WO2022222697A1

WO2022222697A1 - Automatic mobile robot, logistics docking system, and docking method

Info

Publication number: WO2022222697A1
Application number: PCT/CN2022/083398
Authority: WO
Inventors: 齐欧; 成鹏
Original assignee: 灵动科技（北京）有限公司
Priority date: 2021-04-22
Filing date: 2022-03-28
Publication date: 2022-10-27
Also published as: CN115229777A

Abstract

An automatic mobile robot (100), comprising a robot body (110), a mobile device (120), a sensor (130), at least one camera (140), and a control device. The robot body (110) is provided with a side portion (111) and a bottom portion (112). The mobile device (120) is provided on the bottom portion (112) of the robot body (110). The sensor (130) is provided on the side portion (111) of the robot body (110), and is used for detecting current position information of the automatic mobile robot (100) and pose information of same relative to a docking platform (200) to be docked with the automatic mobile robot (100). The camera (140) is provided on the side portion (111) of the robot body (110), and is used for detecting pose information of the automatic mobile robot (100) relative to a docking mark portion of the docking platform (200). During the docking of the automatic mobile robot and the docking platform, both the automatic mobile robot and the docking platform can be placed in any pose, and high-precision docking can be realized without the use of a high-precision radar sensor. Further provided are a logistics docking system and a docking method.

Description

Autonomous mobile robot, logistics docking system and docking method

technical field

The present invention relates to the technical field of logistics, in particular, to an autonomous mobile robot (AMR, Automatic Mobile Robot), a logistics docking system and a docking method.

Background technique

With the continuous advancement of the development of intelligent industry, autonomous mobile robots, commonly known as intelligent logistics vehicles, have been more and more widely used in the field of logistics and warehousing. In many logistics application scenarios (such as the full-process operation process from raw material warehouse to production line in manufacturing plant and the transportation of finished products, automatic material handling in warehousing and production line), it is necessary to connect the loading platform of autonomous mobile robot or autonomous mobile robot with the docking platform. Material platforms (such as conveyor belts, rollers, trays, material racks, shelves, etc.) are docked, and there are high requirements for docking accuracy. Usually the error is required to be controlled within 5mm.

Known autonomous mobile robots usually have Lidar, which is used to provide support for sensing data for obstacle avoidance, docking detection, and the like. However, high-precision lidars are expensive, and low-priced lidars cannot meet the requirements of docking accuracy (within 5mm). Another known autonomous mobile robot includes a low-precision lidar and a camera, which is only used to read the information of the docking mark part of the docking platform, such as a two-dimensional code, etc.

In the known logistics docking system, the pose (position and attitude) of the docking platform is usually fixed, and the autonomous mobile robot is usually provided with a lidar only for obstacle avoidance, a camera for recognizing a QR code, and a The speed difference of the side wheels enables the differential wheel to turn. When the autonomous mobile robot starts to dock with the docking platform, the docking platform is on the left side of the planned path, and the autonomous mobile robot is on the right side of the planned path. Usually, the autonomous mobile robot with lateral docking rollers drives to the docking platform along the planned path. Among them, the lidar is used to obtain the current position data of the autonomous mobile robot in real time for 360° obstacle avoidance, and the planned path includes that when approaching the docking platform, the autonomous mobile robot travels forward in an arc to the side of the docking platform. Therefore, in the known logistics docking system, when the pose of the docking platform is fixed, the autonomous mobile robot can be moved to the docking position and the camera can read the two-dimensional code by only relying on the radar navigation provided on the autonomous mobile robot. Information. However, when the pose of the docking platform, especially the docking platform that can be placed at will (it is unrealistic to require it to maintain a fixed pose), changes, the autonomous mobile robot moves to the designated position according to the radar navigation. Afterwards, since the differential wheel can only turn through the speed difference between the left and right wheels, the docking between the autonomous mobile robot and the docking platform is limited, and the autonomous robot may not be able to accurately dock with the docking platform due to the change in the pose of the docking platform. , which also makes the camera may not be able to further read the information in the QR code.

Therefore, the present invention provides an autonomous mobile robot, a logistics docking system, and a docking method that integrates the current position information of the autonomous mobile robot and the pose information relative to the docking platform, so as to solve or at least alleviate at least a part of the above-mentioned prior art. shortcoming.

SUMMARY OF THE INVENTION

In a first aspect of the present invention, an autonomous mobile robot is provided. The autonomous mobile robot includes a robot body, a mobile device, a sensor, at least one camera and a control device. The robot body has sides and a bottom. The moving device is provided at the bottom of the robot body. The sensor is provided on the side of the robot body, and is used for detecting the current position information of the autonomous mobile robot and for detecting the docking of the autonomous mobile robot with respect to the to-be-docking with the autonomous mobile robot The pose information of the platform enables the autonomous mobile robot to perform rough docking with the docking mark part of the docking platform. The camera is arranged on the side part of the robot body, and is used to detect the position and attitude information of the autonomous mobile robot relative to the docking mark part of the docking platform, so that the autonomous mobile robot and the The docking mark portion of the docking platform is precisely docked. The control device is connected with the mobile device, the sensor and the camera.

