CN110340892A

CN110340892A - Movement control method and device, electronic equipment and computer readable storage medium

Info

Publication number: CN110340892A
Application number: CN201910626757.4A
Authority: CN
Inventors: 周晓煜; 袁梦杰
Original assignee: Lazas Network Technology Shanghai Co Ltd
Current assignee: Lazas Network Technology Shanghai Co Ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2019-10-18

Abstract

The embodiments of the present disclosure disclose a movement control method, an apparatus, an electronic device, and a computer-readable storage medium. The movement control method includes: in response to receiving an instruction to use a mobile carrier device, moving to a location of the mobile carrier device, and perform a start-up operation on the mobile carrier device according to the instruction of using the mobile carrier device; in response to the mobile carrier device being in a loadable state, move into the carrierable space of the mobile carrier device; identify the mobile carrier device Reach the target moving position and move out from the loadable space of the mobile carrying device. The technical solution makes it possible for the robot to ride on the mobile carrying equipment automatically and accurately. The solution does not need to communicate with the mobile carrying equipment, and saves the transformation of the mobile carrying equipment. Therefore, the investment cost is greatly reduced, which is conducive to saving manpower and material resources. The scheme has wide applicability and is conducive to popularization and use.

Description

Movement control method, device, electronic device, and computer-readable storage medium

技术领域technical field

本公开涉及机器人控制技术领域，具体涉及一种移动控制方法、装置、电子设备及计算机可读存储介质。The present disclosure relates to the technical field of robot control, and in particular, to a movement control method, an apparatus, an electronic device, and a computer-readable storage medium.

背景技术Background technique

随着机器人技术的发展，可以行走的机器人逐渐广泛应用于物流配送，室内导引或者救援救护等领域。在一些应用场景下，机器人需要搭乘移动承载设备(如电梯、升降架、传送带等)移动至目标位置来提供服务。现有技术中，通常是对移动承载设备进行物联网改造，通过近场通讯或者网络通信的方法实现机器人与移动承载设备的交互，进而实现对目标位置的判断，为机器人达到目标位置提供移动操作指令。但对于移动承载设备的物联网改造费时费力，投入成本高，而且针对不同的移动承载设备需要进行不同的改造，实用性差。With the development of robot technology, walking robots are gradually widely used in logistics distribution, indoor guidance or rescue and other fields. In some application scenarios, the robot needs to take a mobile carrying device (such as an elevator, a lifting frame, a conveyor belt, etc.) to move to a target location to provide services. In the prior art, the Internet of Things transformation is usually carried out on the mobile carrying equipment, and the interaction between the robot and the mobile carrying equipment is realized through the method of near field communication or network communication, thereby realizing the judgment of the target position, and providing mobile operations for the robot to reach the target position. instruction. However, the transformation of the Internet of Things for mobile bearer equipment is time-consuming and labor-intensive, and the investment cost is high. Moreover, different transformations are required for different mobile bearer equipment, and the practicability is poor.

发明内容SUMMARY OF THE INVENTION

本公开实施例提供一种移动控制方法、装置、电子设备及计算机可读存储介质。Embodiments of the present disclosure provide a movement control method, apparatus, electronic device, and computer-readable storage medium.

第一方面，本公开实施例中提供了一种移动控制方法。In a first aspect, an embodiment of the present disclosure provides a movement control method.

具体的，所述移动控制方法，包括：Specifically, the movement control method includes:

响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，其中，所述使用移动承载设备指令中包括目标移动位置；In response to receiving the instruction to use the mobile carrier device, move to the location of the mobile carrier device, and perform an activation operation on the mobile carrier device according to the instruction to use the mobile carrier device, wherein the instruction to use the mobile carrier device includes target moving position;

响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内；In response to the mobile carrying device being in the loadable state, moving into the loadable space of the mobile carrying device;

识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出。It is recognized that the mobile carrying device has reached a target moving position and is moved out of the loadable space of the mobile carrying device.

结合第一方面，本公开在第一方面的第一种实现方式中，所述识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出，包括：With reference to the first aspect, in a first implementation manner of the first aspect of the present disclosure, the identifying that the mobile carrier device has reached a target moving position and moving out from the loadable space of the mobile carrier device includes:

根据所述目标移动位置确定移动承载设备目标移动位置控制信息；Determine the target movement position control information of the mobile carrier device according to the target movement position;

根据所述目标移动位置控制信息对所述移动承载设备进行设置；setting the mobile carrier device according to the target mobile position control information;

获取所述移动承载设备的当前位置，当所述移动承载设备的当前位置与所述目标移动位置相匹配且所述移动承载设备处于可移出状态时，从所述移动承载设备的可承载空间内移出。Acquire the current position of the mobile carrying device, when the current position of the mobile carrying device matches the target moving position and the mobile carrying device is in a removable state, from the carrying space of the mobile carrying device Move out.

结合第一方面的第一种实现方式，本发明实施例在第一方面的第二种实现方式中，所述获取所述移动承载设备的当前位置，被实施为：With reference to the first implementation manner of the first aspect, in the second implementation manner of the first aspect of the embodiment of the present invention, the acquiring the current location of the mobile bearer device is implemented as:

获取移动距离检测参数，并根据所述移动距离检测参数确定所述移动承载设备的当前位置，其中，所述移动距离检测参数包括移动气压检测参数和/或加速度检测参数和/或惯导检测参数；Obtaining moving distance detection parameters, and determining the current position of the mobile carrying device according to the moving distance detection parameters, wherein the moving distance detection parameters include moving air pressure detection parameters and/or acceleration detection parameters and/or inertial navigation detection parameters ;

或者，or,

获取所述移动承载设备内部显示的位置信息，将所述移动承载设备内部显示的位置信息确定为所述移动承载设备的当前位置；acquiring the location information displayed inside the mobile carrier device, and determining the location information displayed inside the mobile carrier device as the current location of the mobile carrier device;

或者，or,

获取所述移动承载设备停止移动后外部预设位置标识信息，并根据所述外部预设位置标识信息确定所述移动承载设备的当前位置；Acquiring external preset position identification information after the mobile carrier device stops moving, and determining the current position of the mobile carrier device according to the external preset position identification information;

或者，or,

获取所述移动承载设备外部无线广播信号，并根据所述外部无线广播信号的强度确定所述移动承载设备的当前位置。Acquire an external wireless broadcast signal of the mobile bearer device, and determine the current position of the mobile bearer device according to the strength of the external wireless broadcast signal.

结合第一方面，本发明实施例在第一方面的第三种实现方式中，所述响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，包括：With reference to the first aspect, in a third implementation manner of the first aspect of the embodiments of the present invention, in response to receiving an instruction to use a mobile carrier device, move to the location of the mobile carrier device, and according to the use of the mobile carrier device The device instruction performs a start-up operation on the mobile bearer device, including:

响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处；in response to receiving the use of the mobile carrier device instruction, moving to the mobile carrier device location;

获取待承载设备的当前位置；Obtain the current location of the device to be carried;

根据所述待承载设备的当前位置与目标移动位置之间的关系确定移动承载设备移动方向控制信息；Determine the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

根据所述移动方向控制信息对于所述移动承载设备执行启动操作。A start-up operation is performed on the mobile carrier device according to the movement direction control information.

结合第一方面的第三种实现方式，本发明实施例在第一方面的第四种实现方式中，所述根据所述移动方向控制信息对于所述移动承载设备执行启动操作，被实施为：With reference to the third implementation manner of the first aspect, in the fourth implementation manner of the first aspect of the embodiment of the present invention, the starting operation for the mobile bearer device according to the moving direction control information is implemented as:

根据所述移动方向控制信息确定目标移动方向控制开关；Determine the target movement direction control switch according to the movement direction control information;

获取所述目标移动方向控制开关的位置信息；obtaining the position information of the target movement direction control switch;

根据所述目标移动方向控制开关与所述待承载设备之间的位置关系，移动至所述目标移动方向控制开关位置所在区域；According to the positional relationship between the target movement direction control switch and the device to be carried, move to the area where the target movement direction control switch is located;

对于所述目标移动方向控制开关执行启动操作。A start-up operation is performed for the target movement direction control switch.

结合第一方面，本发明实施例在第一方面的第五种实现方式中，所述响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内，包括：With reference to the first aspect, in a fifth implementation manner of the first aspect, the moving to the loadable space of the mobile carrier device in response to the mobile carrier device being in a loadable state includes:

获取所述移动承载设备的当前位置和待承载设备的当前位置；obtaining the current position of the mobile carrier device and the current position of the device to be carried;

当所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配且所述移动承载设备停止移动时，确定所述移动承载设备的承载状态；When the current position of the mobile carrying device matches the current position of the device to be carried and the mobile carrying device stops moving, determining the carrying state of the mobile carrying device;

当所述移动承载设备处于可承载状态时，移动至所述移动承载设备的可承载空间内。When the mobile carrying device is in a loadable state, the mobile carrying device moves into the loadable space of the mobile carrying device.

结合第一方面的第五种实现方式，本发明实施例在第一方面的第六种实现方式中，所述确定所述移动承载设备的承载状态，被实施为：With reference to the fifth implementation manner of the first aspect, in the sixth implementation manner of the first aspect of the embodiment of the present invention, the determining of the bearer status of the mobile bearer device is implemented as:

当所述待承载设备移动方向上预设距离内未检测到障碍物且所述移动承载设备已承载重量小于或等于最大可承载重量时，确定所述移动承载设备处于可承载状态。When no obstacle is detected within a preset distance in the moving direction of the device to be carried, and the carrying weight of the mobile carrying device is less than or equal to the maximum loadable weight, it is determined that the mobile carrying device is in a loadable state.

结合第一方面的第五种实现方式和第一方面的第六种实现方式，本发明实施例在第一方面的第七种实现方式中，所述移动至所述移动承载设备的可承载空间内，被实施为：With reference to the fifth implementation manner of the first aspect and the sixth implementation manner of the first aspect, in the seventh implementation manner of the first aspect of the embodiment of the present invention, the moving to the loadable space of the mobile carrying device inside, is implemented as:

根据所述移动承载设备的尺寸信息、所述待承载设备的尺寸信息以及所述移动承载设备可承载空间内的障碍物位置信息确定安全移动距离；Determine the safe moving distance according to the size information of the mobile carrying device, the size information of the device to be carried, and the position information of obstacles in the space that the mobile carrying device can carry;

根据所述安全移动距离移动至所述移动承载设备的可承载空间内。Move into the loadable space of the mobile carrying device according to the safe moving distance.

