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 embodiment of the disclosure discloses a movement control method, a device, an electronic device and a computer readable storage medium, wherein the movement control method comprises the following steps: responding to a received instruction of using a mobile bearer device, moving to the position of the mobile bearer device, and executing starting operation on the mobile bearer device according to the instruction of using the mobile bearer device; responding to the mobile bearing equipment in a bearing state, and moving to a bearing space of the mobile bearing equipment; and identifying that the mobile bearing equipment reaches the target mobile position, and moving out of the bearable space of the mobile bearing equipment. According to the technical scheme, the robot can take the mobile bearing equipment automatically and accurately, the robot does not need to communicate with the mobile bearing equipment, the transformation of the mobile bearing equipment is omitted, the investment cost is greatly reduced, manpower and material resources are saved, and meanwhile, the scheme is wide in applicability and beneficial to popularization and use.

Description

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

Technical Field

The present disclosure relates to the field of robot control technologies, and in particular, to a mobility control method and apparatus, an electronic device, and a computer-readable storage medium.

Background

With the development of the robot technology, the robot capable of walking is gradually and widely applied to the fields of logistics distribution, indoor guidance or rescue and the like. In some application scenarios, the robot needs to take a mobile carrying device (such as an elevator, a crane, a conveyor belt, etc.) to move to a target position to provide service. In the prior art, usually, internet of things transformation is performed on mobile bearing equipment, interaction between a robot and the mobile bearing equipment is realized through a near field communication or network communication method, and then a target position is judged, so that a mobile operation instruction is provided for the robot to reach the target position. But the thing networking transformation to removing the bearing device wastes time and energy, and the input cost is high, and to the removal bearing device of difference need carry out different transformation moreover, the practicality is poor.

Disclosure of Invention

The embodiment of the disclosure provides a movement control method and device, electronic equipment and a computer-readable storage medium.

In a first aspect, a mobility control method is provided in an embodiment of the present disclosure.

Specifically, the movement control method includes:

responding to a received instruction of using a mobile bearer device, moving to the position of the mobile bearer device, and executing a starting operation on the mobile bearer device according to the instruction of using the mobile bearer device, wherein the instruction of using the mobile bearer device comprises a target mobile position;

responding to the mobile bearing equipment in a bearing state, and moving to a bearing space of the mobile bearing equipment;

and identifying that the mobile bearing equipment reaches the target mobile position, and moving out of the bearable space of the mobile bearing equipment.

With reference to the first aspect, in a first implementation manner of the first aspect, the identifying that the mobile bearer device reaches the target mobile location and moves out of the bearable space of the mobile bearer device includes:

determining target moving position control information of the mobile bearing equipment according to the target moving position;

setting the mobile bearing equipment according to the target mobile position control information;

and acquiring the current position of the mobile carrying equipment, and when the current position of the mobile carrying equipment is matched with the target moving position and the mobile carrying equipment is in a removable state, moving out of the bearable space of the mobile carrying equipment.

With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the obtaining of the current location of the mobile bearer device is implemented as:

obtaining a moving distance detection parameter, and determining the current position of the mobile bearing equipment according to the moving distance detection parameter, wherein the moving distance detection parameter comprises a moving air pressure detection parameter and/or an acceleration detection parameter and/or an inertial navigation detection parameter;

or,

acquiring position information displayed inside the mobile bearing equipment, and determining the position information displayed inside the mobile bearing equipment as the current position of the mobile bearing equipment;

or,

acquiring external preset position identification information after the mobile bearing equipment stops moving, and determining the current position of the mobile bearing equipment according to the external preset position identification information;

or,

and acquiring an external wireless broadcast signal of the mobile bearing equipment, and determining the current position of the mobile bearing equipment according to the strength of the external wireless broadcast signal.

With reference to the first aspect, in a third implementation manner of the first aspect, the moving to the location of the mobile bearer device in response to receiving the instruction to use the mobile bearer device, and performing a start operation on the mobile bearer device according to the instruction to use the mobile bearer device includes:

moving to the mobile bearer location in response to receiving an instruction to use the mobile bearer;

acquiring the current position of equipment to be borne;

determining moving direction control information of the mobile bearing equipment according to the relation between the current position of the equipment to be borne and the target moving position;

and executing starting operation for the mobile bearing equipment according to the moving direction control information.

With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the executing, according to the moving direction control information, a start operation on the mobile bearer device is implemented as:

determining a target moving direction control switch according to the moving direction control information;

acquiring position information of the target moving direction control switch;

moving to the area where the position of the target moving direction control switch is located according to the position relation between the target moving direction control switch and the equipment to be borne;

and executing starting operation on the target moving direction control switch.

