CN110340892A

CN110340892A - Control method for movement, 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: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2019-10-18

Abstract

The embodiment of the present disclosure discloses a kind of control method for movement, device, electronic equipment and computer readable storage medium, the control method for movement includes: to be instructed in response to receiving using mobile load bearing equipment, it is moved at the mobile load bearing equipment position, and start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction according to described；In response to the mobile load bearing equipment be in can loaded state, be moved to the mobile load bearing equipment can be in bearing space；Identify that the mobile load bearing equipment reaches target shift position, from can removing in bearing space for the mobile load bearing equipment.The technical solution makes it possible that robot is automatic, accurately takes mobile load bearing equipment, the program is not necessarily to be communicated with mobile load bearing equipment, eliminate the transformation to mobile load bearing equipment, therefore the cost of investment is substantially reduced, be conducive to use manpower and material resources sparingly, program applicability is wide simultaneously, is conducive to promote the use of.

Description

Control method for movement, device, electronic equipment and computer readable storage medium

Technical field

This disclosure relates to technical field of robot control, and in particular to a kind of control method for movement, device, electronic equipment and Computer readable storage medium.

Background technique

With the development of robot technology, the robot that can be walked gradually is widely used in logistics distribution, indoor guiding Or the fields such as rescue rescue.Under application scenes, robot need to take mobile load bearing equipment (such as elevator, crane, Conveyer belt etc.) target position is moved to provide service.In the prior art, usually Internet of Things is carried out to mobile load bearing equipment to change It makes, the interaction of robot and mobile load bearing equipment is realized by near-field communication or the method for network communication, and then realize to mesh The judgement of cursor position reaches target position for robot and provides moving operation instruction.But for the Internet of Things of mobile load bearing equipment Time-consuming and laborious, input cost height is transformed, and needs to carry out different transformations, practicability for different mobile load bearing equipments Difference.

Summary of the invention

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

In a first aspect, providing a kind of control method for movement in the embodiment of the present disclosure.

Specifically, the control method for movement, comprising:

It is instructed, is moved at the mobile load bearing equipment position using mobile load bearing equipment in response to receiving, and according to It is described that start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction, wherein described to be held using movement Carrying includes target shift position in device directive；

In response to the mobile load bearing equipment be in can loaded state, be moved to the mobile load bearing equipment carries sky In；

Identify that the mobile load bearing equipment reaches target shift position, from the mobile load bearing equipment can be in bearing space It removes.

With reference to first aspect, the disclosure is in the first implementation of first aspect, the identification mobile carrying Equipment reaches target shift position, from can removing in bearing space for the mobile load bearing equipment, comprising:

Determine that mobile load bearing equipment target shift position controls information according to the target shift position；

Information is controlled according to the target shift position to be configured the mobile load bearing equipment；

The current location for obtaining the mobile load bearing equipment, current location and the target when the mobile load bearing equipment When shift position matches and the mobile load bearing equipment is in removable do well, sky is carried from the mobile load bearing equipment Interior removal.

The first implementation with reference to first aspect, second implementation of the embodiment of the present invention in first aspect In, the current location for obtaining the mobile load bearing equipment is implemented as:

Moving distance detection parameters are obtained, and determine the mobile load bearing equipment according to the moving distance detection parameters Current location, wherein the moving distance detection parameters include mobile air pressure detection parameters and/or acceleration detection parameter and/ Or inertial navigation detection parameters；

Alternatively,

The location information shown inside the mobile load bearing equipment is obtained, the position that will be shown inside the mobile load bearing equipment Confidence ceases the current location for being determined as the mobile load bearing equipment；

Alternatively,

It obtains the mobile load bearing equipment and stops external predeterminated position identification information after movement, and is default according to the outside Station location marker information determines the current location of the mobile load bearing equipment；

Alternatively,

The mobile load bearing equipment external wireless broadcast singal is obtained, and according to the intensity of the external wireless broadcast singal Determine the current location of the mobile load bearing equipment.