第二方面，本公开实施例中提供了一种移动控制装置。In a second aspect, an embodiment of the present disclosure provides a movement control apparatus.

具体的，所述移动控制装置，包括：Specifically, the mobile control device includes:

执行模块，被配置为响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，其中，所述使用移动承载设备指令中包括目标移动位置；an execution module, configured to move to the location of the mobile carrying device in response to receiving an instruction to use the mobile carrying device, and to perform an initiating operation on the mobile carrying device according to the instruction to use the mobile carrying device, wherein the using the mobile carrying device The mobile carrier device instruction includes the target moving position;

移动模块，被配置为响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内；a moving module, configured to move into a loadable space of the mobile carrying device in response to the mobile carrying device being in a loadable state;

识别模块，被配置为识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出。The identification module is configured to identify that the mobile carrying device reaches a target moving position and moves out of the loadable space of the mobile carrying device.

结合第二方面，本公开在第二方面的第一种实现方式中，所述识别模块包括：In conjunction with the second aspect, in a first implementation manner of the second aspect of the present disclosure, the identification module includes:

第一确定子模块，被配置为根据所述目标移动位置确定移动承载设备目标移动位置控制信息；a first determining submodule, configured to determine control information of the target moving position of the mobile carrying device according to the target moving position;

设置子模块，被配置为根据所述目标移动位置控制信息对所述移动承载设备进行设置；a setting submodule, configured to set the mobile carrier device according to the target mobile position control information;

移出子模块，被配置为获取所述移动承载设备的当前位置，当所述移动承载设备的当前位置与所述目标移动位置相匹配且所述移动承载设备处于可移出状态时，从所述移动承载设备的可承载空间内移出。A move-out sub-module is configured to acquire the current position of the mobile carrier device, and when the current position of the mobile carrier device matches the target moving position and the mobile carrier device is in a removable state, the mobile carrier device is in a removable state. Move out of the loadable space of the carrying device.

结合第二方面的第一种实现方式，本发明实施例在第二方面的第二种实现方式中，所述移出子模块获取所述移动承载设备的当前位置的部分，被配置为：With reference to the first implementation manner of the second aspect, in the second implementation manner of the second aspect of the embodiment of the present invention, the part where the moving out submodule acquires the current position of the mobile bearer device is configured as:

或者，or,

获取所述移动承载设备停止移动后外部预设位置标识信息，并根据所述外部预设位置标识信息确定所述移动承载设备的当前位置；Acquiring external preset location identification information after the mobile carrying device stops moving, and determining the current location of the mobile carrying device according to the external preset location identification information;

或者，or,

结合第二方面，本发明实施例在第二方面的第三种实现方式中，所述执行模块包括：With reference to the second aspect, in a third implementation manner of the second aspect, the execution module includes:

第一移动子模块，被配置为响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处；a first moving sub-module configured to move to the location of the mobile carrying device in response to receiving an instruction to use the mobile carrying device;

第一获取子模块，被配置为获取待承载设备的当前位置；The first acquisition sub-module is configured to acquire the current position of the device to be carried;

第二确定子模块，被配置为根据所述待承载设备的当前位置与目标移动位置之间的关系确定移动承载设备移动方向控制信息；a second determining submodule, configured to determine the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

执行子模块，被配置为根据所述移动方向控制信息对于所述移动承载设备执行启动操作。An executing submodule is configured to execute a start-up operation on the mobile carrying device according to the moving direction control information.

结合第二方面的第三种实现方式，本发明实施例在第二方面的第四种实现方式中，所述执行子模块被配置为：With reference to the third implementation manner of the second aspect, in the fourth implementation manner of the second aspect of the embodiment of the present invention, the execution submodule is configured as:

对于所述目标移动方向控制开关执行启动操作。A start-up operation is performed on the target movement direction control switch.

结合第二方面，本发明实施例在第二方面的第五种实现方式中，所述移动模块包括：With reference to the second aspect, in a fifth implementation manner of the second aspect of the embodiment of the present invention, the moving module includes:

第二获取子模块，被配置为获取所述移动承载设备的当前位置和待承载设备的当前位置；a second acquisition submodule, configured to acquire the current position of the mobile carrier device and the current position of the device to be carried;

第三确定子模块，被配置为当所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配且所述移动承载设备停止移动时，确定所述移动承载设备的承载状态；a third determining submodule, configured to determine the carrying state of the mobile carrying device when the current position of the mobile carrying device matches the current position of the device to be carried and the mobile carrying device stops moving;

第二移动子模块，被配置为当所述移动承载设备处于可承载状态时，移动至所述移动承载设备的可承载空间内。The second moving sub-module is configured to move into the loadable space of the mobile carrying device when the mobile carrying device is in a loadable state.

结合第二方面的第五种实现方式，本发明实施例在第二方面的第六种实现方式中，所述第三确定子模块确定所述移动承载设备的承载状态的部分，被配置为：With reference to the fifth implementation manner of the second aspect, in the sixth implementation manner of the second aspect of the embodiment of the present invention, the part where the third determination submodule determines the bearing state of the mobile bearer device is configured as:

结合第二方面的第五种实现方式和第二方面的第六种实现方式，本发明实施例在第二方面的第七种实现方式中，所述第二移动子模块移动至所述移动承载设备的可承载空间内的部分，被配置为：With reference to the fifth implementation manner of the second aspect and the sixth implementation manner of the second aspect, in the seventh implementation manner of the second aspect of the embodiment of the present invention, the second mobile sub-module moves to the mobile bearer The portion of the equipment's loadable space that is configured to:

第三方面，本公开实施例提供了一种电子设备，包括存储器和处理器，其中，所述存储器用于存储一条或多条计算机指令，其中，所述一条或多条计算机指令被所述处理器执行以实现上述第一方面中移动控制方法的方法步骤。In a third aspect, embodiments of the present disclosure provide an electronic device, including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are processed by the The controller executes the method steps to implement the movement control method in the first aspect.

第四方面，本公开实施例提供了一种计算机可读存储介质，用于存储移动控制装置所用的计算机指令，其包含用于执行上述第一方面中移动控制方法为移动控制装置所涉及的计算机指令。In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by a mobile control device, including computer instructions for executing the mobile control method in the above-mentioned first aspect as a mobile control device. .

本公开实施例提供的技术方案可以包括以下有益效果：The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

上述技术方案控制机器人在接收到使用移动承载设备指令后，移动至移动承载设备位置，启动移动承载设备使得移动承载设备处于可承载状态，并在移动承载设备到达目标移动位置后，从移动承载设备的可承载空间内移出。上述技术方案使得机器人自动、准确地搭乘移动承载设备成为可能，该方案无需与移动承载设备进行通讯，省却了对移动承载设备的改造，因此大大降低投入的成本，有利于节省人力物力，同时该方案适用性广，有利于推广使用。The above technical solution controls the robot to move to the position of the mobile carrying device after receiving the instruction to use the mobile carrying device, start the mobile carrying device so that the mobile carrying device is in a loadable state, and after the mobile carrying device reaches the target moving position, move the mobile carrying device from the mobile carrying device. out of the load-bearing space. The above technical solution makes it possible for the robot to automatically and accurately ride on the mobile carrying equipment. This solution does not need to communicate with the mobile carrying equipment, and saves the transformation of the mobile carrying equipment. Therefore, the investment cost is greatly reduced, which is conducive to saving manpower and material resources. The scheme has wide applicability and is conducive to popularization and use.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

附图说明Description of drawings

结合附图，通过以下非限制性实施方式的详细描述，本公开的其它特征、目的和优点将变得更加明显。在附图中：Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the attached image:

图1示出根据本公开一实施方式的移动控制方法的流程图；FIG. 1 shows a flowchart of a movement control method according to an embodiment of the present disclosure;

图2示出根据图1所示实施方式的移动控制方法的步骤S103的流程图；FIG. 2 shows a flowchart of step S103 of the movement control method according to the embodiment shown in FIG. 1;

图3示出根据图1所示实施方式的移动控制方法的步骤S101的流程图；Fig. 3 shows a flowchart of step S101 of the movement control method according to the embodiment shown in Fig. 1;

图4示出根据图1所示实施方式的移动控制方法的步骤S102的流程图；FIG. 4 shows a flowchart of step S102 of the movement control method according to the embodiment shown in FIG. 1;

图5示出根据本公开一实施方式的移动控制装置的结构框图；FIG. 5 shows a structural block diagram of a mobile control apparatus according to an embodiment of the present disclosure;

图6示出根据图5所示实施方式的移动控制装置的识别模块503的结构框图；FIG. 6 shows a structural block diagram of the identification module 503 of the mobile control device according to the embodiment shown in FIG. 5;

图7示出根据图5所示实施方式的移动控制装置的执行模块501的结构框图；Fig. 7 shows a structural block diagram of the execution module 501 of the mobile control device according to the embodiment shown in Fig. 5;

图8示出根据图5所示实施方式的移动控制装置的移动模块502的结构框图；Fig. 8 shows a structural block diagram of the mobile module 502 of the mobile control device according to the embodiment shown in Fig. 5;

图9示出根据本公开一实施方式的电子设备的结构框图；FIG. 9 shows a structural block diagram of an electronic device according to an embodiment of the present disclosure;

图10是适于用来实现根据本公开一实施方式的移动控制方法的计算机系统的结构示意图。FIG. 10 is a schematic structural diagram of a computer system suitable for implementing the movement control method according to an embodiment of the present disclosure.

具体实施方式Detailed ways

下文中，将参考附图详细描述本公开的示例性实施方式，以使本领域技术人员可容易地实现它们。此外，为了清楚起见，在附图中省略了与描述示例性实施方式无关的部分。Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts unrelated to describing the exemplary embodiments are omitted from the drawings.

在本公开中，应理解，诸如“包括”或“具有”等的术语旨在指示本说明书中所公开的特征、数字、步骤、行为、部件、部分或其组合的存在，并且不欲排除一个或多个其他特征、数字、步骤、行为、部件、部分或其组合存在或被添加的可能性。In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude a or multiple other features, numbers, steps, acts, components, parts, or combinations thereof may exist or be added.