With reference to the first aspect, in a fifth implementation manner of the first aspect, the moving to a bearable space of the mobile bearer device in response to that the mobile bearer device is in a bearable state includes:

acquiring the current position of the mobile bearing equipment and the current position of equipment to be borne;

when the current position of the mobile bearing equipment is matched with the current position of the equipment to be borne and the mobile bearing equipment stops moving, determining the bearing state of the mobile bearing equipment;

and when the mobile bearing equipment is in a bearing state, the mobile bearing equipment moves into a bearing space of the mobile bearing equipment.

With reference to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the determining a bearer state of the mobile bearer device is implemented as:

when no obstacle is detected within a preset distance in the moving direction of the equipment to be carried and the carried weight of the mobile carrying equipment is smaller than or equal to the maximum carried weight, determining that the mobile carrying equipment is in a carried state.

With reference to the fifth implementation manner of the first aspect and the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the moving into the loadable space of the mobile bearer device is implemented as:

determining a safe moving distance according to the size information of the mobile bearing equipment, the size information of the equipment to be borne and the position information of the obstacle in the bearing space of the mobile bearing equipment;

and moving the mobile bearing equipment to a bearing space of the mobile bearing equipment according to the safe moving distance.

In a second aspect, a motion control apparatus is provided in an embodiment of the present disclosure.

Specifically, the movement control device includes:

the execution module is configured to respond to a received instruction of using the mobile bearer device, move to the position of the mobile bearer device, and execute starting operation on the mobile bearer device according to the instruction of using the mobile bearer device, wherein the instruction of using the mobile bearer device comprises a target mobile position;

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

an identification module configured to identify that the mobile carrier device reaches a target mobile location and moves out of a bearable space of the mobile carrier device.

With reference to the second aspect, in a first implementation manner of the second aspect, the identification module includes:

a first determining submodule configured to determine mobile bearing device target mobile position control information according to the target mobile position;

a setting submodule configured to set the mobile bearer device according to the target mobile location control information;

a removal submodule configured to acquire a current location of the mobile carrier device, and remove the mobile carrier device from the loadable space of the mobile carrier device when the current location of the mobile carrier device matches the target mobile location and the mobile carrier device is in the removable state.

With reference to the first implementation manner of the second aspect, in a second implementation manner of the second aspect, the moving-out submodule acquires a part of the current location of the mobile bearer device, and is configured to:

or,

With reference to the second aspect, in a third implementation manner of the second aspect, the executing module of the embodiment of the present invention includes:

a first movement submodule configured to move to the mobile carrier location in response to receiving an instruction to use the mobile carrier;

the first obtaining submodule is configured to obtain the current position of the equipment to be borne;

the second determining submodule is configured to determine moving direction control information of the mobile bearing equipment according to the relation between the current position of the equipment to be borne and the target moving position;

and the execution sub-module is configured to execute a starting operation on the mobile bearing equipment according to the moving direction control information.

With reference to the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the execution sub-module is configured to:

acquiring position information of the target moving direction control switch;

and executing starting operation on the target moving direction control switch.

With reference to the second aspect, in a fifth implementation manner of the second aspect, the mobile module includes:

the second obtaining submodule is configured to obtain the current position of the mobile bearing equipment and the current position of equipment to be borne;

a third determining submodule configured to determine a bearer state of the mobile bearer device when the current location of the mobile bearer device matches the current location of the device to be borne and the mobile bearer device stops moving;

a second moving submodule configured to move into a bearable space of the mobile carrier device when the mobile carrier device is in a bearable state.

With reference to the fifth implementation manner of the second aspect, in a sixth implementation manner of the second aspect, in an embodiment of the present invention, the third determining sub-module determines a part of the bearer status of the mobile bearer device, and is configured to:

With reference to the fifth implementation manner of the second aspect and the sixth implementation manner of the second aspect, in a seventh implementation manner of the second aspect, the second moving sub-module is configured to move to a part in the loadable space of the mobile bearer device, and is configured to:

In a third aspect, the present disclosure provides an electronic device, including a memory and a processor, where the memory is configured to store one or more computer instructions, where the one or more computer instructions are executed by the processor to implement the method steps of the movement control method in the first aspect.

In a fourth aspect, the disclosed embodiments provide a computer-readable storage medium for storing computer instructions for a mobile control apparatus, which contains computer instructions for executing the mobile control method in the first aspect as described above.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the technical scheme, the robot is controlled to move to the position of the mobile bearing equipment after receiving the instruction of using the mobile bearing equipment, the mobile bearing equipment is started to enable the mobile bearing equipment to be in a bearing state, and the robot is moved out of a bearing space of the mobile bearing equipment after the mobile bearing equipment reaches the target moving position. Above-mentioned technical scheme makes the robot take advantage of the removal automatically, accurately and bears the weight of the equipment and becomes possible, and this scheme need not to bear the weight of the equipment with the removal and carry out the communication, has saved the transformation to removing and bearing the weight of the equipment, therefore the cost of greatly reduced input is favorable to using manpower and materials sparingly, and this scheme extensive applicability is favorable to using widely simultaneously.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 illustrates a flow chart of a movement control method according to an embodiment of the present disclosure;

