device docked therewith can be successfully docked, and the docking position can be calibrated by the target light sensor 12.
  • the docking position is a position where the target light sensitive device receives the laser light emitted by the opposite end device.
  • the relative position of the docking device and the opposite device connected to it is the calibrated docking position, and the two can be successfully docked.
  • the distance the docking device 1 moves is the distance between the photosensitive device 13 receiving the laser and the laser
  • the distance between the target photosensitive devices 12 and the direction in which the docking device 1 moves are: starting from the position of the target photosensitive device 12, and taking the position of the photosensitive device 13 receiving the laser as the end direction.
  • the processor 10 can control the docking device 1 to move according to the obtained direction and distance, so that the docking device 1 can be End device 2 is docked.
  • this optional implementation can reduce The consumption of computing resources reduces the complexity of computing.
  • the docking position may also be a position where other light sensitive devices (that is, light sensitive devices other than the target light sensitive device) receive the laser light emitted by the opposite end device.
  • the processor 10 can be based on the pre-stored position offset between the target photosensitive device 12 and the aforementioned docking position, and the position offset between the target photosensitive device 12 and the photosensitive device 13 receiving the laser, Calculate the position offset between the photosensitive device 13 receiving the laser and the docking position (including the direction in which the docking device moves and the distance instructing the docking device to move). After that, the processor 10 may control the docking device 1 to move according to the direction and distance included in the calculated position offset, so that the docking device 1 is docked with the opposite end device 2.
  • the arrangement of the above-mentioned multiple photosensitive devices may be arbitrary.
  • the arrangement of the above-mentioned multiple light sensitive devices can be set according to the shape and structure of the installation position of the light sensitive devices.
  • the above-mentioned multiple photosensitive devices are arranged in an array.
  • a plurality of photosensitive devices are arranged in a rectangular array.
  • the processor only needs to store the position information of a few light sensitive devices and the distance information between the light sensitive devices, and the positions of all the light sensitive devices can be determined according to the array arrangement to realize the rapid calculation of the position offset.
  • multiple light-sensitive devices can also be arranged on the non-planar mounting surface randomly or according to a preset rule.
  • FIG. 3 As shown in FIG. 3, a plurality of photosensitive devices are arranged on a curved surface.
  • the target light sensitive device 12 may be any light sensitive device among the above-mentioned multiple light sensitive devices.
  • the target photosensitive device 12 may be located at the position where any one of the above-mentioned multiple photosensitive devices is located.
  • the light sensitive device that successfully receives the laser light emitted by the laser transmitter of the opposite device when the docking device and the opposite device docked with the docking device are successfully docked can be selected as the target light sensitive device.
  • the above-mentioned target light sensitive device is located at the center of an array formed by the arrangement of the above-mentioned multiple light sensitive devices.
  • the target light sensitive device when multiple light sensitive devices are arranged in an array, the target light sensitive device is located at the center of the array formed by the above multiple light sensitive devices, and the target light sensitive device is successfully docked when the laser light is received. When in the state, it helps to realize the docking by moving a shorter distance.
  • the target light sensitive device is arranged in the center of the array formed by the arrangement of multiple light sensitive devices, then the light sensitive devices other than the target light sensitive device among the multiple light sensitive devices can reach the target light sensitive device.
  • the sum of the distances between the devices is usually smaller than that when the target photosensitive device is arranged in a non-central position of the array formed by the arrangement of multiple photosensitive devices, other than the target photosensitive device among the multiple photosensitive devices.
  • the above-mentioned processor 10 may determine the light-sensitive device receiving the laser light from the above-mentioned multiple light-sensitive devices in various ways.
  • the above-mentioned processor determines the light-sensitive device that receives the laser light from the above-mentioned multiple light-sensitive devices in the following manner:
  • a plurality of light sensitive devices are arranged in an array.
  • the target photosensitive device is located in the center of the array formed by the arrangement of multiple photosensitive devices (the position of the target photosensitive device can be denoted as (i, j)).
  • the row of the array formed by the arrangement of a plurality of photosensitive devices includes 2i-1 photosensitive devices (i is a positive integer), and the column includes 2j-1 photosensitive devices (j is a positive integer).
  • Each photosensitive device in the plurality of photosensitive devices has the same size, model, and parameters.
  • a wire can be used to communicate with the photosensitive device, and the wire connection with other photosensitive devices other than the photosensitive device can be disconnected (exemplarily, it can be connected by a switch The disconnection and connection of the control circuit).
  • the total resistance in the conduction circuit except for the photosensitive device is R1, and the power supply voltage is VDD.
  • the resistance R is very large, and R is much greater than R1.
  • the above-mentioned preset voltage threshold should be a value between (0, VDD), which can distinguish whether the photosensitive device receives laser irradiation.
  • the opposite device stops emitting laser in response to determining that the docking device is successfully docked with the opposite device, and in response to determining that the docking device is not docked with the opposite device, Emit laser; or, in response to determining that the docking device is successfully docked with the opposite device, the processor controls the opposite device to stop emitting laser, and in response to determining that the docking device is not docked with the opposite device, controls the pairing The end device emits laser light.
  • the docking device when the docking device moves to the docking position calibrated by the target light sensitive device, the docking device successfully docks with the opposite end device.
  • the laser is used to determine whether the docking device is successfully docked with the opposite end device, there is no need to emit the laser when the docking device is successfully docked with the opposite end device. When it is not docked, it starts to emit laser light.
  • the launching and closing of the laser can be controlled by the opposite device or the processor on the docking device.