With reference to first aspect, the embodiment of the present invention is described in response to receiving in the third implementation of first aspect It to using mobile load bearing equipment to instruct, is moved at the mobile load bearing equipment position, and is set according to described using mobile carrying Standby instruction executes start-up operation for the mobile load bearing equipment, comprising:

It is instructed, is moved at the mobile load bearing equipment position using mobile load bearing equipment in response to receiving；

Obtain the current location of equipment to be lifted；

Mobile load bearing equipment is determined according to the relationship between the current location and target shift position of the equipment to be lifted Moving direction controls information；

Information is controlled according to the moving direction, and start-up operation is executed for the mobile load bearing equipment.

The third implementation with reference to first aspect, four kind implementation of the embodiment of the present invention in first aspect In, it is described that information is controlled for the mobile load bearing equipment execution start-up operation according to the moving direction, it is implemented as:

Information, which is controlled, according to the moving direction determines target moving direction control switch；

Obtain the location information of the target moving direction control switch；

According to the positional relationship between the target moving direction control switch and the equipment to be lifted, it is moved to described Target moving direction control switch position region；

Start-up operation is executed for the target moving direction control switch.

With reference to first aspect, the embodiment of the present invention is described in response to described in the 5th kind of implementation of first aspect Mobile load bearing equipment be in can loaded state, be moved to the mobile load bearing equipment can be in bearing space, comprising:

Obtain the current location of the mobile load bearing equipment and the current location of equipment to be lifted；

When the current location of the mobile load bearing equipment and the current location of the equipment to be lifted match and the shifting When dynamic load bearing equipment stops mobile, the loaded state of the mobile load bearing equipment is determined；

When the mobile load bearing equipment be in can loaded state when, be moved to the mobile load bearing equipment can bearing space It is interior.

The 5th kind of implementation with reference to first aspect, six kind implementation of the embodiment of the present invention in first aspect In, the loaded state of the determination mobile load bearing equipment is implemented as:

When barrier and the mobile load bearing equipment is not detected on the equipment moving direction to be lifted in pre-determined distance Load capacity be less than or equal to maximum can load capacity when, determine the mobile load bearing equipment be in can loaded state.

6th kind of implementation of the 5th kind of implementation and first aspect with reference to first aspect, the embodiment of the present invention exist It is described to be moved to being implemented as in bearing space for the mobile load bearing equipment in 7th kind of implementation of first aspect:

It is held according to the dimension information of the mobile load bearing equipment, the dimension information of the equipment to be lifted and the movement Carry equipment can the obstacle position information in bearing space determine safety moving distance；

According to the safety moving distance be moved to the mobile load bearing equipment can be in bearing space.

Second aspect provides a kind of mobile controller in the embodiment of the present disclosure.

Specifically, the mobile controller, comprising:

Execution module is configured to respond to receive using mobile load bearing equipment instruction, is moved to the mobile carrying At device location, and start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction according to described, In, described use in mobile load bearing equipment instruction includes target shift position；

Mobile module, be configured to respond to the mobile load bearing equipment be in can loaded state, be moved to the movement Load bearing equipment can be in bearing space；

Identification module is configured as identifying that the mobile load bearing equipment reaches target shift position, from the mobile carrying Equipment can remove in bearing space.

In conjunction with second aspect, in the first implementation of second aspect, the identification module includes: the disclosure

First determines submodule, is configured as determining the mobile position of mobile load bearing equipment target according to the target shift position Set control information；

Submodule is set, is configured as controlling information according to the target shift position to the mobile load bearing equipment progress Setting；

Submodule is removed, is configured as obtaining the current location of the mobile load bearing equipment, when the mobile load bearing equipment Current location and the target shift position matches and the mobile load bearing equipment is in removable when doing well, from the shifting Dynamic load bearing equipment can remove in bearing space.

