CN113064416A - Control method and device for delivery device and delivery device - Google Patents
Control method and device for delivery device and delivery device Download PDFInfo
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- CN113064416A CN113064416A CN201911418958.1A CN201911418958A CN113064416A CN 113064416 A CN113064416 A CN 113064416A CN 201911418958 A CN201911418958 A CN 201911418958A CN 113064416 A CN113064416 A CN 113064416A
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- 238000010586 diagram Methods 0.000 description 9
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- 238000004590 computer program Methods 0.000 description 4
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- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/03—Control of position or course in two dimensions using near-field transmission systems, e.g. inductive-loop type
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- Automation & Control Theory (AREA)
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Abstract
The application belongs to the technical field of intelligent household appliances, and relates to a control method for a delivery device, which comprises the following steps: acquiring a user instruction and a target position; acquiring position information of the delivery device, and calculating the distance between the delivery device and the target position according to the target position and the position information of the delivery device; controlling the delivery device to move to the target position according to the distance between the delivery device and the target position; the position information of the delivery device and the target position are obtained through Bluetooth positioning, and the delivery device can convey articles to the target position after receiving the user instruction, so that more comfortable experience is brought to the user. The application also discloses a control device for the delivery device and the delivery device.
Description
Technical Field
The present invention relates to the field of intelligent home appliance technologies, and for example, to a method and an apparatus for controlling a delivery apparatus, and a delivery apparatus.
Background
With the rapid development of the internet of things technology, smart homes become important components of family informatization and social informatization, more and more traditional household appliances are added into the teams of the smart homes, and household appliance control, household appliance intelligent scenes and the like are achieved in the internet of things mode. The refrigerator is a household appliance, when a user needs cold drinks or other foods in the refrigerator, the user can only move to the position of the refrigerator, but if the user does not move conveniently or the user is tired and does not want to take the foods in the refrigerator anywhere and anytime.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: since refrigerators are typically bulky, moving them directly to the vicinity of a user tends to create space crowding for such bulky, e.g., double or multiple door, refrigerators. The existing refrigerator lacks a delivery device which can deliver the food inside the refrigerator to a user-designated location.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a control method and device for a delivery device and the delivery device, so as to realize the purpose of conveying an article to a target position through the delivery device.
In some embodiments, the control method for a delivery device includes:
acquiring a user instruction and a target position;
acquiring position information of the delivery device, and calculating the distance between the delivery device and the target position according to the target position and the position information of the delivery device;
controlling the delivery device to move to the target position according to the distance between the delivery device and the target position;
the position information of the delivery device and the target position are obtained through Bluetooth positioning.
In some embodiments, the control means for the delivery means comprises: a processor and a memory storing program instructions, the processor being configured to perform the above-described control method for a delivery device when executing the program instructions.
In some embodiments, the delivery device comprises the control device described above.
The control method and device for the delivery device and the delivery device provided by the embodiment of the disclosure can realize the following technical effects: the article can be conveyed to the target position after the instruction of the user is received, and more comfortable experience is brought to the user.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
FIG. 1 is a schematic diagram of a control method for a delivery device provided in accordance with a disclosed embodiment;
FIG. 2 is a schematic diagram of a refrigerator and delivery apparatus in accordance with one disclosed embodiment;
FIG. 3 is a schematic front view of a refrigerator engaged with a delivery apparatus with a door open according to one disclosed embodiment;
FIG. 4 is a side elevational view of a refrigerator in cooperation with a delivery device in accordance with a disclosed embodiment;
FIG. 5 is a schematic cross-sectional view of a delivery device in an open position with a cover of the delivery device in accordance with a disclosed embodiment;
FIG. 6 is a schematic cross-sectional view of a delivery device lid closed in accordance with a disclosed embodiment;
FIG. 7 is a schematic diagram of a control device for a delivery device provided in accordance with a disclosed embodiment.
Detailed Description
So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
The disclosed embodiment provides a control method for a delivery device, as shown in fig. 1, including:
s101, acquiring a user instruction and a target position;
s102, acquiring position information of the delivery device, and calculating the distance between the delivery device and the target position according to the target position and the position information of the delivery device;
s103, controlling the delivery device to move to the target position according to the distance between the delivery device and the target position;
the position information of the delivery device and the target position are obtained through Bluetooth positioning.
In some embodiments, obtaining the location information of the delivery device and the target location by bluetooth positioning comprises:
and calculating the positioning beacon address and the Received Signal Strength Indicator (RSSI) of the positioning beacon broadcast to obtain the position information of the delivery device and the target position.