  • a switch for controlling laser emission is provided on the opposite end device, and the switch is turned off when the opposite end device and the docking device are successfully docked to suspend laser emission. When the opposite end device and the docking device are not docked, they are closed to emit laser light.
  • the switch when the opposite device and the docking device change from the unconnected state to the successfully connected state, the switch can be triggered to open; when the opposite device and the docking device switch from the successfully connected state to the unconnected state, the switch can be triggered to close, So as to control the laser emission.
  • the aforementioned docking device further includes a lidar positioning system.
  • the processor 10 further controls the movement of the docking device according to the relative position of the docking device and the opposite end device determined by the lidar positioning system to make the light sensitive device of the plurality of light sensitive devices receive the opposite end The position of the laser emitted by the device.
  • the lidar positioning system can roughly determine the relative position of the docking device and the opposite end device.
  • the accuracy of the relative position determined by the lidar positioning system is often unable to achieve the docking device and the opposite end.
  • the detection of the precise docking position between the devices makes it impossible to achieve electrical connection between the docking device and the opposite device at the precise docking position through the lidar positioning system.
  • This optional implementation may first control the movement of the docking device to a position where the light sensitive device among the multiple light sensitive devices can receive the laser light emitted by the opposite end device through the positioning of the lidar positioning system, and then, According to the positional deviation between the photosensitive device receiving the laser and the target photosensitive device, the docking device is controlled to move to the docking position calibrated by the target photosensitive device, so that the docking device is docked with the opposite end device.
  • the problem of inability to locate due to the area where the multiple photosensitive devices are arranged is too small and the laser cannot irradiate the photosensitive devices.
  • the photosensitive device is a photosensitive resistor or a photosensitive diode.
  • the smaller the light sensitive device the closer the distance between the light sensitive devices, and the higher precision the docking can be achieved.
  • the docking accuracy can reach 1 mm.
  • the docking device in the above-mentioned embodiment of the present disclosure determines the positional deviation between the photosensitive device receiving the laser from the plurality of photosensitive devices and the target photosensitive device to realize the docking of the docking device and the opposite end device, thereby improving The accuracy of the docking device and the opposite device.
  • the embodiment of the present disclosure also provides a mobile robot. Refer further to Figures 4A and 4B.
  • FIG. 4A is a schematic structural diagram of a mobile robot according to the present disclosure.
  • the mobile robot may include the docking device described in the foregoing embodiment.
  • the mobile robot shown in FIG. 4A includes a processor 10 and a plurality of light sensitive devices 11 electrically connected to the processor 10.
  • Fig. 4B is a top view of the mobile machine of Fig. 4A.
  • a plurality of light sensitive devices are arranged on the upper side of the mobile robot.
  • the docking device included in the above-mentioned mobile robot may be used as a movable chassis for carrying objects or other devices.
  • the opposite device with the docking device may be a storage device (such as a dining truck, a delivery truck).
  • the storage device can contain various objects such as medicines, goods, and dinner plates.
  • the aforementioned chassis and the aforementioned storage device can constitute a detachable and movable delivery equipment.
  • FIG. 5 is a schematic diagram of an exemplary application scenario of a counterpart device that is docked with the mobile robot of the present disclosure.
  • the opposite end device for docking with the docking device as shown in FIG. 5 includes a laser transmitter 21.
  • the docking device may be the chassis of a food delivery robot, and the opposite device docking with the docking device may be a dining car.
  • the dining car can be separated from the bottom tray to improve the efficiency of meal transportation, and the docking accuracy between the dining car and the chassis can be improved, which helps to realize the electrical connection between the dining car and the chassis.
  • the process 600 of an embodiment of the docking method of the docking device according to the present disclosure includes a plurality of photosensitive devices.
  • the docking method of the docking device includes the following steps:
  • Step 601 Determine a photosensitive device that receives laser light from among the above-mentioned multiple photosensitive devices.
  • the execution body (for example, the processor shown in FIG. 1) of the docking method of the docking device can determine the photosensitive device that receives the laser from the plurality of photosensitive devices.
  • the above-mentioned laser is emitted by the opposite end device that is docked with the above-mentioned docking device.
  • the foregoing execution subject may perform the foregoing step 601 in the following manner:
  • a plurality of light sensitive devices are arranged in an array.
  • the target photosensitive device is located in the center of the array formed by the arrangement of multiple photosensitive devices (the position of the target photosensitive device can be denoted as (i, j)).
  • the row of the array formed by the arrangement of a plurality of photosensitive devices includes 2i+1 photosensitive devices (i is a natural number), and the column includes 2j+1 photosensitive devices (j is a natural number).
  • Each photosensitive device in the plurality of photosensitive devices has the same size, model, and parameters.
  • a wire can be used to communicate with the photosensitive device, and the wire connection with other photosensitive devices other than the photosensitive device can be disconnected (exemplarily, it can be connected by a switch The disconnection and connection of the control circuit).
  • the total resistance in the conduction circuit except for the photosensitive device is R1, and the power supply voltage is VDD.
  • the resistance R is very large, and R is much greater than R1.
  • the above-mentioned preset voltage threshold should be a value between (0, VDD), which can distinguish whether the photosensitive device receives laser irradiation.
  • Step 602 Control the docking device to move to a docking position calibrated by the target photosensor device according to the positional deviation between the photosensitive device receiving the laser light and the target photosensitive device, so that the docking device and the opposite end Device docking.