另外还需要说明的是，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。In addition, it should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

本公开实施例提供的技术方案控制机器人在接收到使用移动承载设备指令后，移动至移动承载设备位置，启动移动承载设备使得移动承载设备处于可承载状态，并在移动承载设备到达目标移动位置后，从移动承载设备的可承载空间内移出。上述技术方案使得机器人自动、准确地搭乘移动承载设备成为可能，该方案无需与移动承载设备进行通讯，省却了对移动承载设备的改造，因此大大降低投入的成本，有利于节省人力物力，同时该方案适用性广，有利于推广使用。The technical solutions provided by the embodiments of the present disclosure control the robot to move to the position of the mobile carrier device after receiving the instruction to use the mobile carrier device, start the mobile carrier device to make the mobile carrier device in a loadable state, and after the mobile carrier device reaches the target moving position , removed from the loadable space of the mobile carrying device. The above technical solution makes it possible for the robot to automatically and accurately ride on the mobile carrying equipment. This solution does not need to communicate with the mobile carrying equipment, which saves the transformation of the mobile carrying equipment, thus greatly reducing the cost of investment, which is conducive to saving manpower and material resources. The scheme has wide applicability and is conducive to popularization and use.

图1示出根据本公开一实施方式的移动控制方法的流程图。如图1所示，所述移动控制方法包括以下步骤S101-S103：FIG. 1 shows a flowchart of a movement control method according to an embodiment of the present disclosure. As shown in FIG. 1, the movement control method includes the following steps S101-S103:

在步骤S101中，响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，其中，所述使用移动承载设备指令中包括目标移动位置；In step S101, in response to receiving an instruction to use a mobile carrier device, move to the location of the mobile carrier device, and perform a start-up operation on the mobile carrier device according to the instruction to use a mobile carrier device, wherein the use of a mobile carrier device The carrier equipment instruction includes the target moving position;

在步骤S102中，响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内；In step S102, in response to the mobile carrying device being in a loadable state, move to a loadable space of the mobile carrying device;

在步骤S103中，识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出。In step S103, it is recognized that the mobile carrying device has reached a target moving position, and is moved out of the loadable space of the mobile carrying device.

上文提及，随着机器人技术的发展，可以行走的机器人逐渐广泛应用于物流配送，室内导引或者救援救护等领域。在一些应用场景下，机器人需要搭乘移动承载设备(如电梯、升降架、传送带等)移动至目标位置来提供服务。现有技术中，通常是对移动承载设备进行物联网改造，通过进场通讯或者网络通信的方法实现机器人与移动承载设备的交互，进而实现对目标位置的判断，为机器人达到目标位置提供移动操作指令。但对于移动承载设备的物联网改造费时费力，投入成本高，而且针对不同的移动承载设备需要进行不同的改造，实用性差。As mentioned above, with the development of robot technology, walking robots are gradually widely used in logistics distribution, indoor guidance or rescue and other fields. In some application scenarios, the robot needs to take a mobile carrying device (such as an elevator, a lifting frame, a conveyor belt, etc.) to move to a target location to provide services. In the prior art, the Internet of Things transformation is usually carried out on the mobile carrying equipment, and the interaction between the robot and the mobile carrying equipment is realized through the method of on-site communication or network communication, thereby realizing the judgment of the target position, and providing mobile operations for the robot to reach the target position. instruction. However, the transformation of the Internet of Things for mobile bearer equipment is time-consuming and labor-intensive, and the investment cost is high. Moreover, different transformations are required for different mobile bearer equipment, and the practicability is poor.

考虑到上述缺陷，在该实施方式中，提出一种移动控制方法，该方法控制机器人在接收到使用移动承载设备指令后，移动至移动承载设备位置，启动移动承载设备使得移动承载设备处于可承载状态，并在移动承载设备到达目标移动位置后，从移动承载设备的可承载空间内移出。上述技术方案使得机器人自动、准确地搭乘移动承载设备成为可能，该方案无需与移动承载设备进行通讯，省却了对移动承载设备的改造，因此大大降低投入的成本，有利于节省人力物力，同时该方案适用性广，有利于推广使用。Considering the above defects, in this embodiment, a movement control method is proposed, which controls the robot to move to the position of the mobile carrying device after receiving the instruction to use the mobile carrying device, and starts the mobile carrying device so that the mobile carrying device is in a loadable position. state, and after the mobile carrying device reaches the target moving position, it is removed from the loadable space of the mobile carrying device. The above technical solution makes it possible for the robot to automatically and accurately ride on the mobile carrying equipment. This solution does not need to communicate with the mobile carrying equipment, which saves the transformation of the mobile carrying equipment, thus greatly reducing the cost of investment, which is conducive to saving manpower and material resources. The scheme has wide applicability and is conducive to popularization and use.

在本实施例的一个可选实现方式中，所述移动承载设备指的是具有一定容纳空间、能够承载具有一定大小的物体、能够在不同位置间进行移动运输的设备，比如电梯、升降架、传送带等。In an optional implementation manner of this embodiment, the mobile carrying device refers to a device that has a certain accommodating space, can carry objects of a certain size, and can be moved and transported between different positions, such as elevators, lifting frames, conveyor belt etc.

在本实施例的一个可选实现方式中，所述使用移动承载设备指令指的是指示机器人或其他移动物体使用移动承载设备进行移动的指令，所述使用移动承载设备指令中至少包括机器人或其他移动物体所需要移动到的目标移动位置。所述目标移动位置指的是机器人或其他移动物体执行服务的目标位置或者机器人或其他移动物体需要移动到的位置，比如其既可以是接受物流配送服务的商户或用户的位置，也可以仅是一个想要到达的位置，也就是说，机器人或其他移动物体需要搭乘所述移动承载设备移动至该目标位置，其中，所述移动既可以是多层场景下的高低楼层间的移动，也可以是同一层区域内水平方向上的移动，当然也可以是其他形式、具有其他运动特点的移动。比如，若所述移动承载设备为电梯，移动物体为配送机器人，那么目标移动位置既可以为需要配送机器人取货或送货的楼层，也可以为了实现其他移动目的的楼层。In an optional implementation manner of this embodiment, the instruction to use the mobile carrier device refers to an instruction to instruct the robot or other moving objects to use the mobile carrier device to move, and the instruction to use the mobile carrier device at least includes a robot or other The target movement position to which the moving object needs to move. The target moving position refers to the target position of the robot or other mobile object to perform the service or the position to which the robot or other mobile object needs to move. A desired position, that is to say, the robot or other moving object needs to move to the target position by taking the mobile carrying device, wherein the movement can be a movement between high and low floors in a multi-layer scene, or It is the movement in the horizontal direction within the same layer area, of course, it can also be movement in other forms and with other movement characteristics. For example, if the mobile carrying device is an elevator and the moving object is a delivery robot, the target moving position can be either a floor where the delivery robot needs to pick up or deliver goods, or a floor for other moving purposes.

在本实施例的一个可选实现方式中，所述移动承载设备位置处指的是一个预设区域，该预设区域与移动承载设备之间的距离处于预设阈值内。其中，在该预设区域内，设置于待承载设备上的执行机构能够执行对于所述移动承载设备执行启动操作前的准备工作，比如当执行机构为机械臂时，处于预设区域内的机械臂能够执行抬臂、弯曲、旋转、移动、落臂等动作。In an optional implementation manner of this embodiment, the location of the mobile carrier device refers to a preset area, and the distance between the preset area and the mobile carrier device is within a preset threshold. Wherein, in the preset area, the actuator disposed on the equipment to be carried can perform the preparatory work before performing the start-up operation on the mobile carrying equipment. For example, when the actuator is a mechanical arm, the mechanical The arm can perform actions such as raising the arm, bending, rotating, moving, and dropping the arm.

考虑到在待承载设备接收到所述使用移动承载设备指令，向移动承载设备的位置处移动时，由于移动承载设备的当前位置可能与待承载设备的当前位置不在同一区域或者说不相匹配，从而使得即使待承载设备移动至所述移动承载设备位置处时，也无法直接搭乘移动承载设备，因此，在待承载设备移动至所述移动承载设备位置处后，需要根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，以使所述移动承载设备朝向所述待承载设备的当前位置移动。具体地，所述启动操作可以为选中控制移动承载设备上行的上行按键、选中控制移动承载设备下行的下行按键、选中能够表征待承载设备当前位置至目标移动位置的移动方向的按键等等。Considering that when the device to be carried receives the instruction to use the mobile carrying device and moves to the location of the mobile carrying device, since the current position of the mobile carrying device may not be in the same area or does not match the current position of the device to be carried, Therefore, even when the equipment to be carried moves to the position of the mobile carrying equipment, the mobile carrying equipment cannot be directly boarded. Therefore, after the equipment to be carried moves to the position of the mobile carrying equipment, it is necessary to use the mobile carrying equipment according to the The instructions perform a start-up operation on the mobile carrying device to move the mobile carrying device toward the current position of the device to be carried. Specifically, the startup operation may be selecting an uplink button that controls the uplink of the mobile carrier device, selecting a downlink button that controls the downlink of the mobile carrier device, selecting a button that can represent the moving direction of the device to be carried from the current position to the target moving position, and the like.

在执行机构执行对于所述移动承载设备执行启动操作前的准备工作时，所述预设阈值的大小应该确保所述执行机构能够执行启动操作指令，比如若预设阈值设置地较大，在执行机构执行完毕准备工作后，所述执行机构与移动承载设备之间可能仍然存在一定的距离，此时还需控制待承载设备再次移动，以使其能够执行启动操作指令。When the actuator performs the preparatory work before performing the start-up operation on the mobile carrying device, the size of the preset threshold should ensure that the actuator can execute the start-up operation instruction. After the mechanism completes the preparatory work, there may still be a certain distance between the actuator and the mobile carrying device. At this time, the device to be carried needs to be controlled to move again so that it can execute the start-up operation instruction.