Optionally, the robot body is in the shape of a cube and has a first diagonal plane and a second diagonal plane, the sensor includes two radars, and the connecting line between the two radars is located at the first diagonal The moving device includes two steering wheels, and the connecting line between the two steering wheels is located in the second diagonal plane.

Optionally, the radar is a multi-line radar.

Optionally, the autonomous mobile robot includes a plurality of cameras, the side portion of the robot body includes a plurality of side surfaces, and the plurality of cameras are respectively disposed on the plurality of side surfaces of the robot body, so that all The control device can perform multi-directional docking control on the autonomous mobile robot.

In a second aspect of the present invention, a logistics docking system is provided. The logistics docking system includes: the autonomous mobile robot as described above; and a docking platform. The docking platform is used for docking with the autonomous mobile robot, and the docking platform is provided with a docking mark portion.

Optionally, the docking marking part includes at least one first docking marking piece and at least one second docking marking piece, the sensor is docked with the at least one first docking marking piece, and the at least one camera is connected with the at least one docking marking piece. A second docking marker is docked.

Optionally, the first docking marker is a reflective component; and/or the second docking marker is a two-dimensional code.

In a third aspect of the present invention, a docking method is provided. The docking method is used in the above-mentioned logistics docking system. The docking method includes: navigating to a specified position: controlling the mobile device based on the current position information of the autonomous mobile robot detected by the sensor, so that the autonomous mobile robot moves to a specified position, wherein the The designated position is a predetermined distance from the docking platform, and within the predetermined distance, the sensor can detect the position and attitude information of the autonomous mobile robot relative to the docking platform; rough docking: based on the detection of the sensor The obtained pose information of the autonomous mobile robot relative to the docking platform controls the mobile device, so that the autonomous mobile robot moves to a pre-docking position, wherein in the pre-docking position, the camera can detect to the pose information of the docking mark portion of the autonomous mobile robot relative to the docking platform; and precise docking: based on the docking of the autonomous mobile robot relative to the docking platform detected by the camera The pose information of the marking portion controls the moving device so that the autonomous mobile robot moves to a docking position, and makes the autonomous mobile robot in a docking posture when the autonomous mobile robot is in the docking position.

Optionally, in the precise docking step, based on the pose information of the autonomous mobile robot relative to the docking mark portion of the docking platform detected by the camera, first, the movement is controlled. The device adjusts the posture of the autonomous mobile robot to the docking posture, and then controls the moving device to move the autonomous mobile robot laterally to the docking position in the docking posture.

Optionally, in the precise docking step, in the moving process of the autonomous mobile robot, based on the position of the autonomous mobile robot relative to the docking mark portion of the docking platform detected by the camera. The pose information adjusts the pose of the autonomous mobile robot in real time.

Optionally, the docking method further includes the following steps: reading information: reading the information in the two-dimensional code in the docking marking part through the camera.

According to the solution of the present invention, during the docking process of the autonomous mobile robot and the docking platform, both the autonomous mobile robot and the docking platform can be placed in any pose, and the autonomous mobile robot first moves to a designated position based on the current position information detected by the sensor , and then adjust the pose of the autonomous mobile robot relative to the docking platform according to the pose information detected by the sensor, and adjust the pose of the autonomous mobile robot relative to the docking mark on the docking platform according to the pose information detected by the camera, When the autonomous mobile robot moves to the docking position, the autonomous mobile robot is in the docking posture, the autonomous mobile robot and the docking platform can just be docked, and preferably the camera on the autonomous mobile robot can read the information in the docking mark on the docking platform. The applicant has found that, through the above docking method, the relative pose error can be controlled within a range of 2 mm to 5 mm, thereby realizing high-precision docking between the autonomous mobile robot and the docking platform. Moreover, in the docking solution of the present invention, there is no need to use a high-precision radar sensor, and the cost is low.