  • the execution subject may control the docking device to move to the docking position calibrated by the target photosensor device according to the positional deviation between the photosensor device that receives the laser light and the target photosensor device, so that The docking device is docked with the opposite end device.
  • the target light sensitive device may be any light sensitive device among the above-mentioned multiple light sensitive devices.
  • the target photosensitive device may be located at a position where any one of the above-mentioned multiple photosensitive devices is located.
  • the light sensitive device that successfully receives the laser light emitted by the laser transmitter of the opposite device when the docking device and the opposite device docked with the docking device are successfully docked can be selected as the target light sensitive device.
  • the above-mentioned docking position may be calibrated by the target photosensitive device.
  • the docking position is a position where the target light sensitive device receives the laser light emitted by the opposite end device.
  • the distance instructing the docking device to move is the distance between the photosensitive device receiving the laser and the target photosensitive device.
  • the direction in which the docking device moves is the direction starting from the position of the target photosensitive device and the direction ending with the position of the photosensitive device receiving the laser.
  • the docking position may also be a position where other light sensitive devices (that is, light sensitive devices other than the target light sensitive device) receive the laser light emitted by the opposite end device.
  • the processor can calculate the received position based on the pre-stored position offset between the target photosensitive device and the aforementioned docking position, and the position offset between the target photosensitive device and the photosensitive device receiving the laser.
  • the position offset between the photosensitive device of the laser and the docking position (including the direction in which the docking device moves and the distance instructing the docking device to move).
  • the processor may control the docking device to move according to the direction and distance included in the calculated position offset, so that the docking device is docked with the opposite end device.
  • the method provided in the above-mentioned embodiment of the present disclosure determines the light-sensitive device that receives the laser light from the above-mentioned multiple light-sensitive devices, wherein the laser light is emitted by the opposite end device docking with the above-mentioned docking device, and then, according to the above-mentioned receiving To the position shift between the photosensitive device of the laser and the target photosensitive device, the docking device is controlled to move to the docking position calibrated by the target photosensitive device, so that the docking device and the opposite end device are docked, which improves the docking The accuracy of the docking between the device and the opposite device.
  • FIG. 7 shows a schematic structural diagram of an electronic device (such as a mobile robot) 700 suitable for implementing the embodiments of the present disclosure.
  • the electronic device shown in FIG. 7 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present disclosure.
  • the electronic device 700 may include a processing device (such as a central processing unit, a graphics processor, etc.) 701, which may be loaded into a random access device according to a program stored in a read-only memory (ROM) 702 or from a storage device 706
  • the program in the memory (RAM) 703 executes various appropriate actions and processing.
  • the RAM 703 also stores various programs and data required for the operation of the electronic device 700.
  • the processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus (for example, a CAN bus) 704.
  • An input/output (I/O) interface 705 is also connected to the bus 704.
  • the following devices can be connected to the I/O interface 705: a communication device 707, which can allow the electronic device 700 to communicate with other devices wirelessly or wiredly to exchange data; a sensor device (such as a multi-function device electrically connected to the processing device 701). Each light sensitive device) 708, the sensing device 708 can allow the electronic device 700 to obtain information from the outside (for example, the location of the light sensitive device irradiated by the laser).
  • FIG. 7 shows an electronic device 700 having various devices, it should be understood that it is not required to implement or have all the illustrated devices. It may alternatively be implemented or provided with more or fewer devices. Each block shown in FIG. 7 may represent one device, or may represent multiple devices as needed.
  • the process described above with reference to the flowchart can be implemented as a computer software program.
  • the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication device 707, or installed from the storage device 706, or installed from the ROM 702.
  • the processing device 701 the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.
  • the computer-readable medium described in the embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two.
  • the computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, 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 of the above.
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable signal medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.
  • the above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or it may exist alone without being assembled into the electronic device.
  • the above-mentioned computer readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device is caused to determine the light-sensitive device receiving the laser from the above-mentioned multiple light-sensitive devices, wherein ,
  • the above-mentioned laser is emitted by the opposite end device that is docked with the above-mentioned docking device; according to the positional deviation between the photosensitive device receiving the laser and the target light-sensitive device, the docking device is controlled to move to be calibrated by the target light-sensitive device The docking position, so that the docking device is docked with the opposite end device.
  • the computer program code for performing the operations of the embodiments of the present disclosure can be written in one or more programming languages or a combination thereof, the programming languages including object-oriented programming languages such as Java, Smalltalk, C++, It also includes conventional procedural programming languages-such as "C" language or similar programming languages.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user’s computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).
  • LAN local area network
  • WAN wide area network
  • each block in the flowchart or block diagram can represent a module, program segment, or part of code, and the module, program segment, or part of code contains one or more for realizing the specified logical function Executable instructions.
  • the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or operation Or it can be realized by a combination of dedicated hardware and computer instructions.