Alternatively, the target position is a position of the user, and of course, the target position may be a set coordinate value. In some embodiments, the location of the user is a location of a user terminal that sends the user instruction, optionally, the user terminal is a smartphone or a smart watch. The delivery device needs to be positioned indoors with respect to the delivery device and the user position when delivering goods indoors. In some embodiments, a plurality of bluetooth beacons are arranged indoors, a positioning beacon address and a received signal strength indication value RSSI broadcasted by the positioning beacon are received, the received RSSI is filtered, the distances from a delivery device and a target position to the bluetooth beacons are respectively calculated according to the processed RSSI value and a signal attenuation model, and the coordinates of the delivery device and the target position are obtained by a weighted centroid algorithm according to the distances from the delivery device and the target position to the bluetooth beacons. Optionally, filtering is performed using a kalman filter algorithm or a moving average filter algorithm.
In some embodiments, after determining the location information of the delivery device and the target location, calculating
Obtaining a distance between the delivery device and the target location, J being the distance between the delivery device and the target location, (x)1，x2) As coordinates of the delivery device, (y)1，y2) Are the coordinates of the target location.
In some embodiments, the delivery device wirelessly interacts data with the refrigerator through the wireless communication module.
In some embodiments, the delivery device is controlled to move the goods to the transport device according to the user instruction, and the transport device is controlled to move the goods to the delivery device.
In some embodiments, the control method for a delivery device further comprises: and controlling the delivery device to be closed after detecting that the articles enter the delivery device.
In some embodiments, the control method for a delivery device further comprises: and when the delivery device reaches the target position, controlling the delivery device to be started.
In some embodiments, the control method for a delivery device further comprises: and controlling the delivery device to be closed after detecting that the articles leave the delivery device.
In some embodiments, after detecting that an item leaves the delivery device and controlling the delivery device to close, further comprising: and controlling the delivery device to return to the initial position, so that the power consumption of the delivery device can be saved.
Alternatively, after the delivery apparatus reaches the target position, the delivery apparatus is controlled to be closed and the delivery apparatus is controlled to return to the initial position after a set time has elapsed, so that the amount of electricity used by the delivery apparatus can be saved.
In some embodiments, controlling the delivery device to close comprises: and controlling the cargo compartment of the delivery device to descend so that the delivery device is closed.
In some embodiments, controlling the delivery device to open comprises: and controlling the cargo cabin of the delivery device to ascend so that the delivery device is opened.
In practical application, optionally, the delivery device is arranged at the bottom of the refrigerator, as shown in fig. 2, which is a schematic diagram of the refrigerator and the delivery device, and includes the delivery device 4, the refrigerator 1, the refrigerator display screen 2, and the refrigerator handle 3.
As shown in fig. 3, which is a schematic front view of the refrigerator and the delivery device in a door-opened state, a plurality of delivery devices are disposed inside the refrigerator 1, and each delivery device includes a first motor 16, a support plate 1a, a partition plate 1b, and a coil spring 1 c. The plurality of goods discharging devices are divided into two groups and are respectively fixed in the refrigerator from bottom to top at intervals in parallel, a channel is reserved in the middle of the refrigerator to be a goods discharging channel, and the partition plates 1b are arranged on the supporting plate 1a to form a goods channel. The goods are placed on the goods channel in a classified mode, the spiral springs 1c are arranged on the goods channel, one spiral spring 1c is correspondingly arranged on each goods channel, and the pitch of each spiral spring 1c is used for containing the goods.
As shown in fig. 4, which is a side view of the refrigerator cooperating with the delivery device, the first motor 16 of the delivery device, and a plurality of conveying devices including a second motor 17 and a conveying belt 18 are further provided inside the refrigerator 1. Every first motor 16 drives corresponding coil spring 1c and rotates and promote the goods to the direction of keeping away from this first motor 16 and remove, makes the goods on the goods way drop on the transmission band 18 that corresponds transmission device, and second motor 17 drives corresponding transmission band 18 and rotates, and this second motor 17 drives corresponding transmission band 18 and carries the goods to the shipment passageway between two sets of shipment devices, and the goods falls from the shipment passageway to the warehouse 10 that send goods device 4 to rise.