Description of drawings

The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals refer to like elements, and wherein:

FIG. 1 shows a schematic perspective view of an autonomous mobile robot according to a preferred embodiment of the present invention;

Figure 2 shows a schematic side view of the autonomous mobile robot shown in Figure 1;

Figure 3 shows a schematic bottom view of the autonomous mobile robot shown in Figure 1;

FIG. 4 shows a schematic structural diagram of an autonomous mobile robot according to a preferred embodiment of the present invention in a simplified manner;

FIG. 5 shows a schematic structural diagram of the autonomous mobile robot shown in FIG. 4 from another perspective;

6 shows a schematic top view of a logistics docking system according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot is in a designated position;

Figure 7 shows a schematic top view of a logistics docking system according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot is in a pre-docking position;

Figure 8 shows a schematic top view of a logistics docking system according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot is in a docking position;

FIG. 9 shows a schematic structural diagram of a logistics docking system according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot is in a pre-docking position; and

Fig. 10 shows a schematic flow chart of a docking method according to a preferred embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for exemplary purposes only and is in no way limiting of the invention and its application or usage. Moreover, the dimensions and proportions of the components in the figures are only schematic and do not strictly correspond to actual products.

In a first aspect of the present invention, an autonomous mobile robot 100 is provided.

FIG. 1 shows a schematic perspective view of an autonomous mobile robot 100 according to a preferred embodiment of the present invention. FIG. 2 shows a schematic side view of the autonomous mobile robot 100 shown in FIG. 1 . FIG. 3 shows a schematic bottom view of the autonomous mobile robot 100 shown in FIG. 1 . FIG. 4 shows a schematic structural diagram of an autonomous mobile robot 100 according to a preferred embodiment of the present invention in a simplified manner. FIG. 5 shows a schematic structural diagram of the autonomous mobile robot 100 shown in FIG. 4 from another perspective. The autonomous mobile robot 100 according to a preferred embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 5 .

As shown in FIGS. 1 to 5 , the autonomous mobile robot 100 includes a robot body 110 , a mobile device 120 , a sensor 130 , at least one camera 140 , and a control device (not shown) connected to the mobile device 120 , the sensor 130 and the camera 140 . . It should be noted that the connection mentioned here may be a wired connection or a wireless connection, as long as signals can be transmitted between the control device and the mobile device 120 , the sensor 130 and the camera 140 .

As shown in FIGS. 1 to 5 , the robot body 110 has a certain thickness, and has a side portion 111 , a bottom portion 112 and a top portion 113 .

As shown in FIGS. 1 to 5 , the autonomous mobile robot 100 includes a moving device 120 , and the moving device 120 is disposed at the bottom 112 of the robot body 110 . The moving device 120 can be controlled to move or rotate by the control device. The mobile device 120 may be a wheel. The moving device 120 has driving wheels and driven wheels. Preferably, the mobile device 120 includes at least one steering wheel 121, which can be rotated and rolled, so that the autonomous mobile robot 100 can turn and translate in various directions, so as to adjust the autonomous mobile robot 100 relative to the autonomous mobile robot 100 to be docked The pose of the docking platform 200 (FIG. 9) (which will be described in detail below), thereby increasing the navigation positioning, docking flexibility.

As shown in FIGS. 1 to 5 , the autonomous mobile robot 100 includes a sensor 130 . Specifically, in this embodiment, the sensor 130 may be a radar. Of course, in other embodiments, the sensor 130 may be an ultrasonic sensor, an infrared sensor, or any other suitable sensor. The sensor 130 is provided on the side portion 111 of the robot body 110 . Preferably, at least one groove may be provided in the middle of the side portion 111 of the robot body 110 , and the sensor 130 is provided in the groove of the side portion 111 . The sensor 130 is used to detect the current position information of the autonomous mobile robot 100 and feed back the current position information to the control device. The control device performs 360 on the autonomous mobile robot 100 based on the current position information detected by the sensor 130, such as the distance between the autonomous mobile robot 100 and the docking platform 200, whether there are obstacles between the autonomous mobile robot 100 and the docking platform 200, etc. ° omnidirectional path planning and controlling the mobile device 120 to move according to the planned path, so as to perform navigation and obstacle avoidance for the movement of the autonomous mobile robot 100, so that the autonomous mobile robot 100 autonomously moves to a designated position, wherein the designated position is one distance from the docking platform A predetermined distance, within which the sensor 130 can detect the pose information of the autonomous mobile robot 100 relative to the docking platform 200 . The sensor 130 is also used to further detect the pose information of the autonomous mobile robot 100 relative to the docking platform 200 , so that the autonomous mobile robot 100 can perform rough docking with the docking marking part 210 of the docking platform 200 . Specifically, the sensor 130 feeds back the detected pose information of the autonomous mobile robot 100 relative to the docking platform 200 to the control device, and the control device is based on the detected pose information of the autonomous mobile robot 100 relative to the docking platform 200 . , control the mobile device 120 to translate and/or rotate, so as to adjust the pose of the autonomous mobile robot 100 relative to the docking platform 200, so that the autonomous mobile robot 100 moves to a pre-docking position, wherein in the pre-docking position, the camera 140 can detect The pose information of the autonomous mobile robot 100 relative to the docking marker 210 of the docking platform 200 .