In conjunction with the first implementation of second aspect, second implementation of the embodiment of the present invention in second aspect In, the part for removing submodule and obtaining the current location of the mobile load bearing equipment is configured as:

Alternatively,

In conjunction with second aspect, the embodiment of the present invention is in the third implementation of second aspect, the execution module packet It includes:

First movement submodule is configured to respond to receive using mobile load bearing equipment instruction, is moved to the shifting At dynamic load bearing equipment position；

First acquisition submodule is configured as obtaining the current location of equipment to be lifted；

Second determines submodule, is configured as between current location and target shift position according to the equipment to be lifted Relationship determine that mobile load bearing equipment moving direction controls information；

Implementation sub-module is configured as opening the mobile load bearing equipment execution according to moving direction control information Dynamic operation.

In conjunction with the third implementation of second aspect, four kind implementation of the embodiment of the present invention in second aspect In, the implementation sub-module is configured as:

Start-up operation is executed for the target moving direction control switch.

In conjunction with second aspect, the embodiment of the present invention is in the 5th kind of implementation of second aspect, the mobile module packet It includes:

Second acquisition submodule is configured as obtaining the current location of the mobile load bearing equipment and working as equipment to be lifted Front position；

Third determines submodule, is configured as current location and the equipment to be lifted when the mobile load bearing equipment When current location matches and the mobile load bearing equipment stops mobile, the loaded state of the mobile load bearing equipment is determined；

Second mobile submodule, be configured as when the mobile load bearing equipment be in can loaded state when, be moved to described Mobile load bearing equipment can be in bearing space.

In conjunction with the 5th kind of implementation of second aspect, six kind implementation of the embodiment of the present invention in second aspect In, the third determines that submodule determines the part of the loaded state of the mobile load bearing equipment, it is configured as:

In conjunction with the 5th kind of implementation of second aspect and the 6th kind of implementation of second aspect, the embodiment of the present invention exists In 7th kind of implementation of second aspect, what second mobile submodule was moved to the mobile load bearing equipment carries sky Interior part, is configured as:

The third aspect, the embodiment of the present disclosure provide a kind of electronic equipment, including memory and processor, wherein described Memory is for storing one or more computer instruction, wherein one or more computer instruction is by the processor Execute the method and step to realize control method for movement in above-mentioned first aspect.

Fourth aspect, the embodiment of the present disclosure provide a kind of computer readable storage medium, for storing mobile control dress Computer instruction used is set, it includes be involved by mobile controller for executing control method for movement in above-mentioned first aspect And computer instruction.

The technical solution that the embodiment of the present disclosure provides can include the following benefits:

Above-mentioned technical proposal controls robot after receiving using mobile load bearing equipment instruction, is moved to mobile carrying and sets Standby position, start mobile load bearing equipment make mobile load bearing equipment be in can loaded state, and reach mesh in mobile load bearing equipment After marking shift position, from being removed in bearing space for mobile load bearing equipment.Above-mentioned technical proposal makes robot automatic, accurate Ground is taken mobile load bearing equipment and is possibly realized, and the program is not necessarily to be communicated with mobile load bearing equipment, eliminates and carries to mobile The transformation of equipment, therefore the cost of investment is substantially reduced, be conducive to use manpower and material resources sparingly, while program applicability is wide, favorably In popularization and use.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

In conjunction with attached drawing, by the detailed description of following non-limiting embodiment, the other feature of the disclosure, purpose and excellent Point will be apparent.In the accompanying drawings:

Fig. 1 shows the flow chart of the control method for movement according to one embodiment of the disclosure；

Fig. 2 shows the flow charts of the step S103 of the control method for movement of embodiment according to Fig. 1；

Fig. 3 shows the flow chart of the step S101 of the control method for movement of embodiment according to Fig. 1；

Fig. 4 shows the flow chart of the step S102 of the control method for movement of embodiment according to Fig. 1；

Fig. 5 shows the structural block diagram of the mobile controller according to one embodiment of the disclosure；

Fig. 6 shows the structural block diagram of the identification module 503 of the mobile controller of embodiment according to Fig.5,；

Fig. 7 shows the structural block diagram of the execution module 501 of the mobile controller of embodiment according to Fig.5,；

Fig. 8 shows the structural block diagram of the mobile module 502 of the mobile controller of embodiment according to Fig.5,；

Fig. 9 shows the structural block diagram of the electronic equipment according to one embodiment of the disclosure；

Figure 10 is adapted for the knot for realizing the computer system of the control method for movement according to one embodiment of the disclosure Structure schematic diagram.