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Abstract

本公开的实施例公开了对接装置、移动机器人和对接装置的对接方法。该对接装置包括处理器和与该处理器电连接的多个光敏感器件，其中：该处理器从该多个光敏感器件中确定接收到激光的光敏感器件，其中，该激光由与该对接装置进行对接的对端装置发射；根据该接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制该对接装置移动到由该目标光敏感器件标定的对接位置，以使该对接装置与该对端装置对接。该实施方式提高了对接装置与对端装置对接的精度。

Description

对接装置、移动机器人和对接装置的对接方法
本专利申请要求于2019年08月13日提交的、申请号为201910745386.1、发明名称为“对接装置、移动机器人和对接装置的对接方法”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本公开的实施例涉及电气控制领域，具体涉及对接装置、移动机器人和对接装置的对接方法。
背景技术
很多应用场景中需要对两个装置进行对接，以实现装置间的相对固定。在对接过程中，通常，一个装置保持固定，另一装置通过移动来实现两个装置之间的对接，或者，两个装置均进行移动，从而实现对接。目前，对接装置的对接方式主要包括：“环-锥”式、“杆-锥”式、“异体同构周边”式、“抓手-碰撞锁”式等等。
例如，航天器对接装置可以用来实现航天器之间的对接、连接与分离。通过它，可以实现两个航天器机械、电气、液路的连接。二者通过对接组成轨道复合体后，可实现人员、物资的转移。
此外，一些具有承载运输功能的移动机器人(例如送餐机器人)的设计中，需要进行电气连接的各个部件之间往往采用一体的设计方式。
发明内容
本公开提出了对接装置、移动机器人和对接装置的对接方法。
第一方面，本公开的实施例提供了一种对接装置，该对接装置包括处理器和与该处理器电连接的多个光敏感器件，其中：该处理器从 该多个光敏感器件中确定接收到激光的光敏感器件，其中，该激光由与该对接装置进行对接的对端装置发射；根据该接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制该对接装置移动到由该目标光敏感器件标定的对接位置，以使该对接装置与该对端装置对接。
在一些实施例中，该对接位置为该目标光敏感器件接收到该对端装置发射的激光的位置。
在一些实施例中，上述多个光敏感器件呈阵列式排布，上述目标光敏感器件位于由该多个光敏感器件排布形成的阵列的中心。
在一些实施例中，上述处理器通过如下方式从上述多个光敏感器件中确定接收到激光的光敏感器件：从上述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
在一些实施例中，上述对端装置响应于确定上述对接装置与上述对端装置成功对接，停止发射激光，以及响应于确定上述对接装置与上述对端装置未对接，发射激光；或者，上述处理器还响应于确定上述对接装置与上述对端装置成功对接，控制上述对端装置暂停发射激光，以及响应于确定上述对接装置与上述对端装置未对接，控制上述对端装置发射激光。
在一些实施例中，上述对端装置上设置有控制激光发射的开关，上述开关在上述对端装置与上述对接装置成功对接时断开，以暂停发射激光，上述开关在上述对端装置与上述对接装置未对接时闭合，以发射激光。
在一些实施例中，上述对接装置还包括激光雷达定位系统，其中：上述处理器还根据上述激光雷达定位系统确定的上述对接装置与上述对端装置的相对位置，控制上述对接装置移动至使上述多个光敏感器件中的光敏感器件接收到上述对端装置发射的激光的位置。
在一些实施例中，光敏感器件为光敏电阻或光敏二极管。
第二方面，本公开的实施例提供了一种移动机器人，其中，上述移动机器人包括如上述第一方面中任一实施例的对接装置。
第三方面，本公开的实施例提供了一种对接装置的对接方法，其 中，上述对接装置包括多个光敏感器件，该方法包括：从上述多个光敏感器件中确定接收到激光的光敏感器件，其中，上述激光由与上述对接装置进行对接的对端装置发射；根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。
在一些实施例中，上述从上述多个光敏感器件中确定接收到激光的光敏感器件，包括：从上述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
第四方面，本公开的实施例提供了一种电子设备，包括：一个或多个处理器；存储装置，其上存储有一个或多个程序，当上述一个或多个程序被上述一个或多个处理器执行，使得该一个或多个处理器实现如上述第三方面对接装置的对接方法中任一实施例的方法。
第五方面，本公开的实施例提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时实现如上述第三方面对接装置的对接方法中任一实施例的方法。
本公开的实施例提供的对接装置包括处理器和与上述处理器电连接的多个光敏感器件，其中：上述处理器从上述多个光敏感器件中确定接收到激光的光敏感器件，其中，上述激光由与上述对接装置进行对接的对端装置发射；根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。由此，上述对接装置通过确定多个光敏感器件中接收到激光的光敏感器件，与目标光敏感器件之间的位置偏移，实现对接装置与对端装置对接，从而提高了对接装置与对端装置对接的精度。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本公开的其它特征、目的和优点将会变得更明显：
图1是本公开的一个实施例的对接装置的结构示意图；
图2A和图2B是根据本公开的对接装置与对端装置进行对接的示意图；
图3是根据本公开的对接装置包括的多个光敏感器件的排布方式的示意图；图4A是根据本公开的移动机器人的结构示意图；