fig. 2 shows a flowchart of step S103 of the movement control method according to the embodiment shown in fig. 1;

fig. 3 shows a flowchart of step S101 of the movement control method according to the embodiment shown in fig. 1;

fig. 4 shows a flowchart of step S102 of the movement control method according to the embodiment shown in fig. 1;

fig. 5 illustrates a block diagram of a mobile control device according to an embodiment of the present disclosure;

fig. 6 is a block diagram showing the structure of the identification module 503 of the mobile control apparatus according to the embodiment shown in fig. 5;

fig. 7 is a block diagram showing the structure of an execution module 501 of the mobile control apparatus according to the embodiment shown in fig. 5;

fig. 8 is a block diagram illustrating a structure of a movement module 502 of the movement control apparatus according to the embodiment shown in fig. 5;

FIG. 9 shows a block diagram of an electronic device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a computer system suitable for implementing a movement control method according to an embodiment of the present disclosure.

Detailed Description

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 not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.

It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates a flow chart 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 to S103:

in step S101, in response to receiving a command to use a mobile bearer device, moving to a location of the mobile bearer device, and performing a start operation on the mobile bearer device according to the command to use the mobile bearer device, where the command to use the mobile bearer device includes a target mobile location;

in step S102, in response to that the mobile bearer device is in a bearer capable state, moving into a bearer capable space of the mobile bearer device;

in step S103, it is recognized that the mobile bearer device reaches the target moving location, and moves out of the bearable space of the mobile bearer device.

As mentioned above, with the development of robot technology, a robot capable of walking is widely used in the fields of logistics distribution, indoor guidance or rescue and rescue. In some application scenarios, the robot needs to take a mobile carrying device (such as an elevator, a crane, a conveyor belt, etc.) to move to a target position to provide service. In the prior art, usually, internet of things transformation is performed on mobile bearing equipment, interaction between a robot and the mobile bearing equipment is realized through an approach communication or network communication method, and then a target position is judged, so that a mobile operation instruction is provided for the robot to reach the target position. But the thing networking transformation to removing the bearing device wastes time and energy, and the input cost is high, and to the removal bearing device of difference need carry out different transformation moreover, the practicality is poor.

In view of the above drawbacks, in this embodiment, a movement control method is provided, where a robot is controlled to move to a position of a mobile carrier device after receiving an instruction to use the mobile carrier device, start the mobile carrier device to enable the mobile carrier device to be in a loadable state, and move out of a loadable space of the mobile carrier device after the mobile carrier device reaches a target movement position. Above-mentioned technical scheme makes the robot take advantage of the removal automatically, accurately and bears the weight of the equipment and becomes possible, and this scheme need not to bear the weight of the equipment with the removal and carry out the communication, has saved the transformation to removing and bearing the weight of the equipment, therefore the cost of greatly reduced input is favorable to using manpower and materials sparingly, and this scheme extensive applicability is favorable to using widely simultaneously.

In an optional implementation manner of this embodiment, the mobile carrying device refers to a device, such as an elevator, a crane, a conveyor belt, etc., which has a certain accommodating space, can carry an object with a certain size, and can be moved and transported between different positions.

In an optional implementation manner of this embodiment, the instruction to use the mobile bearing device refers to an instruction instructing the robot or the other mobile object to move using the mobile bearing device, and the instruction to use the mobile bearing device at least includes a target movement position to which the robot or the other mobile object needs to move. The target mobile location refers to a target location where a robot or other mobile object performs a service or a location to which the robot or other mobile object needs to move, for example, it may be a location of a merchant or a user who receives a logistics distribution service, or may be only a location that the robot or other mobile object wants to reach, that is, the robot or other mobile object needs to ride the mobile carrying device to move to the target location, where the movement may be a movement between high and low floors in a multi-floor scene, a movement in a horizontal direction in the same floor area, or of course, a movement in another form with another motion characteristic. For example, if the mobile carrying device is an elevator and the mobile object is a delivery robot, the target mobile position may be a floor where the delivery robot needs to pick up or deliver goods, or a floor where other moving purposes are achieved.

In an optional implementation manner of this embodiment, the location of the mobile bearer device refers to a preset area, and a distance between the preset area and the mobile bearer device is within a preset threshold. In the preset area, an execution mechanism arranged on the equipment to be carried can perform preparation work before starting operation is performed on the mobile carrying equipment, for example, when the execution mechanism is a mechanical arm, the mechanical arm in the preset area can perform actions such as arm lifting, bending, rotating, moving, arm falling and the like.