As shown in FIG. 1 to FIG. 5 , the camera 140 is disposed on the side portion 111 of the robot body 110 to detect the pose information of the autonomous mobile robot 100 relative to the docking marking portion 210 of the docking platform 200 , so that the autonomous mobile robot 100 is connected to the docking mark 210 of the docking platform 200 . The docking mark portion 210 of the docking platform 200 is precisely docked. Specifically, the camera 140 is disposed on the docking surface of the robot body 110 to be docked with the docking platform 200 . The camera 140 can detect the docking marking part 210 with visual features of a specific shape, and has a predetermined camera internal parameter, which is used to obtain visual information such as the size, shape and pattern of the docking marking part 210, and obtain the relative position of the autonomous mobile robot 100 through optical transformation. The pose information of the docking marking part 210 of the docking platform 200 is fed back to the control device. Based on the pose information of the autonomous mobile robot 100 relative to the docking mark 210 of the docking platform 200 detected by the camera 140 , the control device controls the mobile device 120 to translate and/or rotate, so as to adjust the position of the autonomous mobile robot 100 relative to the docking platform 200 The pose of the docking marking part 210 makes the autonomous mobile robot 100 move to the docking position and the autonomous mobile robot 100 is in the docking posture when the autonomous mobile robot 100 is in the docking position, so that the autonomous mobile robot 100 can just dock with the docking platform 200 .

The autonomous mobile robot 100 also includes an upload platform (not shown). The top loading platform is provided on the top of the robot body 110 . The top loading platform may include jacks, rollers, and the like. The top loading platform may be integrated with the robot body 110 . Preferably, the top loading platform can be detachably connected above the robot body 110 , so that the top loading platform can be replaced according to actual needs, so that different top loading platforms can share the same robot body 110 . The docking platform 200 typically includes material platforms such as conveyor belts, rollers, trays, racks, shelves, and the like. The "docking" mentioned herein may refer to the docking of the uploading platform of the autonomous mobile robot 100 and the material platform of the docking platform 200 . After the autonomous mobile robot 100 is docked with the docking platform 200 , it can realize automatic handling of heavy materials in storage or production lines, shelf handling, automatic storage systems, and automatic loading and unloading of roller conveying. Generally, the autonomous mobile robot 100 can perform jacking docking, forward docking, lateral docking, and the like with the docking platform 200 . Among them, the jack-up docking rack corresponds to the jack-up docking. The common scenario is that a part of the upper loading platform is drilled under the material rack/tray, and it is jacked up and transported to the designated location; the positive docking roller and the side docking roller are respectively Corresponding to the forward butt and the side butt, the difference between the two is that the rollers are set in different directions (the width of the roller surface is different), the forward butt is the roller rolling in the front and rear directions of the robot body, and the side dock is the roller. Roll to the left and right of the robot body. In addition, according to different settings of the rollers, the autonomous mobile robot 100 can be configured to be unidirectionally docked or bidirectionally docked.

As shown in FIGS. 1 to 5 , in a preferred embodiment of the present invention, the robot body 110 is in the shape of a cube, the side portion 111 has four sides, and the robot body 110 has a first diagonal plane P1 and a second diagonal plane P2. In addition, the sensor 130 includes two radars, and the connecting line between the two radars is located in the first diagonal plane P1, and the mobile device 120 includes two steering wheels 121, and the connecting line between the two steering wheels 121 is located in the second diagonal. in plane P2. Specifically, in one embodiment of the invention, the two radars are located in grooves of the side 111 located in the first diagonal plane. Preferably, the field of view (FOV) of each radar is 270°. Two diagonal radars provide a 360° detection field of view, making docking accuracy and docking flexibility high. The moving device 120 also includes two universal wheels 122, which facilitate the autonomous mobile robot 100 to perform translation and rotation in various directions. The two radars and the two steering wheels 121 are arranged in the manner as described above, so that the corner space of the robot body 110 can be reasonably utilized: At the four corners of the robot 100 ; on the other hand, the two radars and the two steering wheels 121 are arranged on different diagonal planes, so that the two radars and their wiring will not affect the installation of the two steering wheels 121 .

In one embodiment of the present invention, the radar is a multi-line radar. The multi-line radar can identify the three-dimensional information such as the width and height of the docking platform 200, and obtain a 3D scan of the surrounding environment, so that the current position information of the autonomous mobile robot 100 and the pose information relative to the docking platform 200 can be easily detected. , to increase the recognition accuracy. In other embodiments of the present invention, the radar may also be a lidar.