图4B为针对图4A的移动机器人的俯视图；
图5是与本公开的移动机器人进行对接的对端装置的结构示意图；
图6是根据本公开的对接装置的对接方法的一个实施例的流程图；
图7是适于用来实现本公开的实施例的电子设备的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
请参考图1，图1是本公开的一个实施例的对接装置的结构示意图。
如图1所示，对接装置包括处理器10和与处理器10电连接的多个光敏感器件11，多个光敏感器件11中包括目标光敏感器件12。
其中，处理器10首先从上述多个光敏感器件中确定接收到激光的光敏感器件。其中，上述激光由与上述对接装置进行对接的对端装置发射。然后，处理器10根据上述接收到激光的光敏感器件与目标光敏感器件12之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件12标定的对接位置，以使上述对接装置与上述对端装置对接。
在这里，上述对端装置可以通过固定安装于其上的激光发射器发 射激光。目标光敏感器件的位置可以用于标定对接装置和与对接装置对接的对端装置之间的对接位置。
作为示例，请参考图2A和图2B，图2A和图2B是根据本公开的对接装置与对端装置进行对接的示意图。
如图2A所示，对端装置2包括固定安装于其上的激光发射器21。激光发射器21可以发射激光22。当激光发射器21向对接装置1包括的多个光敏感器件所在的位置区域内发射激光22时，多个光敏感器件中的、接收到激光22的光敏感器件的电阻将变小。由此，与多个光敏感器件电连接的处理器10可以根据各个光敏感器件的电阻或者电压，来确定出接收到激光22的光敏感器件13。在这里，各个光敏感器件的位置信息可以预先存储于处理器10中。
下面请参考图2B，处理器10可以计算出接收到激光的光敏感器件13与目标光敏感器件12之间的位置偏移。其中，位置偏移指示接收到激光的光敏感器件13与目标光敏感器件12之间的相对位置(例如接收到激光的光敏感器件13与目标光敏感器件12之间的距离、目标光敏感器件12相对于接收到激光的光敏感器件13的方向)。在得到位置偏移之后，处理器10可以控制上述对接装置1移动到由上述目标光敏感器件12标定的对接位置，以使上述对接装置1与上述对端装置2对接。
上述各光敏感器件的尺寸可以是预先设定的，每个光敏感器件的光感应面积有限。由于激光发射器的位置是固定的，则不同的光敏感器件接收到激光可以表征对接装置与对端装置处于不同的相对位置。
上述各光敏感器件的尺寸、型号、参数(例如最高反向工作电压、结电容、电阻)等属性可以是彼此相同的，也可以是彼此不同的。作为示例，上述多个光敏感器件中,可以有至少一个光敏感器件的尺寸与上述多个光敏感器件中除该光敏感器件之外的其他光敏感器件不同。
可以理解，在本实施例中，上述对接位置表示对接装置和与其对接的对端装置可成功对接的相对位置，该对接位置可以由目标光敏感器件12标定。
在本实施例的一些可选的实现方式中，上述对接位置为上述目标 光敏感器件接收到上述对端装置发射的激光的位置。当安装在对端装置的固定位置上的激光发射器发射的激光被目标光敏感器件接收到时，对接装置和与其对接的对端装置的相对位置为标定的对接位置，二者可成功对接。
当上述对接位置为上述目标光敏感器件接收到上述对端装置发射的激光的位置时，图2B所示的应用场景中，对接装置1进行移动的距离即为收到激光的光敏感器件13与目标光敏感器件12之间的距离，对接装置1进行移动的方向即为：以目标光敏感器件12所在的位置为起点，以收到激光的光敏感器件13所在的位置为终点的方向。由此，在得到指示对接装置进行移动的方向和指示对接装置进行移动的距离之后，处理器10可以控制上述对接装置1按照所得到的方向和距离进行移动，从而使上述对接装置1与上述对端装置2对接。
可以理解，相对于对接位置为使得其它光敏感器件(即除上述目标光敏感器件之外的光敏感器件)接收到上述对端装置发射的激光的位置的方案，本可选的实现方式可以减少计算资源的消耗，降低计算的复杂程度。
可选的，对接位置也可以为使得其它光敏感器件(即除上述目标光敏感器件之外的光敏感器件)接收到上述对端装置发射的激光的位置。由此，处理器10可以根据预先存储的、目标光敏感器件12与上述对接位置之间的位置偏移，以及目标光敏感器件12与收到激光的光敏感器件13之间的位置偏移，计算出收到激光的光敏感器件13与对接位置之间的位置偏移(包括指示对接装置进行移动的方向和指示对接装置进行移动的距离)。之后，处理器10可以控制上述对接装置1按照计算得到的位置偏移所包括的方向和距离进行移动，从而使上述对接装置1与上述对端装置2对接。
在本实施例中，上述多个光敏感器件的排布方式可以是任意的。例如，可以根据光敏感器件的安装位置的形状、结构，来设置上述多个光敏感器件的排布方式。
在本实施例的一些可选的实现方式中，上述多个光敏感器件呈阵列式排布。例如图1的示例中，多个光敏感器件呈矩形阵列式排布。
应该理解，当多个光敏感器件呈阵列式排布时，相邻光敏感器件之间的距离相等，光敏感器件分布均匀。这样，处理器仅需存储少数光敏感器件的位置信息以及光敏感之间的间距信息，即可根据阵列式的排布确定出所有光敏感器件的位置进而实现位置偏移的快速计算。
可选的，当光敏感器件的安装面并非平面时，也可以随机地或按照预先设定的规则规律地在上述非平面的安装面排布多个光敏感器件。作为示例请参考图3，如图3所示，多个光敏感器件在曲面上排布。
在本实施例中，目标光敏感器件12可以是上述多个光敏感器件中的任意一个光敏感器件。换言之，该目标光敏感器件12可以位于上述多个光敏感器件中的任意一个光敏感器件所在的位置。在实践中，可以选择对接装置和与对接装置对接的对端装置成功对接时成功接收到对端装置的激光发射器发出的激光的光敏感器件作为目标光敏感器件。
在本实施例的一些可选的实现方式中，上述目标光敏感器件位于由上述多个光敏感器件排布形成的阵列的中心。