In consideration of that, when the device to be carried receives the instruction to use the mobile carrying device and moves to the position of the mobile carrying device, since the current position of the mobile carrying device may not be in the same area or not be matched with the current position of the device to be carried, even if the device to be carried moves to the position of the mobile carrying device, the device to be carried cannot directly ride the mobile carrying device, after the device to be carried moves to the position of the mobile carrying device, a start operation needs to be performed on the mobile carrying device according to the instruction to use the mobile carrying device, so that the mobile carrying device moves toward the current position of the device to be carried. Specifically, the starting operation may be selecting an uplink key for controlling the mobile bearer device to uplink, selecting a downlink key for controlling the mobile bearer device to downlink, selecting a key capable of representing a moving direction from the current position of the device to be carried to the target moving position, and the like.

When the executing mechanism performs a preparation operation before performing a starting operation on the mobile bearer device, the size of the preset threshold should ensure that the executing mechanism can perform the starting operation instruction, for example, if the preset threshold is set to be larger, after the executing mechanism performs the preparation operation, a certain distance may still exist between the executing mechanism and the mobile bearer device, and at this time, the device to be carried needs to be controlled to move again so as to be able to perform the starting operation instruction.

In an optional implementation manner of this embodiment, that the mobile carrier device is in a loadable state means that the device to be loaded can be moved into the internal accommodating space of the mobile carrier device, and after the device to be loaded is moved into the internal accommodating space of the mobile carrier device, the mobile carrier device can also perform transportation work normally, that is, when the mobile carrier device is in the loadable state, the accommodating space in the mobile carrier device is sufficient to accommodate the device to be loaded, and the weight of the device to be loaded is also within the load limit range of the mobile carrier device.

In an optional implementation manner of this embodiment, as shown in fig. 2, the step S103 of recognizing that the mobile bearer device reaches the target moving location and moving out of the bearer space of the mobile bearer device includes steps S201 to S203:

in step S201, determining target mobile location control information of the mobile bearer device according to the target mobile location;

in step S202, setting the mobile bearer device according to the target mobile location control information;

in step S203, a current location of the mobile bearer device is obtained, and when the current location of the mobile bearer device matches the target mobile location and the mobile bearer device is in the removable state, the mobile bearer device is removed from the bearable space of the mobile bearer device.

In an optional implementation manner of this embodiment, the target mobile location control information refers to control information of a device to be carried, entering into a mobile carrying device, moving to a target location. Correspondingly, a plurality of control buttons are arranged in the mobile bearer device, each button may correspond to a fixed position where the mobile bearer device moves, for example, if the target movement position of the device to be borne is 7 layers, the control information of the target movement position of the mobile bearer device may be to press a 7-layer button, and then the mobile bearer device may be set according to the control information of the target movement position, for example, to press a 7-layer button.

In this implementation manner, after the target moving position control information is acquired, the image recognition device arranged on the device to be supported may be used to recognize a plurality of control buttons in the moving support device, and after the control button corresponding to the target moving position control information is determined, the control button may be touched or started by the actuator arranged on the device to be supported, so as to implement the setting of the moving support device. Before that, the moving distance of the device to be carried to the control button can be controlled according to the movement characteristics of the actuator, such as the movement angle and the like, so that a sufficient operation distance is reserved between the device to be carried and the control button, a proper operation space is provided for the actuator, the actuator can be ensured to accurately start the control button, and the actuator can be safely and flexibly retracted after the actuator performs the starting operation on the control button. At this time, the device to be carried is in a target position judgment state.

It should be noted that after the target moving position control information is acquired, a state of a control button corresponding to the target moving position control information may be further acquired, and if the control button is already set and selected by a bearer device, such as another user, it indicates that the control button is already in a start state, and it is not necessary to control an execution mechanism to execute a 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, ensure that the control button is in an activated state, and control the execution mechanism to execute the setting operation again when the control button is in a non-activated state.

In an optional implementation manner of this embodiment, after the device to be carried rides on the mobile carrying device, the device to be carried and the mobile carrying device move from the current position of the device to be carried to the target moving position together. Considering between the current location of the mobile bearer and the target mobile location of the device to be borne, there may be more than one location at which the mobile bearer may be parked, i.e. the current location of the mobile bearer may change. Therefore, the current position of the mobile bearer device needs to be confirmed in real time, and after the current position of the mobile bearer device matches the target mobile position of the device to be carried and the mobile bearer device is in the removable state, the device to be carried is controlled to be removed from the accommodating space of the mobile bearer device. The movable carrying device can be determined by detecting no obstacle within a preset distance in the moving direction of the device to be carried, that is, when no obstacle is detected within the preset distance in the moving direction of the device to be carried, the movable carrying device door can be considered to be opened and movable.