In one embodiment of the present invention, the autonomous mobile robot 100 includes a plurality of cameras 140, the side portion 111 of the robot body 110 includes a plurality of side surfaces, and the plurality of cameras 140 are respectively disposed on the plurality of side surfaces of the robot body 110, so that the control device Multi-directional docking control can be performed on the autonomous mobile robot 100 to increase docking accuracy and docking flexibility.

As shown in FIG. 1 , in an embodiment of the present invention, the sensor 130 further includes a low-profile obstacle avoidance camera 131 , so that the autonomous mobile robot 100 can smoothly navigate to a designated position. In a second aspect of the present invention, a logistics docking system 10 is provided, the logistics docking system 10 includes any one of the above-mentioned autonomous mobile robots 100 and a docking platform 200 for docking with the autonomous mobile robot 100 . Optionally, the logistics docking system 10 may include multiple docking platforms 200 , and the multiple docking platforms 200 may share the same autonomous mobile robot 100 , or may be equipped with independent autonomous mobile robots 100 .

FIG. 6 shows a schematic top view of the logistics docking system 10 according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot 100 is in a designated position. 7 shows a schematic top view of the logistics docking system 10 according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot 100 is in a pre-docking position. FIG. 8 shows a schematic top view of the logistics docking system 10 according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot 100 is in the docking position. FIG. 9 shows a schematic structural diagram of a logistics docking system 10 according to a preferred embodiment of the present invention in a simplified manner, wherein the autonomous mobile robot 100 is in a pre-docking position. The logistics docking system 10 according to a preferred embodiment of the present invention will be described in detail below with reference to FIGS. 6 to 9 .

As shown in FIGS. 6 to 9 , the docking platform 200 is provided with a docking mark portion 210 . The docking marker 210 includes features or information that can be used to obtain the pose of the autonomous mobile robot 100 relative to the docking platform 200 . Specifically, the docking marking part 210 has data information such as a predetermined size, shape, and pattern that can be recognized by the sensor 130 and the camera 140 . Based on the data information of the docking marking part 210 detected by the sensor 130 , it is possible to calculate the relative The pose information of the docking platform 200 can be calculated based on the data information of the docking marker 210 detected by the camera 140 , and the pose information of the autonomous mobile robot 100 relative to the docking marker 210 can be calculated. Wherein, when calculating the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 based on the data information of the docking marking part 210 detected by the camera 140 , the N-point perspective pose (Perspective-N-Point, PNP problem) is applied. The solution method, that is, according to the stored data information such as the size, shape and pattern of the docking mark portion 210 and the data information such as the size, shape and pattern of the docking mark portion 210 identified by the camera 140, the internal reference of the camera 140 is known. In this case, the relative pose of the camera 140 and the docking marker 210 is calculated. It should be noted that, in the actual docking process of the autonomous mobile robot 100 and the docking marking part 210 , the positional relationship between the camera 140 and the robot body 110 and the positional relationship between the docking marking part 210 and the docking platform 200 also need to be considered.

As shown in FIG. 6 to FIG. 9 , in one embodiment of the present invention, the docking marker portion 210 includes at least one first docking marker 2101 and at least one second docking marker 2102 , and the sensor 130 is connected to the at least one first docking marker The parts 2101 are docked, and the at least one camera 140 is docked with the at least one second docking marker part 2102 . Among them, the first docking marker 2101 for docking with the sensor 130 can provide more information for representing the current position and more accurate positioning information, so that the autonomous mobile robot 100 can navigate to a designated position and relative to the docking platform 200 Rough butt. The second docking marker 2102 for docking with the camera 140 can provide information for indicating the docking position, so that the autonomous mobile robot 100 can precisely dock with respect to the docking marker 210 of the docking platform 200 . In this way, the sensor 130 and the camera 140 identify different docking markers respectively, so that the docking marker 210 can provide more accurate docking information, so as to guide the autonomous mobile robot 100 to accurately dock with the docking platform 200 based on the fused data. When the docking mark portion 210 includes the plurality of first docking markers 2101, the plurality of first docking markers 2101 are arranged in a regular manner, so that the sensor 130 can easily identify the plurality of first docking markers 2101, which is further easier The current position information of the autonomous mobile robot 100 and the pose information relative to the docking platform 200 are judged in an accurate manner.

In a preferred embodiment of the present invention, the first docking marker 2101 is a reflective component, such as a reflective strip, a reflective plate, etc.; and/or the second docking marker 2102 is a two-dimensional code, preferably, the two-dimensional code can It includes information such as the number, location, category, quantity, etc. of the docking platform 200 and/or the goods on the docking platform 200 . Designed in this way, on the one hand, the recognition degree of the first docking marker 2101 can be increased, and on the other hand, the reflective component also has strong visibility at night, so that the autonomous mobile robot 100 and the docking marker during nighttime operations are increased. On the other hand, the docking platform 200 can be verified by identifying the information in the two-dimensional code.