在本实施例的一个可选实现方式中，所述移动承载设备处于可承载状态指的是待承载设备可移动至所述移动承载设备的内部容纳空间内，而且在待承载设备移动至所述移动承载设备的内部容纳空间后，移动承载设备还能够正常进行运输工作，也就是说，当所述移动承载设备处于可承载状态时，移动承载设备内的容纳空间足够容纳待承载设备、并且待承载设备的重量也处于移动承载设备的负载限度范围内。In an optional implementation manner of this embodiment, that the mobile carrying device is in a supportable state means that the to-be-carried device can be moved into the inner accommodation space of the mobile carrying device, and when the to-be-carried device moves to the After the internal accommodating space of the mobile carrying device is moved, the mobile carrying device can still be transported normally, that is, when the mobile carrying device is in a loadable state, the accommodating space in the mobile carrying device is sufficient to accommodate the to-be-carried device and the to-be-carried device. The weight of the carrier equipment is also within the load limits of the mobile carrier equipment.

在本实施例的一个可选实现方式中，如图2所示，所述步骤S103，即识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出的步骤，包括步骤S201-S203：In an optional implementation manner of this embodiment, as shown in FIG. 2 , the step S103 is the step of recognizing that the mobile carrier device reaches the target moving position and moves out of the loadable space of the mobile carrier device, Including steps S201-S203:

在步骤S201中，根据所述目标移动位置确定移动承载设备目标移动位置控制信息；In step S201, determine the target movement position control information of the mobile carrier device according to the target movement position;

在步骤S202中，根据所述目标移动位置控制信息对于所述移动承载设备进行设置；In step S202, setting the mobile carrier device according to the target mobile position control information;

在步骤S203中，获取所述移动承载设备的当前位置，当所述移动承载设备的当前位置与所述目标移动位置相匹配且所述移动承载设备处于可移出状态时，从所述移动承载设备的可承载空间内移出。In step S203, the current position of the mobile carrying device is acquired, and when the current position of the mobile carrying device matches the target moving position and the mobile carrying device is in a removable state, the mobile carrying device is in a removable state. out of the load-bearing space.

在本实施例的一个可选实现方式中，所述目标移动位置控制信息指的是进入移动承载设备中的待承载设备向目标位置移动的控制信息。相应的，所述移动承载设备中设置有若干控制按钮，每一按钮可对应移动承载设备移动的固定位置，比如，若待承载设备的目标移动位置为7层，则移动承载设备目标移动位置控制信息可为按下7层按钮，后续可根据所述目标移动位置控制信息对于所述移动承载设备进行设置，比如按下7层按钮。In an optional implementation manner of this embodiment, the target moving position control information refers to control information that the device to be carried in the mobile carrying device moves to the target position. Correspondingly, the mobile carrying device is provided with a number of control buttons, and each button can correspond to a fixed position where the mobile carrying device moves. The information can be pressing the 7-layer button, and the mobile carrier device can be set according to the target moving position control information later, for example, pressing the 7-layer button.

在该实现方式中，在获取所述目标移动位置控制信息后，可以通过设置在待承载设备上的图像识别设备进行移动承载设备中若干控制按钮的识别，再在确定所述目标移动位置控制信息对应的控制按钮后，通过设置在待承载设备上的执行机构，来触碰或启动该控制按钮实现对于移动承载设备的设置。在此之前，还可以根据执行机构的运动角度等运动特点对于所述待承载设备向控制按钮的移动距离进行控制，来为待承载设备与控制按钮之间留有足够的操作距离，为执行机构提供适宜的操作空间，从而保证所述执行机构能够准确地启动所述控制按钮，并且在执行机构对所述控制按钮执行了启动操作后，能够安全灵活地收回。此时，所述待承载设备处于目标位置判断状态。In this implementation, after acquiring the control information of the target moving position, the image recognition device set on the device to be carried can be used to identify several control buttons in the mobile carrying device, and then determining the control information of the target moving position. After the corresponding control button is set, the setting for the mobile carrying device is realized by touching or activating the control button through the actuator set on the device to be carried. Before that, it is also possible to control the moving distance of the device to be carried to the control button according to the movement characteristics such as the movement angle of the actuator, so as to leave a sufficient operating distance between the device to be carried and the control button, for the actuator A suitable operating space is provided, so as to ensure that the actuator can accurately activate the control button, and can be retracted safely and flexibly after the actuator performs the activation operation on the control button. At this time, the device to be carried is in the target position determination state.

需要说明的是，在获取所述目标移动位置控制信息后，可以进一步获取所述目标移动位置控制信息对应的控制按钮状态，若所述控制按钮已经由其他用户等被承载设备设置选中，则表明所述控制按钮已经处于启动状态，无需控制执行机构再次执行设置操作。另外，在到达目标移动位置之前，所述待承载设备需要重复检测所述控制按钮的状态，确保所述控制按钮处于启动状态，并在所述控制按钮处于非启动状态时，再次控制执行机构执行设置操作。It should be noted that, after obtaining the control information of the target moving position, the state of the control button corresponding to the control information of the target moving position can be further obtained. The control button is already in the activated state, and there is no need to control the actuator to perform the setting operation again. In addition, before reaching the target moving position, the device to be carried needs to repeatedly detect the state of the control button to ensure that the control button is in the activated state, and when the control button is in the non-activated state, control the actuator again to execute Set the action.

在本实施例的一个可选实现方式中，所述待承载设备搭乘所述移动承载设备后，二者从待承载设备的当前位置共同向目标移动位置移动。考虑到移动承载设备的当前位置与待承载设备的目标移动位置之间，移动承载设备会停靠的位置可能不止一个，即移动承载设备的当前位置可能会发生变化。因此，需要实时的确认所述移动承载设备的当前位置，在所述移动承载设备的当前位置与待承载设备的目标移动位置确定相匹配且所述移动承载设备处于可移出状态后，此时控制所述待承载设备从所述移动承载设备的容纳空间内移出。其中，所述移动承载设备的可移出状态可借助所述待承载设备移动方向上预设距离内未检测到障碍物来确定，也就是说，当所述待承载设备移动方向上预设距离内未检测到障碍物时，可认为所述移动承载设备门已开可移出。In an optional implementation manner of this embodiment, after the device to be carried rides on the mobile carrying device, the two move together from the current position of the device to be carried to the target moving position. Considering that between the current position of the mobile carrying device and the target moving position of the device to be carried, the mobile carrying device may stop at more than one position, that is, the current position of the mobile carrying device may change. Therefore, it is necessary to confirm the current position of the mobile carrying device in real time. After the current position of the mobile carrying device matches the target moving position of the device to be carried, and the mobile carrying device is in a removable state, control the The device to be carried is removed from the accommodating space of the mobile carrying device. The removable state of the mobile carrying device may be determined by the fact that no obstacle is detected within a preset distance in the moving direction of the device to be carried, that is, when the device to be carried is within a preset distance in the moving direction of the device to be carried When no obstacle is detected, it can be considered that the door of the mobile carrying device is open and can be removed.

在本实施例中，可由待承载设备自身对移动承载设备的当前位置进行数据检测并分析来实现对移动承载设备当前位置的判断，进而获知待承载设备是否移动到目标移动位置。具体地，在本实施例中，可使用以下实现方式来实现对移动承载设备当前位置的判断：In this embodiment, the current position of the mobile carrying device can be determined by the device to be carried by itself by performing data detection and analysis on the current position of the mobile carrying device, so as to know whether the device to be carried has moved to the target moving position. Specifically, in this embodiment, the following implementations can be used to realize the judgment of the current position of the mobile bearer device:

或者，or,

在上述实现方式中，可利用移动距离检测参数来判断移动承载设备移动的距离，以实现在待承载设备搭乘移动承载设备后，判断移动承载设备移动后的当前位置。具体地，可通过设置在待承载设备上的气压计、加速度计以及惯导设备进行所述移动距离检测参数的测定和数据处理，比如通过气压计检测楼层间的相对气压高度来判断楼层信息，或者通过楼层间的气压差配合加减速过程，判断到达楼层信息。其中，惯导是惯性导航系统的简称，惯导的基本工作原理是以牛顿力学定律为基础，通过测量载体在惯性参考系的加速度，将它对时间进行积分，且把它变换到导航坐标系中，就能够得到在导航坐标系中的速度、偏航角和位置等信息。In the above implementation manner, the moving distance detection parameter can be used to determine the moving distance of the mobile carrying device, so as to determine the current position of the mobile carrying device after the to-be-carried device rides on the mobile carrying device. Specifically, the measurement and data processing of the moving distance detection parameters can be performed by using a barometer, an accelerometer, and an inertial navigation device provided on the device to be carried. Or through the air pressure difference between floors and the acceleration and deceleration process to determine the arrival floor information. Among them, inertial navigation is the abbreviation of inertial navigation system. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, it is integrated with time, and it is transformed into the navigation coordinate system. In the navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.

在上述实现方式中，可利用移动承载设备内部显示的位置信息，来判断移动承载设备移动后的当前位置，比如通过设置在待承载设备上的图像识别设备来识别轿厢内楼层显示信息，以判断所到达的楼层信息。In the above implementation manner, the position information displayed inside the mobile carrying device can be used to determine the current position of the mobile carrying device after moving. Determine the floor information reached.

在上述实现方式中，可利用移动承载设备停止移动后外部预设位置标识信息，来判断移动承载设备移动后的当前位置，比如通过设置在待承载设备上的图像识别设备识别当电梯轿厢门打开后电梯厅内的特定标识，来判断所到达的楼层信息。其中，特定标识可以是电梯厅内的楼层显示标识，也可以是位于该楼层的固定商户的名称，通过识别所述特定标识，即可获得移动承载设备停靠的楼层信息。In the above implementation manner, the external preset position identification information after the mobile carrying device stops moving can be used to determine the current position of the mobile carrying device after moving. Turn on the specific signs in the elevator hall to determine the floor information reached. The specific logo may be a floor display logo in the elevator hall, or the name of a fixed merchant located on the floor. By identifying the specific logo, the floor information on which the mobile carrying device is parked can be obtained.