In this embodiment, the current position of the mobile bearer device may be determined by performing data detection and analysis on the current position of the mobile bearer device by the device to be borne, so as to know whether the device to be borne moves to the target mobile position. Specifically, in this embodiment, the following implementation manners may be used to implement the determination of the current location of the mobile bearer device:

or,

In the implementation manner, the moving distance of the mobile bearing device can be determined by using the moving distance detection parameter, so that the current position of the mobile bearing device after moving is determined after the mobile bearing device is ridden by the device to be born. Specifically, the moving distance detection parameter can be measured and data processed by an barometer, an accelerometer and an inertial navigation device which are arranged on the device to be carried, for example, the floor information is judged by detecting the relative air pressure height between floors by the barometer, or the information of the floor reached is judged by matching the air pressure difference between the floors with the acceleration and deceleration process. The inertial navigation is a short name of an inertial navigation system, the basic working principle of the inertial navigation is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the acceleration is integrated with time, and the acceleration is converted into a navigation coordinate system, so that information such as speed, yaw angle, position and the like in the navigation coordinate system can be obtained.

In the above implementation manner, the current position of the mobile carrying device after moving can be determined by using the position information displayed inside the mobile carrying device, for example, the image recognition device arranged on the device to be carried is used for recognizing the display information of the floors in the car so as to determine the information of the floors reached.

In the above implementation, the current position of the mobile carrying device after moving can be determined by using the external preset position identification information after the mobile carrying device stops moving, for example, the image recognition device arranged on the device to be carried identifies the specific identification in the elevator hall after the elevator car door is opened, so as to determine the arriving floor information. The specific mark can be a floor display mark in an elevator hall or the name of a fixed commercial tenant located on the floor, and the floor information of the stop of the mobile bearing equipment can be obtained by identifying the specific mark.

In the implementation manner, the current position of the mobile bearer device after movement can be determined by using the received external wireless broadcast signal of the mobile bearer device, for example, by using the wireless broadcast device pre-installed in each floor elevator hall, information sent by the wireless broadcast device is acquired by a sensor arranged on the device to be borne in a near field communication manner, along with the difference of the current position of the mobile bearer device, the wireless broadcast information and the signal strength of different floors acquired by the device to be borne also change, and generally, the closer the distance between the device to be borne and the wireless broadcast device is, the stronger the acquired signal is. When the mobile bearing equipment stops at the current floor, the stronger the wireless broadcast information and the signal strength of the current floor acquired by the equipment to be borne are, correspondingly, the current position of the mobile bearing equipment can be judged according to the signal strength.

It should be noted that the radio broadcasting devices may be located at only individual fixed locations, and need not be installed near each location where the mobile carrier may stop, for example, the radio broadcasting devices are located only on the fixed odd floors, and need not be located on each floor. In addition, the wireless broadcast device is used as an optional beacon generator, and can be replaced by a Bluetooth device or other beacon devices.

In an optional implementation manner of this embodiment, as shown in fig. 3, the step S101, that is, the step of moving to the location of the mobile bearer in response to receiving the instruction to use the mobile bearer, and performing a start operation on the mobile bearer according to the instruction to use the mobile bearer, includes steps S301 to S304:

in step S301, in response to receiving an instruction to use a mobile bearer device, moving to the location of the mobile bearer device;

in step S302, a current position of the device to be supported is obtained;

in step S303, determining moving direction control information of the mobile bearer device according to a relationship between the current location of the device to be borne and the target moving location;

in step S304, a start operation is performed for the mobile bearer according to the moving direction control information.

In an optional implementation manner of this embodiment, the device to be carried refers to a device to be carried on the mobile carrying device to move to the target moving position, for example, the device may be a mobile robot such as a wheeled robot, a tracked robot, or a walking robot.

The current position of the device to be carried is a position where the device to be carried needs to take the mobile carrying device, for example, the current position of the floor where the mobile robot is located, or a merchant position of the current floor where the mobile robot is located, or other positions with fixed identifications.

After the current position of the equipment to be carried is determined, the moving direction between the current position of the equipment to be carried and the target moving position can be obtained, and then the moving direction control information of the mobile carrying equipment can be obtained. It should be noted that, according to the task setting that needs to be completed by the device to be supported, after the device to be supported moves to the target moving position and completes the corresponding task, the target moving position at this time may be used as the new current position of the device to be supported to perform the next movement. For example, in a multi-floor scenario, the tasks are set to execute logistics distribution tasks on the 3 rd floor, the 5 th floor and the 7 th floor, respectively, the current target movement position of the device to be loaded is the 3 rd floor, and after the device to be loaded completes the distribution task on the 3 rd floor at the current target movement position, the 3 rd floor can be used as the current position, and the 5 th floor can be used as a new target movement position.

When the device to be carried needs to use the mobile carrying device, the current use 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 located at a position matched with the device to be carried, for example, at the same floor, or may be located at a position not matched with the device to be carried, for example, at a different floor, and therefore, it is necessary to perform a starting operation on the mobile carrying device according to the moving direction control information, so that the mobile carrying device moves to a position matched with the current position of the device to be carried, and the device to be carried is convenient to carry the mobile carrying device for moving.

In an optional implementation manner of this embodiment, the step S304, that is, the step of performing a start operation on the mobile bearer device according to the moving direction control information, may be implemented as:

acquiring position information of the target moving direction control switch;

and executing starting operation on the target moving direction control switch.