可以理解，当多个光敏感器件呈阵列式排布，目标光敏感器件位于由上述多个光敏感器件排布形成的阵列的中心，并且，目标光敏感器件接收到激光的情况下为成功对接状态时，有助于通过移动更短的距离实现对接。
具体地，如果将目标光敏感器件设置于多个光敏感器件排布形成的阵列的中心，那么，多个光敏感器件中除目标光敏感器件之外的其他的光敏感器件到该目标光敏感器件之间的距离之和，通常小于将目标光敏感器件设置于多个光敏感器件排布形成的阵列的非中心位置的情况下，多个光敏感器件中除目标光敏感器件之外的其他的光敏感器件到该目标光敏感器件之间的距离之和。可见，将目标光敏感器件设置于多个光敏感器件排布形成的阵列的中心，则多个光敏感器件中的每个光敏感器件与目标光敏感器件之间的平均距离小于将目标光敏感器件设置于多个光敏感器件排布形成的阵列的非中心位置的情况下的每个光敏感器件与目标光敏感器件之间的平均距离。由此，有助于通 过移动更短的距离实现对接。
在这里，上述处理器10可以通过多种方式，从上述多个光敏感器件中确定接收到激光的光敏感器件。
在本实施例的一些可选的实现方式中，上述处理器通过如下方式从上述多个光敏感器件中确定接收到激光的光敏感器件：
从上述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
具体地，示例性的，在下面所描述的情况下：多个光敏感器件呈阵列式排布。目标光敏感器件位于由多个光敏感器件排布形成的阵列的中心(目标光敏感器件的位置可以记作(i，j))。多个光敏感器件排布形成的阵列的行包括2i-1个光敏感器件(i为正整数)，列包括2j-1个光敏感器件(j为正整数)。多个光敏感器件中的每个光敏器件的大小、型号、参数等属性相同。当处理器测量光敏感器件两端的电压时，可以采用导线与该光敏感器件连通，断开与除该光敏感器件之外的其他光敏感器件之间的导线连通(示例性的，可以通过开关控制电路的断开与连通)。导通电路中除光敏感器件之外的总电阻为R1，并且，电源电压为VDD。
光敏感器件未接收到激光照射时，电阻R很大，R远大于R1，此时，光敏感器件两端的电压V为：V＝VDD*R1/(R+R1)，即，此时电压约等于0；
光敏感器件接收到激光照射时，电阻R很小，此时，光敏感器件两端的电压V为：V＝VDD。
应该理解，上述预设电压阈值的取值应为(0，VDD]之间的，可以区分光敏感器件是否接受到激光照射的数值。
需要说明的是，上述从多个光敏感器件中确定接收到激光的光敏感器件的方法仅仅是示例性的，根据实现需要，可以采用与上述方法等同的其他方式，从多个光敏感器件中确定接收到激光的光敏感器件。并且，本领域的技术人员所采用的与上述方法等同的其他方式均应属于本公开的实施例所要求保护的范围之内。
在本实施例的一些可选的实现方式中，上述对端装置响应于确定 上述对接装置与上述对端装置成功对接，停止发射激光，以及响应于确定上述对接装置与上述对端装置未对接，发射激光；或者，上述处理器还响应于确定上述对接装置与上述对端装置成功对接，控制上述对端装置暂停发射激光，以及响应于确定上述对接装置与上述对端装置未对接，控制上述对端装置发射激光。
在这里，当上述对接装置移动到由上述目标光敏感器件标定的对接位置时，上述对接装置与上述对端装置成功对接。
可以理解，由于激光用于确定对接装置是否与对端装置成功对接，因而，在上述对接装置与上述对端装置成功对接时，则无需发射激光。而当未对接时，则开始发射激光。激光的发射和关闭可以由对端装置控制，也可以由对接装置上的处理器控制。
在本实施例的一些可选的实现方式中，上述对端装置上设置有控制激光发射的开关，上述开关在上述对端装置与上述对接装置成功对接时断开，以暂停发射激光，上述开关在上述对端装置与上述对接装置未对接时闭合，以发射激光。
可以理解，当对端装置与对接装置由未对接状态转换为成功对接状态时，可以触发开关断开；当对端装置与对接装置由成功对接状态转换为未对接状态时，可以触发开关闭合，从而控制激光发射。
在本实施例的一些可选的实现方式中，上述对接装置还包括激光雷达定位系统。其中：上述处理器10还根据上述激光雷达定位系统确定的上述对接装置与上述对端装置的相对位置，控制上述对接装置移动至使上述多个光敏感器件中的光敏感器件接收到上述对端装置发射的激光的位置。
可以理解，现有技术中，激光雷达定位系统可以粗略地确定出上述对接装置与上述对端装置的相对位置，然而，激光雷达定位系统所确定的相对位置的精度往往无法实现对接装置和对端装置之间精准对接位置的探测，因而无法通过激光雷达定位系统使对接装置和对端装置在精准的对接位置实现电气连接。本可选的实现方式可以首先通过激光雷达定位系统的定位，控制上述对接装置移动至使上述多个光敏感器件中的光敏感器件可接收到上述对端装置发射的激光的位置，然 后，再根据接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制对接装置移动到由目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。由此，避免了由于多个光敏感器件排布的面积过小、激光无法照射到光敏感器件，而导致的无法定位的问题。
在本实施例的一些可选的实现方式中，光敏感器件为光敏电阻或光敏二极管。
应该理解，通常，光敏感器件越小，光敏感器件之间的距离越近，可以实现越高精度的对接。例如，当光敏感器件的长宽高均为1毫米时，可以使得对接精度达到1毫米。
本公开的上述实施例中的对接装置通过确定多个光敏感器件中接收到激光的光敏感器件，与目标光敏感器件之间的位置偏移，实现对接装置与对端装置对接，从而提高了对接装置与对端装置对接的精度。
本公开的实施例还提供了一种移动机器人。进一步参考图4A和图4B。
图4A是根据本公开的移动机器人的结构示意图，该移动机器人可以包括前述实施例中所描述的对接装置。如图4A所示的移动机器人包括处理器10和与处理器10电连接的多个光敏感器件11。
图4B为针对图4A的移动机器的俯视图。该移动机器人的上侧设置有多个光敏感器件。