As shown in fig. 5, which is a schematic sectional view of the open state of the cover of the delivery apparatus, the delivery apparatus 4 includes the operation driving wheels 5, the housing 6, and the cover 7, the operation driving wheels 5 are provided on the lower surface of the bottom of the housing 6, and each operation driving wheel 5 is driven by a motor; the box cover 7 is rotatably connected with the box body 6 through a rotating shaft 8, the box cover 7 is in a double-door mode, and a first limiting clamp 7a is arranged on the box cover 7 and used for limiting the rising height of the cargo bin 10; a lifting device is arranged in the box body 6 and comprises a screw rod 11, a fixed rod 12 and a movable frame 13, one end of the screw rod 11 is fixed at the bottom of the box body 6 through a bearing 14, a stepping motor 15 drives the screw rod 11 to rotate, and the screw rod 11 penetrates through the movable frame 13 through a nut 13 a; the fixed rod 12 is arranged on the movable frame 13 in a penetrating way, one end of the fixed rod 12 is fixedly connected with the bottom of the box body 6, and the other end of the fixed rod 12 is provided with a second limiting clamp 12a which is used for limiting the rising height of the movable frame 13; one end of the warehouse rod 10a is fixedly connected with the warehouse 10, and the other end is fixed on the movable frame 13.
As shown in fig. 6, which is a schematic cross-sectional view of the closed state of the cover of the delivery device, the electronic lock 9 is disposed on the cover 7, the top of the cargo compartment 10 is lowered into the box 6, and when the cover 7 is closed, the electronic lock 9 is locked.
Alternatively, the corresponding first motor 16 of the delivery device is controlled according to the user command to drive the corresponding coil spring 1c to rotate and push the goods, such as mineral water, to move towards the corresponding conveyor belt 18. And simultaneously, the electronic lock 9 is opened, the stepping motor 15 rotates reversely to drive the movable frame 13 and the warehouse rod 10a to move upwards to drive the warehouse 10 to ascend, when the movable frame 13 ascends to the second limit card 12a on the fixed rod 12, the top of the warehouse 10 at the moment props against the first limit card 7a of the box cover 7, the stepping motor 15 stops rotating reversely, and the warehouse 10 stops ascending. When mineral water falls onto the corresponding conveyor belt 18, the corresponding second motor 17 drives the conveyor belt 18 to rotate, so that the mineral water is conveyed to a delivery channel between the two delivery devices, and the mineral water falls into the warehouse 10 lifted by the delivery device 4 from the delivery channel.
Alternatively, according to the multiple trials, the time taken for the warehouse-up process is 2s, and the time taken to transfer one cargo to the warehouse is 5 s.
Optionally, after the warehouse 10 receives mineral water, the stepping motor 15 is controlled to operate to drive the movable frame 13 and the warehouse rod 10a to move so as to lower the warehouse 10, when the movable frame 13 descends to the bottom of the box body 6, the stepping motor 15 stops operating, the warehouse 10 descends to the inside of the box body 6 at the moment, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed.
Alternatively, after the delivery device 4 receives mineral water and is closed, the delivery device is controlled to move to a set target position, such as a sofa, when the delivery device 4 reaches the target position, the electronic lock 9 is opened, the stepping motor 15 rotates reversely to drive the movable frame 13 and the warehouse rod 10a, so that the warehouse 10 is lifted, when the movable frame 13 is lifted to the second limit card 12a on the fixed rod 12, the top of the warehouse 10 at the moment abuts against the first limit card 7a on the box cover 7, the warehouse 10 stops lifting, and the mineral water is displayed in front of a user. When mineral water is taken away, or after a set time, for example, 10 minutes, the stepping motor 15 is controlled to operate to drive the movable frame 13 and the warehouse rod 10a to move so as to lower the warehouse 10, when the movable frame 13 descends to the bottom of the box body 6, the warehouse 10 descends to the inside of the box body 6, the stepping motor 15 stops operating, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed. Then, the delivery apparatus is controlled to return to the original position, i.e., the bottom of the refrigerator. Like this, the refrigerator can be according to sending goods device with goods removal according to user instruction control shipment device to transport the target location of setting for, need not the user and issue control instruction, send the goods to the user side automatically, increase the function of refrigerator, make the refrigerator more intelligent, improve user experience simultaneously.
Optionally, an opto-electronic switch is provided in the cargo hold 10, by means of which it is detected whether cargo is received or removed from the cargo hold.
In some embodiments, a pressure sensor is provided within the cargo compartment 10, and the pressure sensor detects a change in pressure to determine whether cargo is received or removed. When the pressure value becomes large, it is determined that the goods are received, and when the pressure value decreases, it is determined that the goods are taken away.