Specific embodiment

Hereinafter, the illustrative embodiments of the disclosure will be described in detail with reference to the attached drawings, so that those skilled in the art can Easily realize them.In addition, for the sake of clarity, the portion unrelated with description illustrative embodiments is omitted in the accompanying drawings Point.

In the disclosure, it should be appreciated that the term of " comprising " or " having " etc. is intended to refer to disclosed in this specification Feature, number, step, behavior, the presence of component, part or combinations thereof, and be not intended to exclude other one or more features, A possibility that number, step, behavior, component, part or combinations thereof exist or are added.

It also should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure It can be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

The technical solution control robot that the embodiment of the present disclosure provides moves after receiving using mobile load bearing equipment instruction Move to mobile load bearing equipment position, start mobile load bearing equipment make mobile load bearing equipment be in can loaded state, and in movement After load bearing equipment reaches target shift position, from being removed in bearing space for mobile load bearing equipment.Above-mentioned technical proposal makes Robot is automatic, accurately takes mobile load bearing equipment is possibly realized, and the program is not necessarily to be communicated with mobile load bearing equipment, saves But to the transformation of mobile load bearing equipment, therefore the cost of investment is substantially reduced, is conducive to use manpower and material resources sparingly, while the program Applicability is wide, is conducive to promote the use of.

Fig. 1 shows the flow chart of the control method for movement according to one embodiment of the disclosure.As shown in Figure 1, the movement Control method includes the following steps S101-S103:

In step s101, it is instructed in response to receiving using mobile load bearing equipment, is moved to the mobile load bearing equipment At position, and start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction according to described, wherein institute Stating using in mobile load bearing equipment instruction includes target shift position；

In step s 102, in response to the mobile load bearing equipment be in can loaded state, be moved to the mobile carrying Equipment can be in bearing space；

In step s 103, identify that the mobile load bearing equipment reaches target shift position, from the mobile load bearing equipment Can remove in bearing space.

Mentioned above, with the development of robot technology, the robot that can be walked gradually is widely used in logistics distribution, The fields such as indoor guiding or rescue rescue.Under application scenes, robot needs to take mobile load bearing equipment (such as electricity Ladder, crane, conveyer belt etc.) target position is moved to provide service.In the prior art, usually to mobile load bearing equipment into The interaction of robot and mobile load bearing equipment is realized in the transformation of row Internet of Things by the method for march into the arena communication or network communication, into And realize the judgement to target position, reach target position for robot and moving operation instruction is provided.But mobile carrying is set Standby Internet of Things transformation is time-consuming and laborious, and input cost is high, and needs to carry out different change for different mobile load bearing equipments It makes, the practicability is poor.

In view of drawbacks described above, in this embodiment, propose that a kind of control method for movement, this method control robot exist It receives using after mobile load bearing equipment instruction, is moved to mobile load bearing equipment position, start mobile load bearing equipment and to move Load bearing equipment be in can loaded state, and after mobile load bearing equipment reaches target shift position, from mobile load bearing equipment can It is removed in bearing space.Above-mentioned technical proposal makes it possible that robot is automatic, accurately takes mobile load bearing equipment, the party Case is not necessarily to be communicated with mobile load bearing equipment, eliminates the transformation to mobile load bearing equipment, thus substantially reduce investment at This, is conducive to use manpower and material resources sparingly, while program applicability is wide, is conducive to promote the use of.

In an optional implementation of the present embodiment, the mobile load bearing equipment refers to having certain receiving empty Between, the object with a certain size can be carried, mobile transport can be carried out between different location equipment, for example elevator, rise Frame, conveyer belt etc. drop.