In order to execute an accurate starting operation on the mobile bearing equipment according to the moving direction control information, in this implementation, a target moving direction control switch is first determined according to the moving direction control information; then obtaining the position information of the target moving direction control switch; then, moving to the position of the target moving direction control switch according to the position relation between the target moving direction control switch and the equipment to be borne; and finally, executing starting operation on the target moving direction control switch.

In an optional implementation manner of this embodiment, the moving direction control information is used to determine a direction in which a current location of the device to be supported moves to a target moving location, and further determine a target moving direction control switch that needs to be activated, where the target moving direction control switch is used to control movement of the mobile supporting device when being activated. When the mobile load bearing device is an elevator, the target moving direction control switch can be, for example, an up or down button provided on the elevator control panel, and more specifically, when the target moving position is above the current position, the elevator can be controlled to stop at the current position in the upward traveling direction by actuating the up button, and when the target moving position is below the current position, the elevator can be controlled to stop at the current position in the downward traveling direction by actuating the down button. It should be noted that in some special scenarios, due to the different movement rules of the elevator moving load bearing device, it is not excluded that the opposite operation to the above description is required, i.e. when the target moving position is above the current position, the elevator needs to be controlled to stop at the current position in the downward traveling direction by actuating the down button, and so on. That is, the relationship between the target moving direction control switch and the moving direction of the mobile bearing device and the relationship between the target moving direction control switch and the moving direction control information may be set and selected according to the requirements of practical applications, and the disclosure does not specifically limit the same.

In an optional implementation manner of this embodiment, when the position information of the target moving direction control switch is obtained, the position information of the control switch may be identified by an image identification device disposed on the device to be carried. Specifically, the image recognition device may preset a recognition area range of different mobile carrier devices, and then recognize the position information of the control switch in the recognition area range, where the recognition area range may be determined according to setting preferences of the target moving direction control switch of the different mobile carrier devices. The image recognition device may be an image pickup device having an image recognition function, or the like.

The area where the position of the target moving direction control switch is also referred to as a preset area, and similar to the above description, the distance between the preset area and the target moving direction control switch is within a preset threshold, and in the preset area, an actuating mechanism arranged on the device to be carried can execute the starting operation of the target moving direction control switch.

After the position information of the target moving direction control switch is determined and the device to be carried is moved to the position of the target moving direction control switch according to the position relationship between the target moving direction control switch and the device to be carried, an actuating mechanism, such as a robot arm, arranged on the device to be carried can be used for touching the target moving direction control switch to execute the starting operation. Before that, the moving distance of the equipment to be carried can be controlled according to the moving characteristics of the actuating mechanism such as the moving angle and the like, so that a sufficient operating distance is reserved between the equipment to be carried and the target moving direction control switch, a proper operating space is provided for the actuating mechanism, the actuating mechanism can be ensured to accurately start the target moving direction control switch, and the equipment can be safely and flexibly retracted after the actuating mechanism performs the starting operation on the target moving direction control switch. At this time, the device to be carried is in a waiting boarding state.

In an optional implementation manner of this embodiment, as shown in fig. 4, the step S102, that is, the step of moving to the bearable space of the mobile bearer device in response to that the mobile bearer device is in a bearable state, includes steps S401 to S403:

in step S401, a current location of the mobile bearer device and a current location of the device to be borne are obtained;

in step S402, when the current location of the mobile bearer device matches the current location of the device to be borne and the mobile bearer device stops moving, determining a bearer state of the mobile bearer device;

in step S403, when the mobile bearer device is in a bearer capable state, the mobile bearer device moves into a bearer capable space of the mobile bearer device.

In an optional implementation manner of this embodiment, after the start operation is performed on the target moving direction control switch, the mobile bearer moves towards the direction of the device to be carried, considering that there may be more than one location where the mobile bearer is parked between the initial location before the mobile bearer moves and the current location of the device to be carried, and at each possible parking location, the bearer state of the mobile bearer may change. Therefore, in order to ensure the security of the device to be carried, before the device to be carried moves into the bearable space of the mobile bearer device, it is necessary to confirm whether the mobile bearer device is in a bearable state, specifically, first obtain the current location of the mobile bearer device and the current location of the device to be carried; when the current position of the mobile bearer device matches the current position of the device to be borne and the mobile bearer device stops moving, determining a bearer state of the mobile bearer device, for example, when the current position of the mobile bearer device is 7 layers, the current position of the device to be borne is also 7 layers, and the mobile bearer device stops moving, determining that the current position of the mobile bearer device matches the current position of the device to be borne; and then further judging whether the mobile bearing equipment is in a bearing state, and when the mobile bearing equipment is in the bearing state, controlling the equipment to be borne to move into a bearing space of the mobile bearing equipment.