在上述实现方式中，可利用接收到的移动承载设备外部无线广播信号，来判断移动承载设备移动后的当前位置，比如借助预先安放于各楼层电梯厅的无线广播设备，通过设置在待承载设备上的传感器以近场通讯的方式获取所述无线广播设备发出的信息，随着移动承载设备当前位置的不同，待承载设备获取的不同楼层的无线广播信息及信号强度也会发生变化，通常待承载设备离无线广播设备的距离越近，获取的信号越强。当移动承载设备在当前楼层停靠时，待承载设备获取的当前楼层的无线广播信息及信号强度越强，相应的，可由信号强度来判断移动承载设备的当前位置。In the above implementation manner, the received external wireless broadcast signal of the mobile bearing device can be used to determine the current position of the mobile bearing device after moving, for example, by means of the wireless broadcast device pre-installed in the elevator hall of each floor, by setting the wireless broadcast device in the to-be-bearing device The sensor on the device acquires the information sent by the wireless broadcast device by means of near-field communication. With the current location of the mobile carrier device, the wireless broadcast information and signal strength of the different floors acquired by the mobile carrier device will also change. The closer the device is to the wireless broadcast device, the stronger the acquired signal. When the mobile carrier device is parked on the current floor, the stronger the wireless broadcast information and signal strength of the current floor acquired by the carrier device, correspondingly, the current position of the mobile carrier device can be determined by the signal strength.

需要说明的是，所述无线广播设备也可以只安放在个别固定位置，无需在移动承载设备可以停靠的每个位置附近安装，比如，只在固定的奇数楼层安放无线广播设备，而无需每一层楼层均安放无线广播设备。另外，无线广播设备作为一个可以选择的信标发生器，也可以替换为蓝牙设备或其他信标装置。It should be noted that the wireless broadcasting equipment can also be placed only in individual fixed positions, and it is not necessary to install near each position where the mobile carrying equipment can be parked. Wireless broadcasting equipment is installed on every floor. In addition, as an optional beacon generator, the wireless broadcast device can also be replaced by a Bluetooth device or other beacon devices.

在本实施例的一个可选实现方式中，如图3所示，所述步骤S101，即响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作的步骤，包括步骤S301-S304：In an optional implementation manner of this embodiment, as shown in FIG. 3 , in step S101, in response to receiving an instruction to use a mobile carrier device, move to the location of the mobile carrier device, and move according to the use of the mobile carrier device. The step of instructing the bearer device to perform a start-up operation on the mobile bearer device includes steps S301-S304:

在步骤S301中，响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处；In step S301, in response to receiving the instruction to use the mobile carrier device, move to the location of the mobile carrier device;

在步骤S302中，获取待承载设备的当前位置；In step S302, obtain the current location of the device to be carried;

在步骤S303中，根据所述待承载设备的当前位置与目标移动位置之间的关系确定移动承载设备移动方向控制信息；In step S303, determining the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

在步骤S304中，根据所述移动方向控制信息对于所述移动承载设备执行启动操作。In step S304, a startup operation is performed on the mobile carrier device according to the movement direction control information.

在本实施例的一个可选实现方式中，所述待承载设备指的是需搭乘移动承载设备移动至目标移动位置的设备，比如可以为轮式机器人、履带式机器人或步行机器人等移动机器人等等。In an optional implementation manner of this embodiment, the device to be carried refers to a device that needs to be moved to a target moving position by a mobile carrying device, for example, a mobile robot such as a wheeled robot, a crawler robot, or a walking robot, etc. Wait.

所述待承载设备的当前位置为待承载设备需要搭乘所述移动承载设备时所在的位置，比如可以是移动机器人当前所在的楼层位置或者是当前所在楼层的商户位置或者其他具有固定标识的位置。The current position of the to-be-carried device is the location where the to-be-carried device needs to ride the mobile carrying device, such as the current floor location of the mobile robot or the current location of a merchant on the current floor or other locations with fixed identifiers.

在确定了待承载设备的当前位置后，即可获知待承载设备的当前位置与目标移动位置之间的移动方向，进而获知移动承载设备移动方向控制信息。需要说明的是，根据待承载设备需要完成的任务设定，待承载设备在移动至目标移动位置处并完成相应的任务后，此时的目标移动位置可以作为待承载设备的新的当前位置进行下一次的移动。比如在多楼层场景下，任务设定为分别在第3层、第5层和第7层执行物流配送任务，则待承载设备的当前目标移动位置为第3层楼，待承载设备在当前目标移动位置第3层楼完成配送任务后，即可将第3层楼作为当前位置，将第5层楼作为新的目标移动位置。After the current position of the device to be carried is determined, the moving direction between the current position of the device to be carried and the target moving position can be obtained, and further the movement direction control information of the mobile carrying device can be obtained. It should be noted that, according to the task settings that the device to be carried needs to complete, after the device to be carried moves to the target moving position and completes the corresponding task, the target moving position at this time can be used as the new current position of the device to be carried. next move. For example, in a multi-floor scenario, the task is set to perform logistics distribution tasks on the 3rd, 5th and 7th floors respectively, then the current target moving position of the equipment to be carried is the 3rd floor, and the equipment to be carried is on the current target After completing the delivery task on the 3rd floor, you can use the 3rd floor as the current position and the 5th floor as the new target moving position.

由于当待承载设备需要使用移动承载设备时，所述移动承载设备的当前使用状态并不能确定，也就是说，当待承载设备需要使用移动承载设备时，移动承载设备可能与待承载设备处于相匹配的位置，比如，处于同一楼层，也可能与待承载设备处于不相匹配的位置，比如处于不同的楼层，因此，需要根据所述移动方向控制信息对于所述移动承载设备执行启动操作，以使所述移动承载设备移动至与待承载设备的当前位置相匹配的位置，便于所述待承载设备搭乘所述移动承载设备进行移动。Because when the device to be carried needs to use the mobile carrying device, the current usage state of the mobile carrying device cannot be determined, that is, when the device to be carried needs to use the mobile carrying device, the mobile carrying device may be in the same state as the device to be carried. The matching position, for example, on the same floor, may also be in a position that does not match with the device to be carried, such as on a different floor. Therefore, it is necessary to perform a startup operation on the mobile carrying device according to the moving direction control information to The mobile carrying device is moved to a position matching the current position of the device to be carried, so that the device to be carried can move on the mobile carrying device.

在本实施例的一个可选实现方式中，所述步骤S304，即根据所述移动方向控制信息对于所述移动承载设备执行启动操作的步骤，可被实施为：In an optional implementation manner of this embodiment, the step S304, that is, the step of performing a startup operation on the mobile bearer device according to the moving direction control information, may be implemented as:

为了根据所述移动方向控制信息对于所述移动承载设备执行准确的启动操作，在该实现方式中，首先根据所述移动方向控制信息确定目标移动方向控制开关；然后获取所述目标移动方向控制开关的位置信息；然后根据所述目标移动方向控制开关与所述待承载设备之间的位置关系，移动至所述目标移动方向控制开关位置处；最后对于所述目标移动方向控制开关执行启动操作。In order to perform an accurate start-up operation on the mobile carrying device according to the movement direction control information, in this implementation manner, first determine a target movement direction control switch according to the movement direction control information; then obtain the target movement direction control switch Then move to the position of the target movement direction control switch according to the positional relationship between the target movement direction control switch and the device to be carried; and finally perform a start operation on the target movement direction control switch.

在本实施例的一个可选实现方式中，所述移动方向控制信息用于确定待承载设备的当前位置向目标移动位置移动的方向，进而确定需要进行启动的目标移动方向控制开关，其中，所述目标移动方向控制开关用于在被启动时控制移动承载设备的移动。当所述移动承载设备为电梯时，所述目标移动方向控制开关比如可以为设置在电梯控制面板上的上行或下行按钮，更具体地，当目标移动位置位于当前位置的上方时，通过启动上行按钮，可控制电梯在向上行进的方向上在当前位置停靠，当目标移动位置位于当前位置的下方时，通过启动下行按钮，可控制电梯在向下行进的方向上在当前位置停靠。需要说明的是，在某些特殊场景下，由于电梯移动承载设备的移动规则不同，不排除需要进行与上文描述相反的操作，即当目标移动位置位于当前位置的上方时，需要通过启动下行按钮，控制电梯在向下行进的方向上在当前位置停靠等等。也就是说，所述目标移动方向控制开关与移动承载设备的移动方向之间的关系、所述目标移动方向控制开关与所述移动方向控制信息之间的关系可根据实际应用的需要进行设置和选择，本公开对其不作具体限定。In an optional implementation manner of this embodiment, the movement direction control information is used to determine the direction in which the current position of the device to be carried moves to the target movement position, and then to determine the target movement direction control switch that needs to be activated, wherein the The target movement direction control switch is used to control the movement of the mobile carrying device when activated. When the moving carrying device is an elevator, the target moving direction control switch may be, for example, an up or down button provided on the elevator control panel. The button can control the elevator to stop at the current position in the direction of upward travel. When the target moving position is below the current position, by starting the down button, the elevator can be controlled to stop at the current position in the direction of downward travel. It should be noted that, in some special scenarios, due to the different movement rules of the elevator moving carrying equipment, it is not excluded that the operation opposite to the above description is required, that is, when the target moving position is above the current position, it is necessary to start the downlink by button to control the elevator to stop at the current location in the direction of downward travel, etc. That is to say, the relationship between the target movement direction control switch and the movement direction of the mobile carrying device, and the relationship between the target movement direction control switch and the movement direction control information can be set and set according to actual application needs. option, which is not specifically limited in the present disclosure.

在本实施例的一个可选实现方式中，在获取所述目标移动方向控制开关的位置信息时，可以通过设置在待承载设备上的图像识别设备进行控制开关的位置信息的识别。具体地，图像识别设备可以预先设置不同移动承载设备的识别区域范围，然后在所述识别区域范围内进行控制开关位置信息的识别，其中，所述识别区域范围可根据不同的移动承载设备的目标移动方向控制开关的设置喜好来确定。其中，所述图像识别设备可以为具有图像识别功能的摄像设备等等。In an optional implementation manner of this embodiment, when acquiring the position information of the target movement direction control switch, the position information of the control switch may be identified by an image recognition device provided on the device to be carried. Specifically, the image recognition device can pre-set the recognition area range of different mobile carrying devices, and then identify the position information of the control switch within the recognition area range, wherein the recognition area range can be based on the target of different mobile carrying devices. Move the directional control switch to set preferences to determine. Wherein, the image recognition device may be a camera device with image recognition function or the like.