As shown in FIG. 9 , in one embodiment of the present invention, the docking marking part 210 includes six first docking marking pieces 2101 and one second docking marking piece 2102 , wherein the first docking marking piece 2101 is a reflective strip , the second docking marker 2102 is a two-dimensional code, and the first docking marker 2101 is partially disposed at the diagonal corners of the side of the docking platform 200. In addition, the junction between the side and the top of the docking platform 200 is also partially provided with a first docking marker 2101. A docking marker 2101 and a second docking marker 2102 are disposed on the docking surface of the docking platform 200 to be docked with the autonomous mobile robot 100 . During the docking process of the autonomous mobile robot 100 and the docking platform 200 , the autonomous mobile robot 100 determines the current position information based on the first docking marker 2101 detected by the sensor 130 , so as to first move to the designated position, and then move to the designated position according to the detection of the sensor 130 . The pose information of the autonomous mobile robot 100 relative to the docking platform 200 is adjusted according to the pose information, and the pose information of the autonomous mobile robot 100 relative to the second docking marker 2102 is adjusted according to the pose information detected by the camera 140, so that the autonomous mobile robot 100 is adjusted relative to the second docking marker 2102. When the autonomous mobile robot 100 moves to the docking position, the autonomous mobile robot 100 and the docking platform 200 can just be docked and preferably the camera 130 on the autonomous mobile robot 100 can read the information in the second docking marker 2102 .

In other embodiments not shown in the present invention, different docking marking portions may be provided according to a specific docking platform. For example, when the material platform of the docking platform 200 is a shelf, reflective strips can be posted on the four legs of the shelf. When the material platform of the docking platform 200 is a pallet, the reflective plates can be pasted on the parallel plates on both sides of the pallet. When the material platform of the docking platform 200 is a roller conveying device, a reflective strip or a reflective plate can be posted on the docking surface of the docking platform 200 to be docked with the autonomous mobile robot 100, optionally, a reflective strip can also be posted on on the roller conveyor.

In other embodiments not shown in the present invention, the first docking marker 2101 for docking with the sensor 130 and the second docking marker 2102 for docking with the camera 140 may also be the same docking marker, for example, both may be the same docking marker For reflective strips or reflectors.

In a third aspect of the present invention, a docking method for the above-mentioned logistics docking system 10 is provided. Fig. 10 shows a schematic flow chart of a docking method according to a preferred embodiment of the present invention. The docking method according to a preferred embodiment of the present invention will be described in detail below with reference to FIG. 10 and the above-mentioned FIGS. 6 to 8 .

As shown in FIG. 10 , the docking method according to a preferred embodiment of the present invention mainly includes the following steps: S310 : navigating to a designated position; S320 : rough docking; and S330 : precise docking. Preferably, when the docking marking portion includes a two-dimensional code, the docking method further includes step S340: reading information.

As shown in FIG. 6 and FIG. 10 , in the step of navigating to the specified position in S310, the mobile device 120 is controlled based on the current position information of the autonomous mobile robot 100 detected by the sensor 130, so that the autonomous mobile robot 100 moves to the specified position, wherein , the designated position is at a predetermined distance from the docking platform 200 , and within the predetermined distance, the sensor 130 can detect the pose information of the autonomous mobile robot 100 relative to the docking platform 200 .

Specifically, the sensor 130 of the autonomous mobile robot 100 first identifies the docking platform 200 . Recognition methods include pattern recognition, deep learning, etc. The recognized objects include the four legs of the shelf, the parallel plates on both sides of the pallet, the docking surface of the docking platform 200 with the roller transmission device, and the like. The sensor 130 then detects the current position information of the autonomous mobile robot 100 , such as the distance between the autonomous mobile robot 100 and the docking platform 200 , whether there is an obstacle between the autonomous mobile robot 100 and the docking platform 200 , and the like. Then, after receiving the current position information detected by the sensor 130, the control device performs 360° omnidirectional path planning for the autonomous mobile robot 100 and controls the mobile device 12 to move according to the planned path, thereby navigating the movement of the autonomous mobile robot 100. and obstacle avoidance, so that the autonomous mobile robot 100 autonomously moves to a designated position, so that the sensor 130 can detect the pose information of the autonomous mobile robot 100 relative to the docking platform 200 .

As shown in FIG. 7 and FIG. 10 , in the rough docking step of S320 , the mobile device 120 is controlled based on the pose information of the autonomous mobile robot 100 relative to the docking platform 200 detected by the sensor 130 , so that the autonomous mobile robot 100 moves to a predetermined position. The docking position, wherein, in the pre-docking position, the camera 140 can detect the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200 .