在本实施例的一些可选的实现方式中，上述移动机器人所包括的对接装置可以作为可移动的、用于承载物品或其他装置的底盘。与对接装置进行的对端装置可以为储物装置(例如餐车、送货车)。其中，储物装置可以例如容纳药物、货物、餐盘等各种物体。上述底盘和上述储物装置可以构成可分离、可移动的送货设备。
作为示例，请参考图5，图5是与本公开的移动机器人进行对接的对端装置的示例性的应用场景的示意图。
如图5所示的与对接装置进行对接的对端装置包括激光发射器21。在一些情况下，对接装置可以是送餐机器人的底盘，与对接装置对接的对端装置可以是餐车。在此应用场景下，既可以实现餐车与底 盘相分离，提高运餐效率，又可以提高餐车与底盘之间的对接精度，有助于实现餐车与底盘之间的电气连接。
请继续参考图6，根据本公开的对接装置的对接方法的一个实施例的流程600。其中，上述对接装置包括多个光敏感器件。该对接装置的对接方法，包括以下步骤：
步骤601，从上述多个光敏感器件中确定接收到激光的光敏感器件。
在本实施例中，对接装置的对接方法的执行主体(例如图1所示的处理器)可以从上述多个光敏感器件中确定接收到激光的光敏感器件。其中，上述激光由与上述对接装置进行对接的对端装置发射。
在本实施例的一些可选的实现方式中，上述执行主体可以采用如下方式执行上述步骤601：
从上述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
具体地，示例性的，在下面所描述的情况下：多个光敏感器件呈阵列式排布。目标光敏感器件位于由多个光敏感器件排布形成的阵列的中心(目标光敏感器件的位置可以记作(i，j))。多个光敏感器件排布形成的阵列的行包括2i+1个光敏感器件(i为自然数)，列包括2j+1个光敏感器件(j为自然数)。多个光敏感器件中的每个光敏器件的大小、型号、参数等属性相同。当处理器测量光敏感器件两端的电压时，可以采用导线与该光敏感器件连通，断开与除该光敏感器件之外的其他光敏感器件之间的导线连通(示例性的，可以通过开关控制电路的断开与连通)。导通电路中除光敏感器件之外的总电阻为R1，并且，电源电压为VDD。
光敏感器件未接收到激光照射时，电阻R很大，R远大于R1，此时，光敏感器件两端的电压V为：V＝VDD*R1/(R+R1)，即，此时电压约等于0；
光敏感器件接收到激光照射时，电阻R很小，此时，光敏感器件两端的电压V为：V＝VDD。
应该理解，上述预设电压阈值的取值应为(0，VDD]之间的，可 以区分光敏感器件是否接受到激光照射的数值。
需要说明的是，上述从多个光敏感器件中确定接收到激光的光敏感器件的方法仅仅是示例性的，根据实现需要，可以采用与上述方法等同的其他方式，从多个光敏感器件中确定接收到激光的光敏感器件。并且，本领域的技术人员所采用的与上述方法等同的其他方式均应属于本公开的实施例所要求保护的范围之内。
步骤602，根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。
在本实施例中，上述执行主体可以根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。
在本实施例中，目标光敏感器件可以是上述多个光敏感器件中的任意一个光敏感器件。换言之，该目标光敏感器件可以位于上述多个光敏感器件中的任意一个光敏感器件所在的位置。在实践中，可以选择对接装置和与对接装置对接的对端装置成功对接时成功接收到对端装置的激光发射器发出的激光的光敏感器件作为目标光敏感器件。
可以理解，在本实施例中，上述对接位置可以由目标光敏感器件标定。
在本实施例的一些可选的实现方式中，上述对接位置为上述目标光敏感器件接收到上述对端装置发射的激光的位置。
当上述对接位置为上述目标光敏感器件接收到上述对端装置发射的激光的位置时，指示对接装置进行移动的距离即为收到激光的光敏感器件与目标光敏感器件之间的距离，指示对接装置进行移动的方向即为：以目标光敏感器件所在的位置为起点、以收到激光的光敏感器件所在的位置为终点的方向。由此，在得到指示对接装置进行移动的方向和指示对接装置进行移动的距离之后，处理器可以控制上述对接装置按照所得到的方向和距离进行移动，从而使上述对接装置与上述对端装置对接。
可以理解，相对于对接位置为使得其它光敏感器件(即除上述目标光敏感器件之外的光敏感器件)接收到上述对端装置发射的激光的位置的方案，在本可选的实现方式可以减少计算资源的消耗，提高对接精度。
可选的，对接位置也可以为使得其它光敏感器件(即除上述目标光敏感器件之外的光敏感器件)接收到上述对端装置发射的激光的位置。由此，处理器可以根据预先存储的、目标光敏感器件与上述对接位置之间的位置偏移，以及目标光敏感器件与收到激光的光敏感器件之间的位置偏移，计算出收到激光的光敏感器件与对接位置之间的位置偏移(包括指示对接装置进行移动的方向和指示对接装置进行移动的距离)。之后，处理器可以控制上述对接装置按照计算得到的位置偏移所包括的方向和距离进行移动，从而使上述对接装置与上述对端装置对接。
本公开的上述实施例提供的方法，通过从上述多个光敏感器件中确定接收到激光的光敏感器件，其中，上述激光由与上述对接装置进行对接的对端装置发射，然后，根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接，提高了对接装置与对端装置的对接精度。
下面参考图7，其示出了适于用来实现本公开的实施例的电子设备(例如移动机器人)700的结构示意图。图7示出的电子设备仅仅是一个示例，不应对本公开的实施例的功能和使用范围带来任何限制。
如图7所示，电子设备700可以包括处理装置(例如中央处理器、图形处理器等)701，其可以根据存储在只读存储器(ROM)702中的程序或者从存储装置706加载到随机访问存储器(RAM)703中的程序而执行各种适当的动作和处理。在RAM 703中，还存储有电子设备700操作所需的各种程序和数据。处理装置701、ROM 702以及RAM 703通过总线(例如CAN总线)704彼此相连。输入/输出(I/O)接口705也连接至总线704。