其中，所述目标移动方向控制开关位置所在区域指的也是一个预设区域，与上文描述类似，该预设区域与目标移动方向控制开关之间的距离处于预设阈值内，在该预设区域内，设置于待承载设备上的执行机构能够执行对于所述目标移动方向控制开关的启动操作。Wherein, the area where the target moving direction control switch is located also refers to a preset area. Similar to the above description, the distance between the preset area and the target moving direction control switch is within a preset threshold. In the area, the actuator arranged on the device to be carried can perform the starting operation for the control switch of the target movement direction.

在确定了所述目标移动方向控制开关的位置信息，并根据所述目标移动方向控制开关与所述待承载设备之间的位置关系，使所述待承载设备移动至所述目标移动方向控制开关位置处之后，就可以通过设置在待承载设备上的执行机构，比如机器臂，来触碰所述目标移动方向控制开关执行启动操作。在此之前，还可以根据执行机构的运动角度等运动特点对于所述待承载设备的移动距离进行控制，来为待承载设备与目标移动方向控制开关之间留有足够的操作距离，为执行机构提供适宜的操作空间，从而保证所述执行机构能够准确地启动所述目标移动方向控制开关，并且在执行机构对所述目标移动方向控制开关执行了启动操作后，能够安全灵活地收回。此时，所述待承载设备处于等待搭乘状态。After determining the position information of the target movement direction control switch, and according to the positional relationship between the target movement direction control switch and the device to be carried, the device to be carried is moved to the target movement direction control switch After the position is reached, the starting operation can be performed by touching the target movement direction control switch through an actuator disposed on the equipment to be carried, such as a robotic arm. Before that, the moving distance of the device to be carried can also be controlled according to the movement characteristics such as the movement angle of the actuator, so as to leave a sufficient operating distance between the device to be carried and the target moving direction control switch, and for the actuator A suitable operating space is provided to ensure that the actuator can accurately activate the target movement direction control switch, and can be retracted safely and flexibly after the actuator performs the activation operation on the target movement direction control switch. At this time, the device to be carried is in a waiting state.

在本实施例的一个可选实现方式中，如图4所示，所述步骤S102，即响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内的步骤，包括步骤S401-S403：In an optional implementation manner of this embodiment, as shown in FIG. 4 , the step S102 is the step of moving to the loadable space of the mobile carrier device in response to the mobile carrier device being in a loadable state , including steps S401-S403:

在步骤S401中，获取所述移动承载设备的当前位置和待承载设备的当前位置；In step S401, obtain the current position of the mobile carrier device and the current position of the device to be carried;

在步骤S402中，当所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配且所述移动承载设备停止移动时，确定所述移动承载设备的承载状态；In step S402, when the current position of the mobile carrying device matches the current position of the device to be carried and the mobile carrying device stops moving, determine the carrying state of the mobile carrying device;

在步骤S403中，当所述移动承载设备处于可承载状态时，移动至所述移动承载设备的可承载空间内。In step S403, when the mobile carrying device is in a loadable state, move into a loadable space of the mobile carrying device.

在本实施例的一个可选实现方式中，在对于所述目标移动方向控制开关执行启动操作之后，所述移动承载设备向待承载设备的方向移动，考虑到在移动承载设备移动前的初始位置与待承载设备的当前位置之间，移动承载设备停靠的位置可能不止一个，而在每个可能的停靠位置处，移动承载设备的承载状态都可能会发生变化。因此，为了保证待承载设备的安全性，在待承载设备移动至所述移动承载设备的可承载空间内之前，需要对于所述移动承载设备是否处于可承载状态进行确认，具体地，首先获取所述移动承载设备的当前位置和待承载设备的当前位置；当所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配且所述移动承载设备停止移动时，确定所述移动承载设备的承载状态，比如，当移动承载设备的当前位置为7层，待承载设备的当前位置也为7层，且所述移动承载设备停止移动时，则认为所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配；然后进一步判断所述移动承载设备是否处于可承载状态，当所述移动承载设备处于可承载状态时，可控制待承载设备移动至所述移动承载设备的可承载空间内。In an optional implementation manner of this embodiment, after the start-up operation is performed on the target moving direction control switch, the mobile carrying device moves in the direction of the device to be carried, considering the initial position before the mobile carrying device moves Between the current position of the device to be carried and the current position of the device to be carried, the mobile carrying device may be docked at more than one position, and at each possible docking position, the carrying state of the mobile carrying device may change. Therefore, in order to ensure the safety of the device to be carried, before the device to be carried moves into the loadable space of the mobile carrying device, it is necessary to confirm whether the mobile carrying device is in a loadable state. Specifically, first obtain all The current position of the mobile carrying device and the current position of the device to be carried; when the current position of the mobile carrying device matches the current position of the device to be carried and the mobile carrying device stops moving, determine the mobile carrying device The carrying status of the device, for example, when the current position of the mobile carrying device is the 7th floor, the current position of the device to be carried is also the 7th floor, and the mobile carrying device stops moving, it is considered that the current position of the mobile carrying device is the same as that of the mobile carrying device. The current position of the device to be carried matches; then it is further judged whether the mobile carrying device is in a loadable state, and when the mobile carrying device is in a loadable state, the device to be carried can be controlled to move to the mobile carrying device. within the loadable space.

在本实施例的一个可选实现方式中，所述步骤S402中确定所述移动承载设备的承载状态的步骤，可被实施为：In an optional implementation manner of this embodiment, the step of determining the bearer status of the mobile bearer device in the step S402 may be implemented as:

在该实施方式中，当所述待承载设备移动方向上预设距离内未检测到障碍物时，可认为所述移动承载设备门已开且空间足够，当进一步判断所述移动承载设备已承载重量小于或等于最大可承载重量，即未超载时，可确定所述移动承载设备处于可承载状态。其中，所述障碍物可以是未打开或者未打开完全的电梯轿厢门、位于移动承载设备容纳内的物体、移动承载设备在所述待承载设备的当前位置之前停靠时已经搭乘移动承载设备的其他用户、机器人或者在所述待承载设备的当前位置处提前搭载的其他用户、机器人等等。其中，所述预设距离可根据所述待承载设备的尺寸大小来确定，所述预设距离的最小值使得在不存在障碍物的情况下，所述待承载设备能够进入所述移动承载设备中。In this embodiment, when no obstacle is detected within a preset distance in the moving direction of the device to be carried, it can be considered that the door of the mobile carrying device is open and the space is sufficient. When the weight is less than or equal to the maximum loadable weight, that is, when the load is not overloaded, it can be determined that the mobile carrying device is in a loadable state. Wherein, the obstacle may be an elevator car door that is not opened or not fully opened, an object located in the accommodation of the mobile carrying device, and the mobile carrying device that has already boarded the mobile carrying device when it stops before the current position of the device to be carried. Other users, robots, or other users, robots, etc. that are carried in advance at the current location of the device to be carried. The preset distance may be determined according to the size of the device to be carried, and the minimum value of the preset distance enables the device to be carried to enter the mobile carrying device in the absence of obstacles middle.

具体地，可通过设置在待承载设备上的非接触式避障传感器进行障碍物的判断，当传感器发现预设距离范围内已无障碍物后，即可通过待承载设备的底盘控制器驱动待承载设备前进进入移动承载设备内。之后通过里程计判断待承载设备整体进入一定距离(如半米，该距离由所述待承载设备的尺寸大小来决定，下文中会详细说明)后，转身180度面向外侧，此时，所述待承载设备处于移动承载设备内的工作阶段。Specifically, the obstacle can be judged by the non-contact obstacle avoidance sensor installed on the equipment to be carried. When the sensor finds that there is no obstacle within the preset distance, the chassis controller of the equipment to be carried can be used to drive the obstacle to be carried. The carrier device advances into the mobile carrier device. After that, it is judged by the odometer that the entire equipment to be carried has entered a certain distance (such as half a meter, the distance is determined by the size of the equipment to be carried, which will be described in detail below), and then turn around 180 degrees to face the outside. At this time, the said The device to be carried is in the working phase within the mobile carrying device.

在本实施例的一个可选实现方式中，所述步骤S403中移动至所述移动承载设备的可承载空间内的步骤，可被实施为：In an optional implementation manner of this embodiment, the step of moving into the loadable space of the mobile carrying device in the step S403 may be implemented as:

为了保证待承载设备以及移动承载设备内其他容纳对象的安全，在该实施方式中，设置一个安全移动距离，使得待承载设备根据所述安全移动距离移动至所述移动承载设备的可承载空间内。其中，所述安全移动距离指的是待承载设备可以在移动承载设备内移动的距离，其根据所述移动承载设备的尺寸信息、所述待承载设备的尺寸信息以及所述移动承载设备可承载空间内的障碍物位置信息来确定，使得所述待承载设备能够整体移动至所述移动承载设备可承载空间内，且在移动至所述移动承载设备可承载空间内后，不会触碰、压迫到移动承载设备内其他的容纳对象。In order to ensure the safety of the device to be carried and other accommodated objects in the mobile carrying device, in this embodiment, a safe moving distance is set, so that the device to be carried moves into the loadable space of the moving carrying device according to the safe moving distance . The safe moving distance refers to the distance that the device to be carried can move in the mobile carrying device, which is based on the size information of the mobile carrying device, the size information of the device to be carried, and the carrying capacity of the mobile carrying device. The position information of obstacles in the space is determined, so that the device to be carried can move as a whole into the carrying space of the mobile carrying device, and after moving into the carrying space of the mobile carrying device, it will not touch, Compression to other contained objects within the mobile carrying device.

下述为本公开装置实施例，可以用于执行本公开方法实施例。The following are the apparatus embodiments of the present disclosure, which can be used to execute the method embodiments of the present disclosure.

图5示出根据本公开一实施方式的移动控制装置的结构框图，该装置可以通过软件、硬件或者两者的结合实现成为电子设备的部分或者全部。如图5所示，所述移动控制装置包括：FIG. 5 shows a structural block diagram of a mobile control apparatus according to an embodiment of the present disclosure. The apparatus may be implemented by software, hardware, or a combination of the two to become part or all of an electronic device. As shown in Figure 5, the mobile control device includes:

执行模块501，被配置为响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处，并根据所述使用移动承载设备指令对于所述移动承载设备执行启动操作，其中，所述使用移动承载设备指令中包括目标移动位置；The executing module 501 is configured to move to the location of the mobile carrying device in response to receiving the instruction for using the mobile carrying device, and perform a start-up operation on the mobile carrying device according to the instruction for using the mobile carrying device, wherein the Include the target movement location in the use of the mobile carrier device instruction;

移动模块502，被配置为响应于所述移动承载设备处于可承载状态，移动至所述移动承载设备的可承载空间内；A moving module 502, configured to move into a loadable space of the mobile carrying device in response to the mobile carrying device being in a loadable state;

识别模块503，被配置为识别所述移动承载设备到达目标移动位置，从所述移动承载设备的可承载空间内移出。The identification module 503 is configured to identify that the mobile carrying device reaches a target moving position and moves out of the loadable space of the mobile carrying device.