Specifically, in the designated position, the sensor 130 further detects the pose information of the autonomous mobile robot 100 relative to the docking platform 200 , and based on the pose information of the autonomous mobile robot 100 relative to the docking platform 200 detected by the sensor 130 , the control device Control the translation and/or rotation of the mobile device 120 to adjust the pose of the autonomous mobile robot 100 relative to the docking platform 200 so that the autonomous mobile robot 100 moves to the pre-docking position, so that the camera 140 can further detect the autonomous mobile robot 100 relative to the docking platform 200 The pose information of the docking mark part 210 of .

As shown in FIG. 8 and FIG. 10 , in the step of precise docking in S330 : control the mobile device 120 based on the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200 detected by the camera 140 , so that the autonomous mobile robot 100 moves autonomously. The robot 100 is moved to the docking position, and the autonomous mobile robot 100 is in the docking posture when the autonomous mobile robot 100 is in the docking position, so that the autonomous mobile robot 100 and the docking platform 200 can just be docked.

Specifically, in the pre-docking position, the camera 140 detects the pose information of the docking mark 210 of the autonomous mobile robot 100 relative to the docking platform 200 , based on the docking mark of the autonomous mobile robot 100 relative to the docking platform 200 detected by the camera 140 The control device controls the translation and/or rotation of the mobile device 120, so as to adjust the pose of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200, so that the autonomous mobile robot 100 moves autonomously to the docking position. The mobile robot 100 can be just docked with the docking platform 200 .

In the step of reading information in S340: the camera 140 is used to read the information in the two-dimensional code in the docking marking part 210, so that by identifying the information in the two-dimensional code, the docking platform 200 and/or the docking platform 200 can be obtained. More detailed information about the goods, such as number, location, category, quantity, etc.

Optionally, in the precise docking step of S330, based on the pose information of the autonomous mobile robot 100 detected by the camera 140 relative to the docking marking portion 210 of the docking platform 200, first, the posture of the autonomous mobile robot 100 is adjusted to the docking posture, Then, the autonomous mobile robot 100 is moved laterally to the docking position in the docking posture. It should be noted that the "lateral direction" mentioned here is relative to the docking surface of the autonomous mobile robot 100 to be docked with the docking platform 200 . The direction facing the butt surface is the front, the opposite is the rear, and the left and right sides are the lateral directions.

Specifically, in the pre-docking position, the camera 140 detects the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200 , based on the position of the autonomous mobile robot 100 relative to the docking marking part 210 detected by the camera 140 posture information, the control device first controls the mobile device 120 to translate and/or rotate if necessary to adjust the posture of the autonomous mobile robot 100 relative to the docking marker 210 to the docking posture, and then controls the mobile device 120 to make the autonomous mobile robot 100 100 is moved laterally to a docked position in a docked attitude. In this way, when the autonomous mobile robot 100 moves to the docking position, the autonomous mobile robot is in the docking posture, the autonomous mobile robot 100 and the docking platform 200 can just be docked, and preferably the camera 140 can also read the information of the docking marker 210 in the docking posture.

Optionally, in the precise docking step of S320, during the movement of the autonomous mobile robot 100, the autonomous movement is adjusted in real time based on the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200 detected by the camera 140. The pose of the robot 100 .

Specifically, in the pre-docking position, the camera 140 detects the pose information of the autonomous mobile robot 100 relative to the docking marking part 210 of the docking platform 200 , based on the position of the autonomous mobile robot 100 relative to the docking marking part 210 detected by the camera 140 posture information, the control device plans the docking route, and controls the mobile device 120 to translate and/or rotate, so as to adjust the pose and the docking route of the autonomous mobile robot 100 in real time during the movement of the autonomous mobile robot 100, so that the autonomous mobile robot 100 can When the 100 moves to the docking position, the autonomous mobile robot 100 is in a docking posture, so that the autonomous mobile robot 100 and the docking platform 200 can just be docked.

In summary, according to the solution of the present invention, during the docking process of the autonomous mobile robot and the docking platform, both the autonomous mobile robot and the docking platform can be placed in any pose, and the autonomous mobile robot is first based on the current position detected by the sensor. The information is moved to the specified position, and then the pose of the autonomous mobile robot relative to the docking platform is adjusted according to the pose information detected by the sensor, and the docking mark of the autonomous mobile robot relative to the docking platform is adjusted according to the pose information detected by the camera. so that when the autonomous mobile robot 100 moves to the docking position, the autonomous mobile robot 100 is in the docking posture, the autonomous mobile robot 100 and the docking platform 200 can just be docked, and preferably the camera on the autonomous mobile robot can read the docking platform Information in the Docking Marks section on . The applicant has found that, through the above docking method, the relative pose error can be controlled within a range of 2 mm to 5 mm, thereby realizing high-precision docking between the autonomous mobile robot and the docking platform. Moreover, in the docking solution of the present invention, there is no need to use a high-precision radar sensor, and the cost is low.