Optionally, the delivery device is provided with an operation driving wheel and a driving motor, so that the delivery device can move on a plane, the front end and the side surface of the delivery device are also provided with camera devices, road surface information is acquired in real time by acquiring and identifying graphs, and if the delivery device meets obstacles such as steps, the controller controls the delivery device to turn or stop running, so that collision or falling can be prevented; the device is also provided with a radar ultrasonic sensor for detecting the distance between the delivery device and the surrounding objects when the delivery device moves; the photoelectric coding disc is arranged on the operation driving wheel of the delivery device, so that the wheel speed can be detected and controlled, and positioning and path planning can be realized.
The control device for a delivery device according to the embodiment of the present disclosure has a structure as shown in fig. 7, and includes a processor (processor)100 and a memory (memory)101 storing program instructions, and may further include a Communication Interface (Communication Interface)102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. The processor 100 may call logic instructions in the memory 101, the processor being configured to perform the control method for the delivery apparatus of the above embodiment when executing the program instructions.
In addition, the logic instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.
The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing by executing software programs, instructions, and modules stored in the memory 101, that is, implements the control method for the delivery apparatus in the above-described method embodiment.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the mobile terminal, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
According to the control device for the delivery device in the above embodiment, the control device for the delivery device provided by the embodiment of the disclosure can control the delivery device to move to a corresponding position by performing indoor positioning, so that more comfortable smart home experience is brought to a user.
The embodiment of the disclosure provides a delivery device, which comprises the control device. The goods delivery device can obtain the goods from the refrigerator and deliver the goods to the user or the designated position of the user after receiving the instruction of the user, and more comfortable intelligent home experience is brought to the user.
The disclosed embodiments provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-described control method for a delivery apparatus.
The disclosed embodiments provide a computer program product comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the above-described control method for a delivery apparatus.
The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same element. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method or device comprising the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit may be merely a division of a logical function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (10)
1. A control method for a delivery device, comprising:
acquiring a user instruction and a target position;
acquiring position information of the delivery device, and calculating the distance between the delivery device and the target position according to the target position and the position information of the delivery device;
controlling the delivery device to move to the target position according to the distance between the delivery device and the target position;
the position information of the delivery device and the target position are obtained through Bluetooth positioning.
2. The method of claim 1, wherein obtaining the location information of the delivery device and the target location via bluetooth positioning comprises:
and calculating the positioning beacon address and the Received Signal Strength Indicator (RSSI) of the positioning beacon broadcast to obtain the position information of the delivery device and the target position.
3. The method of claim 2, further comprising:
and controlling the delivery device to be closed after detecting that the articles enter the delivery device.
4. The method of claim 3, further comprising:
and when the delivery device reaches the target position, controlling the delivery device to be started.
5. The method of claim 4, further comprising:
and controlling the delivery device to be closed after detecting that the articles leave the delivery device.
6. The method of claim 5, further comprising, after detecting that an item has left the delivery device and controlling the delivery device to close:
and controlling the delivery device to return to the initial position.
7. The method of any of claims 3 to 6, wherein controlling the delivery device to close comprises:
and controlling the cargo compartment of the delivery device to descend so that the delivery device is closed.
8. The method of any of claims 4 to 6, wherein controlling the delivery device to open comprises:
and controlling the cargo cabin of the delivery device to ascend so that the delivery device is opened.
9. A control device for a delivery device comprising a processor and a memory storing program instructions, wherein the processor is configured to perform a control method for a delivery device according to any of claims 1 to 8 when executing the program instructions.
10. A delivery device comprising a control device as claimed in claim 9.
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| CN201911418958.1A CN113064416A (en) | 2019-12-31 | 2019-12-31 | Control method and device for delivery device and delivery device |
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| CN201911418958.1A CN113064416A (en) | 2019-12-31 | 2019-12-31 | Control method and device for delivery device and delivery device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113064414A (en) * | 2019-12-31 | 2021-07-02 | 青岛海高设计制造有限公司 | Control method and device for delivery device and delivery device |
| CN113126605A (en) * | 2019-12-31 | 2021-07-16 | 青岛海高设计制造有限公司 | Control method and device for delivery device and refrigerator |
| CN113126610A (en) * | 2019-12-31 | 2021-07-16 | 青岛海高设计制造有限公司 | Delivery control method and device, refrigerator and delivery device |
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