通常，以下装置可以连接至I/O接口705：通信装置707，通信装 置707可以允许电子设备700与其他设备进行无线或有线通信以交换数据；传感装置(例如与处理装置701电连接的多个光敏感器件)708，传感装置708可以允许电子设备700从外界获取信息(例如被激光照射到的光敏感器件所在的位置)。虽然图7示出了具有各种装置的电子设备700，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。图7中示出的每个方框可以代表一个装置，也可以根据需要代表多个装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置707从网络上被下载和安装，或者从存储装置706被安装，或者从ROM 702被安装。在该计算机程序被处理装置701执行时，执行本公开的实施例的方法中限定的上述功能。
需要说明的是，本公开的实施例所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开的实施例中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开的实施例中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发 送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：从上述多个光敏感器件中确定接收到激光的光敏感器件，其中，上述激光由与上述对接装置进行对接的对端装置发射；根据上述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制上述对接装置移动到由上述目标光敏感器件标定的对接位置，以使上述对接装置与上述对端装置对接。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的实施例的操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是， 框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (13)

  1. 一种对接装置，其中，所述对接装置包括处理器和与所述处理器电连接的多个光敏感器件，其中：
    所述处理器从所述多个光敏感器件中确定接收到激光的光敏感器件，其中，所述激光由与所述对接装置进行对接的对端装置发射；根据所述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制所述对接装置移动到由所述目标光敏感器件标定的对接位置，以使所述对接装置与所述对端装置对接。
  2. 根据权利要求1所述的对接装置，其中，所述对接位置为所述目标光敏感器件接收到所述对端装置发射的激光的位置。
  3. 根据权利要求1所述的对接装置，其中，所述多个光敏感器件呈阵列式排布，所述目标光敏感器件位于由所述多个光敏感器件排布形成的阵列的中心。
  4. 根据权利要求1所述的对接装置，其中，所述处理器通过如下方式从所述多个光敏感器件中确定接收到激光的光敏感器件：
    从所述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
  5. 根据权利要求1所述的对接装置，其中：
    所述对端装置响应于确定所述对接装置与所述对端装置成功对接，停止发射激光，以及响应于确定所述对接装置与所述对端装置未对接，发射激光；或者
    所述处理器还响应于确定所述对接装置与所述对端装置成功对接，控制所述对端装置暂停发射激光，以及响应于确定所述对接装置与所述对端装置未对接，控制所述对端装置发射激光。
  6. 根据权利要求5所述的对接装置，其中：
    所述对端装置上设置有控制激光发射的开关，所述开关在所述对端装置与所述对接装置成功对接时断开，以暂停发射激光，所述开关在所述对端装置与所述对接装置未对接时闭合，以发射激光。
  7. 根据权利要求1-6任一所述的对接装置，其中，所述对接装置还包括激光雷达定位系统，其中：
    所述处理器还根据所述激光雷达定位系统确定的所述对接装置与所述对端装置的相对位置，控制所述对接装置移动至使所述多个光敏感器件中的光敏感器件接收到所述对端装置发射的激光的位置。
  8. 根据权利要求1-6任一所述的对接装置，其中，光敏感器件为光敏电阻或光敏二极管。
  9. 一种移动机器人，其中，所述移动机器人包括如权利要求1-8任一所述的对接装置。
  10. 一种对接装置的对接方法，其中，所述对接装置包括多个光敏感器件，所述方法包括：
    从所述多个光敏感器件中确定接收到激光的光敏感器件，其中，所述激光由与所述对接装置进行对接的对端装置发射；以及
    根据所述接收到激光的光敏感器件与目标光敏感器件之间的位置偏移，控制所述对接装置移动到由所述目标光敏感器件标定的对接位置，以使所述对接装置与所述对端装置对接。
  11. 根据权利要求10所述的方法，其中，所述从所述多个光敏感器件中确定接收到激光的光敏感器件，包括：
    从所述多个光敏感器件中确定两端的电压大于等于预设电压阈值的光敏感器件，作为接收到激光的光敏感器件。
  12. 一种电子设备，包括：
    一个或多个处理器；
    与所述一个或多个处理器电连接的多个光敏感器件；
    存储装置，其上存储有一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求10或11中任一所述的方法。
  13. 一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求10或11中任一所述的方法。
PCT/CN2020/107278 2019-08-13 2020-08-06 对接装置、移动机器人和对接装置的对接方法 WO2021027665A1 (zh)

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