In this specification, whenever reference is made to an "exemplary embodiment," "preferred embodiment," "one embodiment," or the like, it means that a particular feature, structure, or characteristic described with respect to that embodiment is included in at least one aspect of the present invention. in one embodiment. The appearances of these terms in various places in this specification are not necessarily all referring to the same embodiment. Furthermore, when a particular feature, structure or characteristic is described with respect to any one embodiment/embodiment, it is to be understood that those skilled in the art can implement such feature, structure or characteristic in all other embodiments of the described embodiments as well.

The embodiments of the present invention have been described above in detail. However, aspects of the present invention are not limited to the above-described embodiments. Various modifications and substitutions may be applied to the above-described embodiments without departing from the scope of the present invention.

Claims

An autonomous mobile robot, comprising:

a robot body, the robot body has sides and a bottom;

a moving device, the moving device is provided at the bottom of the robot body;

a sensor, which is arranged on the side of the robot body and is used to detect the current position information of the autonomous mobile robot and to detect that the autonomous mobile robot is to be docked with the autonomous mobile robot The pose information of the docking platform, so that the autonomous mobile robot can perform rough docking with the docking mark part of the docking platform;

at least one camera, the camera is arranged on the side part of the robot body, and is used to detect the pose information of the autonomous mobile robot relative to the docking mark part of the docking platform, so that the autonomous movement The robot is precisely docked with the docking mark portion of the docking platform; and

A control device is connected with the mobile device, the sensor and the camera.
The autonomous mobile robot according to claim 1, wherein the robot body is in the shape of a cube and has a first diagonal plane and a second diagonal plane, and the sensor includes two radars, and the two radars are between the two radars. The connecting line between the two is located in the first diagonal plane, and the moving device includes two steering wheels, and the connecting line between the two steering wheels is located in the second diagonal plane.
The autonomous mobile robot according to claim 2, wherein the radar is a multi-line radar.
The autonomous mobile robot according to claim 1 or 2, wherein the autonomous mobile robot comprises a plurality of cameras, the side part of the robot body comprises a plurality of side surfaces, and the plurality of cameras are respectively arranged on the on the multiple side surfaces of the robot body, so that the control device can perform multi-directional docking control on the autonomous mobile robot.
A logistics docking system, characterized in that the logistics docking system includes:

An autonomous mobile robot, which is the autonomous mobile robot according to any one of claims 1 to 4; and

a docking platform, the docking platform is used for docking with the autonomous mobile robot, and the docking platform is provided with a docking mark part.
The logistics docking system according to claim 5, wherein the docking marking part comprises at least one first docking marking part and at least one second docking marking part, and the sensor is connected to the at least one first docking marking part In docking, the at least one camera is docked with the at least one second docking marker.
The logistics docking system according to claim 6, wherein the first docking marker is a reflective component; and/or the second docking marker is a two-dimensional code.
A docking method, characterized in that the docking method is used in the logistics docking system according to any one of claims 5 to 7, and the docking method comprises:

Navigating to a specified position: controlling the mobile device based on the current position information of the autonomous mobile robot detected by the sensor, so that the autonomous mobile robot moves to a specified position, wherein the specified position is far from the a predetermined distance from the docking platform, within which the sensor can detect the pose information of the autonomous mobile robot relative to the docking platform;

Coarse docking: control the mobile device based on the pose information of the autonomous mobile robot relative to the docking platform detected by the sensor, so that the autonomous mobile robot moves to a pre-docking position, wherein in the pre-docking In the docking position, the camera can detect the pose information of the autonomous mobile robot relative to the docking mark portion of the docking platform; and

Precise docking: control the mobile device based on the pose information of the autonomous mobile robot relative to the docking mark portion of the docking platform detected by the camera, so that the autonomous mobile robot moves to the docking position , and make the autonomous mobile robot in the docking posture when the autonomous mobile robot is in the docking position.
The docking method according to claim 8, characterized in that, in the precise docking step, based on the detection of the camera based on the position of the autonomous mobile robot relative to the docking mark portion of the docking platform pose information, first, control the mobile device to adjust the posture of the autonomous mobile robot to the docking posture, and then control the mobile device to make the autonomous mobile robot move laterally to the docking posture the docking position.
The docking method according to claim 8, wherein, in the precise docking step, during the movement of the autonomous mobile robot, relative to the autonomous mobile robot detected based on the camera The pose information of the docking marking part of the docking platform adjusts the pose of the autonomous mobile robot in real time.
The docking method according to claim 8, wherein the docking method further comprises the following steps:

Reading information: reading the information in the two-dimensional code in the docking mark part through the camera.