考虑到上述缺陷，在该实施方式中，提出一种移动控制装置，该装置控制机器人在接收到使用移动承载设备指令后，移动至移动承载设备位置，启动移动承载设备使得移动承载设备处于可承载状态，并在移动承载设备到达目标移动位置后，从移动承载设备的可承载空间内移出。上述技术方案使得机器人自动、准确地搭乘移动承载设备成为可能，该方案无需与移动承载设备进行通讯，省却了对移动承载设备的改造，因此大大降低投入的成本，有利于节省人力物力，同时该方案适用性广，有利于推广使用。Considering the above defects, in this embodiment, a mobile control device is proposed, which controls the robot to move to the position of the mobile carrying device after receiving the instruction to use the mobile carrying device, and starts the mobile carrying device so that the mobile carrying device is in a loadable position. state, and after the mobile carrying device reaches the target moving position, it is removed from the loadable space of the mobile carrying device. The above technical solution makes it possible for the robot to automatically and accurately ride on the mobile carrying equipment. This solution does not need to communicate with the mobile carrying equipment, and saves the transformation of the mobile carrying equipment. Therefore, the investment cost is greatly reduced, which is conducive to saving manpower and material resources. The scheme has wide applicability and is conducive to popularization and use.

在本实施例的一个可选实现方式中，如图6所示，所述识别模块503包括：In an optional implementation manner of this embodiment, as shown in FIG. 6 , the identification module 503 includes:

第一确定子模块601，被配置为根据所述目标移动位置确定移动承载设备目标移动位置控制信息；The first determination submodule 601 is configured to determine the target movement position control information of the mobile carrier device according to the target movement position;

设置子模块602，被配置为根据所述目标移动位置控制信息对所述移动承载设备进行设置；a setting sub-module 602, configured to set the mobile carrier device according to the target mobile location control information;

移出子模块603，被配置为获取所述移动承载设备的当前位置，当所述移动承载设备的当前位置与所述目标移动位置相匹配且所述移动承载设备处于可移出状态时，从所述移动承载设备的可承载空间内移出。The moving out sub-module 603 is configured to obtain the current position of the mobile carrying device, when the current position of the mobile carrying device matches the target moving position and the mobile carrying device is in a removable state, from the Move out of the carrying space of the mobile carrying device.

在本实施例中，可由待承载设备自身对移动承载设备的当前位置进行数据检测并分析来实现对移动承载设备当前位置的判断，进而获知待承载设备是否移动到目标移动位置。具体地，在本实施例中，所述移出子模块603可使用以下实现方式来实现对移动承载设备当前位置的判断：In this embodiment, the current position of the mobile carrying device can be determined by the device to be carried by itself by performing data detection and analysis on the current position of the mobile carrying device, so as to know whether the device to be carried has moved to the target moving position. Specifically, in this embodiment, the moving out sub-module 603 can use the following implementation manners to realize the judgment on the current position of the mobile bearer device:

或者，or,

在上述实现方式中，所述移出子模块603可利用移动距离检测参数来判断移动承载设备移动的距离，以实现在待承载设备搭乘移动承载设备后，判断移动承载设备移动后的当前位置。具体地，可通过设置在待承载设备上的气压计、加速度计以及惯导设备进行所述移动距离检测参数的测定和数据处理，比如通过气压计检测楼层间的相对气压高度来判断楼层信息，或者通过楼层间的气压差配合加减速过程，判断到达楼层信息。其中，惯导是惯性导航系统的简称，惯导的基本工作原理是以牛顿力学定律为基础，通过测量载体在惯性参考系的加速度，将它对时间进行积分，且把它变换到导航坐标系中，就能够得到在导航坐标系中的速度、偏航角和位置等信息。In the above implementation manner, the moving out sub-module 603 can use the moving distance detection parameter to determine the moving distance of the mobile carrying device, so as to determine the current position of the mobile carrying device after the to-be-carried device rides on the mobile carrying device. Specifically, the measurement and data processing of the moving distance detection parameters can be performed by using a barometer, an accelerometer, and an inertial navigation device provided on the device to be carried. Or through the air pressure difference between floors and the acceleration and deceleration process to determine the arrival floor information. Among them, inertial navigation is the abbreviation of inertial navigation system. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, it is integrated with time, and it is transformed into the navigation coordinate system. In the navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.

在上述实现方式中，所述移出子模块603可利用移动承载设备内部显示的位置信息，来判断移动承载设备移动后的当前位置，比如通过设置在待承载设备上的图像识别设备来识别轿厢内楼层显示信息，以判断所到达的楼层信息。In the above implementation manner, the moving out sub-module 603 can use the position information displayed inside the mobile carrying device to determine the current position of the mobile carrying device after moving, for example, the car can be identified by an image recognition device set on the to-be-carried device. Display information on the inner floor to judge the floor information reached.

在上述实现方式中，所述移出子模块603可利用移动承载设备停止移动后外部预设位置标识信息，来判断移动承载设备移动后的当前位置，比如通过设置在待承载设备上的图像识别设备识别当电梯轿厢门打开后电梯厅内的特定标识，来判断所到达的楼层信息。其中，特定标识可以是电梯厅内的楼层显示标识，也可以是位于该楼层的固定商户的名称，通过识别所述特定标识，即可获得移动承载设备停靠的楼层信息。In the above implementation manner, the moving out sub-module 603 can use the external preset position identification information after the mobile carrying device stops moving to determine the current position of the mobile carrying device after moving, for example, by using an image recognition device set on the to-be-carried device. Identify the specific signs in the elevator hall after the elevator car door is opened to determine the floor information reached. The specific logo may be a floor display logo in the elevator hall, or the name of a fixed merchant located on the floor. By identifying the specific logo, the floor information on which the mobile carrying device is parked can be obtained.

在上述实现方式中，所述移出子模块603可利用接收到的移动承载设备外部无线广播信号，来判断移动承载设备移动后的当前位置，比如借助预先安放于各楼层电梯厅的无线广播设备，通过设置在待承载设备上的传感器以近场通讯的方式获取所述无线广播设备发出的信息，随着移动承载设备当前位置的不同，待承载设备获取的不同楼层的无线广播信息及信号强度也会发生变化，通常待承载设备离无线广播设备的距离越近，获取的信号越强。当移动承载设备在当前楼层停靠时，待承载设备获取的当前楼层的无线广播信息及信号强度越强，相应的，可由信号强度来判断移动承载设备的当前位置。In the above implementation manner, the moving out sub-module 603 can use the received external wireless broadcast signal of the mobile carrier device to determine the current position of the mobile carrier device after moving, for example, by means of the wireless broadcast equipment pre-installed in the elevator hall of each floor, The information sent by the wireless broadcasting device is acquired by the sensor installed on the device to be carried in the form of near field communication. As the current location of the mobile carrying device is different, the wireless broadcasting information and signal strength of different floors obtained by the device to be carried will also be Changes occur. Generally, the closer the device to be carried is to the wireless broadcasting device, the stronger the obtained signal. When the mobile carrier device is parked on the current floor, the stronger the wireless broadcast information and signal strength of the current floor acquired by the carrier device, correspondingly, the current position of the mobile carrier device can be determined by the signal strength.

在本实施例的一个可选实现方式中，如图7所示，所述执行模块501包括：In an optional implementation manner of this embodiment, as shown in FIG. 7 , the execution module 501 includes:

第一移动子模块701，被配置为响应于接收到使用移动承载设备指令，移动至所述移动承载设备位置处；The first moving sub-module 701 is configured to move to the position of the mobile carrying device in response to receiving the instruction for using the mobile carrying device;

第一获取子模块702，被配置为获取待承载设备的当前位置；The first obtaining sub-module 702 is configured to obtain the current location of the device to be carried;

第二确定子模块703，被配置为根据所述待承载设备的当前位置与目标移动位置之间的关系确定移动承载设备移动方向控制信息；The second determination sub-module 703 is configured to determine the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

执行子模块704，被配置为根据所述移动方向控制信息对于所述移动承载设备执行启动操作。The execution sub-module 704 is configured to perform a start-up operation on the mobile carrier device according to the movement direction control information.

在本实施例的一个可选实现方式中，所述执行子模块704被配置为：In an optional implementation manner of this embodiment, the execution sub-module 704 is configured to:

在本实施例的一个可选实现方式中，在获取所述目标移动方向控制开关的位置信息时，可以通过设置在待承载设备上的图像识别设备进行控制开关的位置信息的识别。具体地，图像识别设备可以预先设置不同移动承载设备的识别区域范围，然后在所述识别区域范围内进行控制开关位置信息的识别，其中，所述识别区域范围可根据不同的移动承载设备的目标移动方向控制开关的设置喜好来确定。其中，所述图像识别设备可以为具有图像识别功能的摄像设备等等。In an optional implementation manner of this embodiment, when acquiring the position information of the target movement direction control switch, the position information of the control switch may be identified by an image recognition device provided on the device to be carried. Specifically, the image recognition device may pre-set the recognition area range of different mobile carrying devices, and then identify the position information of the control switch within the recognition area range, wherein the recognition area range may be based on the target of different mobile carrying devices. Move the directional control switch to set preferences to determine. Wherein, the image recognition device may be a camera device with image recognition function or the like.