In an optional implementation manner of this embodiment, the step of determining the bearer status of the mobile bearer in step S402 may be implemented as:

In this embodiment, when no obstacle is detected within a preset distance in the moving direction of the device to be carried, the door of the mobile carrying device may be considered to be opened and the space is sufficient, and when it is further determined that the carried weight of the mobile carrying device is less than or equal to the maximum carried weight, that is, the device is not overloaded, the mobile carrying device may be determined to be in a carried state. Wherein the obstacle may be an unopened or unopened full elevator car door, an object located within the mobile carriage accommodation, another user who has boarded the mobile carriage when the mobile carriage stops before the current position of the device to be carried, a robot or another user, a robot, etc. embarked in advance at the current position of the device to be carried. The preset distance can 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 under the condition that no obstacle exists.

Specifically, the obstacle can be judged through a non-contact obstacle avoidance sensor arranged on the equipment to be borne, and when the sensor finds that no obstacle exists in the preset distance range, the equipment to be borne can be driven to advance into the mobile bearing equipment through a chassis controller of the equipment to be borne. After the whole equipment to be carried is judged to enter a certain distance (such as half a meter, the distance is determined by the size of the equipment to be carried, and the detailed description is given below) through the odometer, the equipment to be carried is turned 180 degrees to face the outside, and at the moment, the equipment to be carried is in a working stage in the mobile carrying equipment.

In an optional implementation manner of this embodiment, the step of moving to the bearable space of the mobile bearer device in step S403 may be implemented as:

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 bearable space of the mobile carrying device according to the safe moving distance. The safe moving distance refers to a distance that the equipment to be carried can move in the mobile carrying equipment, and is determined according to the size information of the mobile carrying equipment, the size information of the equipment to be carried and the position information of the obstacle in the carrying space of the mobile carrying equipment, so that the equipment to be carried can integrally move into the carrying space of the mobile carrying equipment, and cannot touch or press other accommodated objects in the mobile carrying equipment after moving into the carrying space of the mobile carrying equipment.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods.

Fig. 5 shows a block diagram of a mobile control apparatus according to an embodiment of the present disclosure, which may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 5, the movement control apparatus includes:

an execution module 501, configured to, in response to receiving a command to use a mobile bearer device, move to a location of the mobile bearer device, and perform a start operation on the mobile bearer device according to the command to use the mobile bearer device, where the command to use the mobile bearer device includes a target mobile location;

a moving module 502 configured to move into a loadable space of the mobile bearer device in response to the mobile bearer device being in a loadable state;

an identifying module 503 configured to identify that the mobile bearer device reaches the target mobile location and moves out of the bearable space of the mobile bearer device.

In view of the above drawbacks, in this embodiment, a movement control apparatus is provided, which controls a robot to move to a position of a mobile carrying device after receiving an instruction to use the mobile carrying device, start the mobile carrying device to enable the mobile carrying device to be in a carrying state, and move out of a carrying space of the mobile carrying device after the mobile carrying device reaches a target moving position. Above-mentioned technical scheme makes the robot take advantage of the removal automatically, accurately and bears the weight of the equipment and becomes possible, and this scheme need not to bear the weight of the equipment with the removal and carry out the communication, has saved the transformation to removing and bearing the weight of the equipment, therefore the cost of greatly reduced input is favorable to using manpower and materials sparingly, and this scheme extensive applicability is favorable to using widely simultaneously.

In an optional implementation manner of this embodiment, as shown in fig. 6, the identifying module 503 includes:

a first determining submodule 601 configured to determine target mobile location control information of a mobile bearer device according to the target mobile location;

a setting submodule 602 configured to set the mobile bearer device according to the target mobile location control information;

a removal submodule 603 configured to acquire the current location of the mobile carrier device, and remove the mobile carrier device from the loadable space of the mobile carrier device when the current location of the mobile carrier device matches the target mobile location and the mobile carrier device is in the removable state.

In this embodiment, the current position of the mobile bearer device may be determined by performing data detection and analysis on the current position of the mobile bearer device by the device to be borne, so as to know whether the device to be borne moves to the target mobile position. Specifically, in this embodiment, the moving-out sub-module 603 may implement the determination of the current location of the mobile bearer device by using the following implementation manners:

or,

In the above implementation manner, the moving-out sub-module 603 may determine the moving distance of the mobile bearing device by using the moving distance detection parameter, so as to determine the current position of the mobile bearing device after the mobile bearing device is carried by the device to be carried. Specifically, the moving distance detection parameter can be measured and data processed by an barometer, an accelerometer and an inertial navigation device which are arranged on the device to be carried, for example, the floor information is judged by detecting the relative air pressure height between floors by the barometer, or the information of the floor reached is judged by matching the air pressure difference between the floors with the acceleration and deceleration process. The inertial navigation is a short name of an inertial navigation system, the basic working principle of the inertial navigation is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the acceleration is integrated with time, and the acceleration is converted into a navigation coordinate system, so that information such as speed, yaw angle, position and the like in the navigation coordinate system can be obtained.