在本实施例的一个可选实现方式中，如图8所示，所述移动模块502包括：In an optional implementation manner of this embodiment, as shown in FIG. 8 , the moving module 502 includes:

第二获取子模块801，被配置为获取所述移动承载设备的当前位置和待承载设备的当前位置；The second acquisition sub-module 801 is configured to acquire the current location of the mobile carrying device and the current location of the device to be carried;

第三确定子模块802，被配置为当所述移动承载设备的当前位置与所述待承载设备的当前位置相匹配且所述移动承载设备停止移动时，确定所述移动承载设备的承载状态；A third determining sub-module 802 is configured to determine the carrying state of the mobile carrying device when the current position of the mobile carrying device matches the current position of the device to be carried and the mobile carrying device stops moving;

第二移动子模块803，被配置为当所述移动承载设备处于可承载状态时，移动至所述移动承载设备的可承载空间内。The second moving sub-module 803 is configured to move into the loadable space of the mobile carrying device when the mobile carrying device is in a loadable state.

在本实施例的一个可选实现方式中，所述第三确定子模块802中确定所述移动承载设备的承载状态的部分，被配置为：In an optional implementation manner of this embodiment, the part of the third determining submodule 802 for determining the bearing state of the mobile bearer device is configured as:

具体地，可通过设置在待承载设备上的非接触式避障传感器进行障碍物的判断，当传感器发现预设距离范围内已无障碍物后，即可通过待承载设备的底盘控制器驱动待承载设备前进进入移动承载设备内。之后通过里程计判断待承载设备整体进入一定距离(如半米，该距离由所述待承载设备的尺寸大小来决定，下文中会详细说明)后，转身180度面向外侧，此时，所述待承载设备处于移动承载设备内的工作阶段。Specifically, the obstacle can be judged by a non-contact obstacle avoidance sensor installed on the equipment to be carried. When the sensor finds that there is no obstacle within the preset distance range, it can be driven by the chassis controller of the equipment to be carried. The carrier device advances into the mobile carrier device. After that, it is judged by the odometer that the entire equipment to be carried has entered a certain distance (such as half a meter, the distance is determined by the size of the equipment to be carried, which will be described in detail below), and then turn around 180 degrees to face the outside. The device to be carried is in the working phase within the mobile carrying device.

在本实施例的一个可选实现方式中，所述第二移动子模块803中移动至所述移动承载设备的可承载空间内的部分，被配置为：In an optional implementation manner of this embodiment, the part of the second moving sub-module 803 that is moved into the loadable space of the mobile carrying device is configured as:

本公开还公开了一种电子设备，图9示出根据本公开一实施方式的电子设备的结构框图，如图9所示，所述电子设备900包括存储器901和处理器902；其中，The present disclosure also discloses an electronic device. FIG. 9 shows a structural block diagram of the electronic device according to an embodiment of the present disclosure. As shown in FIG. 9 , the electronic device 900 includes a memory 901 and a processor 902; wherein,

所述存储器901用于存储一条或多条计算机指令，其中，所述一条或多条计算机指令被所述处理器902执行以实现上述方法步骤。The memory 901 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 902 to implement the above method steps.

图10适于用来实现根据本公开实施方式的移动控制方法的计算机系统的结构示意图。FIG. 10 is a schematic structural diagram of a computer system suitable for implementing the movement control method according to an embodiment of the present disclosure.

如图10所示，计算机系统1000包括中央处理单元(CPU)1001，其可以根据存储在只读存储器(ROM)1002中的程序或者从存储部分1008加载到随机访问存储器(RAM)1003中的程序而执行上述实施方式中的各种处理。在RAM1003中，还存储有系统1000操作所需的各种程序和数据。CPU1001、ROM1002以及RAM1003通过总线1004彼此相连。输入/输出(I/O)接口1005也连接至总线1004。As shown in FIG. 10, a computer system 1000 includes a central processing unit (CPU) 1001, which can be loaded into a random access memory (RAM) 1003 according to a program stored in a read only memory (ROM) 1002 or a program from a storage section 1008 Instead, various processes in the above-described embodiments are executed. In the RAM 1003, various programs and data necessary for the operation of the system 1000 are also stored. The CPU 1001 , the ROM 1002 , and the RAM 1003 are connected to each other through a bus 1004 . An input/output (I/O) interface 1005 is also connected to the bus 1004 .

以下部件连接至I/O接口1005：包括键盘、鼠标等的输入部分1006；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分1007；包括硬盘等的存储部分1008；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分1009。通信部分1009经由诸如因特网的网络执行通信处理。驱动器1010也根据需要连接至I/O接口1005。可拆卸介质1011，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器1010上，以便于从其上读出的计算机程序根据需要被安装入存储部分1008。The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc. ; and a communication section 1009 including a network interface card such as a LAN card, a modem, and the like. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I/O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

特别地，根据本公开的实施方式，上文描述的方法可以被实现为计算机软件程序。例如，本公开的实施方式包括一种计算机程序产品，其包括有形地包含在及其可读介质上的计算机程序，所述计算机程序包含用于执行上述移动控制方法的程序代码。在这样的实施方式中，该计算机程序可以通过通信部分1009从网络上被下载和安装，和/或从可拆卸介质1011被安装。In particular, according to embodiments of the present disclosure, the methods described above may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product including a computer program tangibly embodied on a readable medium thereof, the computer program including program code for executing the above-described movement control method. In such an embodiment, the computer program may be downloaded and installed from the network through the communication section 1009, and/or installed from the removable medium 1011.

附图中的流程图和框图，图示了按照本公开各种实施方式的系统、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，路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，所述模块、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。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 various embodiments of the present disclosure. In this regard, each block in the diagram or block diagram may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function. executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks 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. It is also noted that 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 in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

描述于本公开实施方式中所涉及到的单元或模块可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元或模块也可以设置在处理器中，这些单元或模块的名称在某种情况下并不构成对该单元或模块本身的限定。The units or modules involved in the embodiments of the present disclosure can be implemented in software or hardware. The described units or modules may also be provided in the processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in certain circumstances.

作为另一方面，本公开还提供了一种计算机可读存储介质，该计算机可读存储介质可以是上述实施方式中所述装置中所包含的计算机可读存储介质；也可以是单独存在，未装配入设备中的计算机可读存储介质。计算机可读存储介质存储有一个或者一个以上程序，所述程序被一个或者一个以上的处理器用来执行描述于本公开的方法。As another aspect, the present disclosure also provides a computer-readable storage medium, and the computer-readable storage medium may be a computer-readable storage medium included in the apparatus described in the foregoing embodiments; A computer-readable storage medium that fits into a device. The computer-readable storage medium stores one or more programs used by one or more processors to perform the methods described in the present disclosure.

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所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。The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Claims

1. a movement control method, is characterized in that, comprises:

In response to receiving the instruction to use the mobile carrier device, move to the location of the mobile carrier device, and perform an activation operation on the mobile carrier device according to the instruction to use the mobile carrier device, wherein the instruction to use the mobile carrier device includes target moving position;

In response to the mobile carrying device being in the loadable state, moving into the loadable space of the mobile carrying device;

It is recognized that the mobile carrying device has reached a target moving position and is moved out of the loadable space of the mobile carrying device.

2 . The method according to claim 1 , wherein the identifying that the mobile carrying device reaches a target moving position and moving out from the loadable space of the mobile carrying device comprises: 2 .

Determine the target movement position control information of the mobile carrier device according to the target movement position;

setting the mobile carrier device according to the target mobile position control information;

Acquire the current position of the mobile carrying device, when the current position of the mobile carrying device matches the target moving position and the mobile carrying device is in a removable state, from the carrying space of the mobile carrying device Move out.

3. The method according to claim 2, wherein the acquiring the current location of the mobile carrier device is implemented as:

Obtaining moving distance detection parameters, and determining the current position of the mobile carrying device according to the moving distance detection parameters, wherein the moving distance detection parameters include moving air pressure detection parameters and/or acceleration detection parameters and/or inertial navigation detection parameters ;

or,

acquiring the location information displayed inside the mobile carrier device, and determining the location information displayed inside the mobile carrier device as the current location of the mobile carrier device;

or,

Acquiring external preset position identification information after the mobile carrier device stops moving, and determining the current position of the mobile carrier device according to the external preset position identification information;

or,

Acquire an external wireless broadcast signal of the mobile bearer device, and determine the current position of the mobile bearer device according to the strength of the external wireless broadcast signal.

4. The method of claim 1, wherein, in response to receiving an instruction to use a mobile carrier device, moving to the location of the mobile carrier device, and performing an operation for the movement according to the instruction to use the mobile carrier device. The host device performs boot operations, including:

in response to receiving the use of the mobile carrier device instruction, moving to the mobile carrier device location;

Obtain the current location of the device to be carried;

Determine the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

A start-up operation is performed on the mobile carrier device according to the movement direction control information.

5. A mobile control device, characterized in that, comprising:

an execution module, configured to move to the location of the mobile carrying device in response to receiving an instruction to use the mobile carrying device, and to perform an initiating operation on the mobile carrying device according to the instruction to use the mobile carrying device, wherein the using the mobile carrying device The mobile carrier device instruction includes the target moving position;

a moving module, configured to move into a loadable space of the mobile carrying device in response to the mobile carrying device being in a loadable state;

The identification module is configured to identify that the mobile carrying device reaches a target moving position and moves out of the loadable space of the mobile carrying device.

6. The device according to claim 5, wherein the identification module comprises:

a first determining submodule, configured to determine control information of the target moving position of the mobile carrying device according to the target moving position;

a setting submodule, configured to set the mobile carrier device according to the target mobile position control information;

A move-out sub-module is configured to obtain the current position of the mobile carrier device, and when the current position of the mobile carrier device matches the target moving position and the mobile carrier device is in a removable state Move out of the loadable space of the carrying device.

7. The apparatus according to claim 6, wherein the moving out submodule acquires the part of the current position of the mobile carrier device, and is configured as:

or,

8. The apparatus according to claim 5, wherein the execution module comprises:

a first moving sub-module configured to move to the location of the mobile carrying device in response to receiving an instruction to use the mobile carrying device;

The first acquisition sub-module is configured to acquire the current location of the device to be carried;

a second determining submodule, configured to determine the movement direction control information of the mobile carrying device according to the relationship between the current position of the device to be carried and the target moving position;

An executing submodule is configured to execute a start-up operation on the mobile carrying device according to the moving direction control information.

9. An electronic device, comprising a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to achieve The method steps of any one of claims 1-4.

10. A computer-readable storage medium on which computer instructions are stored, characterized in that, when the computer instructions are executed by a processor, the method steps of any one of claims 1-4 are implemented.