In the above implementation manner, the moving-out sub-module 603 may determine the current position of the mobile carrying device after moving by using the position information displayed inside the mobile carrying device, for example, the image recognition device disposed on the device to be carried recognizes the display information of the floors inside the car to determine the information of the floors reached.

In the above implementation manner, the moving-out sub-module 603 may determine the current position of the mobile loading device after the mobile loading device stops moving by using the external preset position identification information after the mobile loading device stops moving, for example, the image recognition device disposed on the to-be-loaded device recognizes a specific identification in the elevator hall after the elevator car door is opened to determine the information of the arriving floor. The specific mark can be a floor display mark in an elevator hall or the name of a fixed commercial tenant located on the floor, and the floor information of the stop of the mobile bearing equipment can be obtained by identifying the specific mark.

In the foregoing implementation manner, the moving-out sub-module 603 may determine the current position of the mobile bearer after the mobile bearer moves by using a received external wireless broadcast signal of the mobile bearer, for example, by using a wireless broadcast device pre-installed in an elevator hall of each floor, information sent by the wireless broadcast device is acquired by a sensor arranged on the device to be borne in a near field communication manner, along with the difference of the current position of the mobile bearer, the wireless broadcast information and signal strength of different floors acquired by the device to be borne also change, and generally, the closer the distance between the device to be borne and the wireless broadcast device is, the stronger the acquired signal is. When the mobile bearing equipment stops at the current floor, the stronger the wireless broadcast information and the signal strength of the current floor acquired by the equipment to be borne are, correspondingly, the current position of the mobile bearing equipment can be judged according to the signal strength.

In an optional implementation manner of this embodiment, as shown in fig. 7, the executing module 501 includes:

a first moving submodule 701 configured to move to a mobile bearer location in response to receiving an instruction to use the mobile bearer;

a first obtaining submodule 702 configured to obtain a current position of the device to be carried;

a second determining submodule 703 configured to determine moving direction control information of the mobile bearer device according to a relationship between the current position of the device to be borne and the target moving position;

an execution sub-module 704 configured to execute a start operation for the mobile bearer according to the moving direction control information.

In an optional implementation manner of this embodiment, the execution submodule 704 is configured to:

acquiring position information of the target moving direction control switch;

and executing starting operation on the target moving direction control switch.

In an optional implementation manner of this embodiment, as shown in fig. 8, the moving module 502 includes:

a second obtaining sub-module 801 configured to obtain a current location of the mobile bearer device and a current location of a device to be borne;

a third determining sub-module 802, configured to determine a bearer state of the mobile bearer device when the current location of the mobile bearer device matches the current location of the device to be carried and the mobile bearer device stops moving;

a second moving sub-module 803 configured to move into a loadable space of the mobile bearer device when the mobile bearer device is in a loadable state.

In an optional implementation manner of this embodiment, the part of the third determining sub-module 802 that determines the bearer status of the mobile bearer device is configured to:

In an optional implementation manner of this embodiment, a portion of the second moving sub-module 803 that moves into the bearable space of the mobile bearer device is configured to:

The present disclosure also discloses an electronic device, fig. 9 shows a 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,

the memory 901 is used to store one or more computer instructions, which are executed by the processor 902 to implement the above-described method steps.

Fig. 10 is a schematic block diagram of a computer system suitable for implementing a movement control method according to an embodiment of the present disclosure.

As shown in fig. 10, the computer system 1000 includes a Central Processing Unit (CPU)1001 that can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM)1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. In the RAM1003, various programs and data necessary for the operation of the system 1000 are also stored. The CPU1001, ROM1002, and RAM1003 are connected to each other via a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The driver 1010 is also connected to the I/O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.

In particular, the above described methods may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the above-described movement control method. In such embodiments, the computer program may be downloaded and installed from a network through the communication section 1009 and/or installed from the removable medium 1011.

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 flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, 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. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the above-described embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A mobility control method, comprising:

2. The method of claim 1, wherein the identifying that the mobile carrier device reaches the target mobile location and moves out of the bearable space of the mobile carrier device comprises:

3. The method of claim 2, wherein the obtaining the current location of the mobile bearer is implemented as:

or,

4. The method of claim 1, wherein moving to the location of the mobile bearer in response to receiving the instruction to use the mobile bearer and performing an initiation operation for the mobile bearer according to the instruction to use the mobile bearer comprises:

acquiring the current position of equipment to be borne;

5. A movement control apparatus, comprising:

6. The apparatus of claim 5, wherein the identification module comprises:

7. The apparatus of claim 6, wherein the move-out submodule obtains a portion of the current location of the mobile carrier device and is configured to:

or,

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

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

10. A computer-readable storage medium having stored thereon computer instructions, characterized in that the computer instructions, when executed by a processor, carry out the method steps of any of claims 1-4.