It is described to refer to instruction machine using mobile load bearing equipment in an optional implementation of the present embodiment People or other mobile objects carry out the instruction of movement using mobile load bearing equipment, described to use in mobile load bearing equipment instruction at least Including the target shift position being moved to required for robot or other mobile objects.The target shift position refers to machine The position that people or other mobile objects execute the target position of service or robot or other mobile objects need to be moved to, than Such as it either receiving the trade company of logistics delivery service or the position of user, it can also be only one and want the position reached, That is, robot or other mobile objects, which need to take the mobile load bearing equipment, is moved to the target position, wherein institute It states and moves the movement either the height floor gap under multilayer scene, be also possible to the shifting in same layer region in horizontal direction It is dynamic, naturally it is also possible to be other forms, the movement with other movement characteristics.For example, if the mobile load bearing equipment is elevator, Mobile object is dispensing machine people, then target shift position both can be the floor for needing dispensing machine people picking or delivery, It may be the floor for realizing other movement purposes.

In an optional implementation of the present embodiment, a preset areas is referred at the mobile load bearing equipment position Domain, the distance between the predeterminable area and mobile load bearing equipment are in preset threshold.Wherein, in the predeterminable area, setting It is able to carry out the preparation before executing start-up operation for the mobile load bearing equipment in the executing agency in equipment to be lifted, For example when executing agency is mechanical arm, the mechanical arm in predeterminable area is able to carry out carry arm, bending, rotation, movement, falls The movement such as arm.

It is described using mobile load bearing equipment instruction, the position of Xiang Yidong load bearing equipment in view of being received in equipment to be lifted When place is mobile, due to mobile load bearing equipment current location may with the current location of equipment to be lifted not in the same area or It says and does not match that, so that even if also can not directly be taken when equipment to be lifted is moved at the mobile load bearing equipment position Multiply mobile load bearing equipment, therefore, after equipment to be lifted is moved at the mobile load bearing equipment position, needs to make according to Start-up operation is executed for the mobile load bearing equipment with mobile load bearing equipment instruction, so that the mobile load bearing equipment is towards institute The current location for stating equipment to be lifted is mobile.Specifically, the start-up operation can be to choose the mobile load bearing equipment uplink of control Uplink key, choose the downlink key for controlling mobile load bearing equipment downlink, choose and can characterize equipment current location to be lifted To the key of moving direction etc. of target shift position.

It is described default when executing agency executes and executes the preparation before start-up operation for the mobile load bearing equipment The size of threshold value is it should be ensured that the executing agency is able to carry out start-up operation instruction, if being configured larger than preset threshold, After executing agency is finished preparation, it may possibly still be present between the executing agency and mobile load bearing equipment certain Distance is also needed to control equipment to be lifted at this time and be moved again, allows it to execute start-up operation instruction.

In an optional implementation of the present embodiment, the mobile load bearing equipment be in can loaded state refer to Load bearing equipment is movable in the interior accommodating space of the mobile load bearing equipment, and is moved to the shifting in equipment to be lifted After the interior accommodating space of dynamic load bearing equipment, mobile load bearing equipment can also be normally carried out transport, that is to say, that when described Mobile load bearing equipment be in can loaded state when, the accommodation space in mobile load bearing equipment be large enough to hold equipment to be lifted and The weight of equipment to be lifted is also within the scope of the load limit of mobile load bearing equipment.

In an optional implementation of the present embodiment, as shown in Fig. 2, the step S103, that is, identify the movement Load bearing equipment reaches target shift position, from the mobile load bearing equipment the step of can removing in bearing space, including step S201-S203:

In step s 201, mobile load bearing equipment target shift position control letter is determined according to the target shift position Breath；

In step S202, information is controlled according to the target shift position, the mobile load bearing equipment is set It sets；

In step S203, the current location of the mobile load bearing equipment is obtained, it is current when the mobile load bearing equipment When position and the target shift position match and the mobile load bearing equipment is in removable do well, from the mobile carrying Equipment can remove in bearing space.

In an optional implementation of the present embodiment, the target shift position control information refers to entering movement The control information that equipment to be lifted in load bearing equipment is moved to target position.Correspondingly, being arranged in the mobile load bearing equipment There are several control buttons, each button can correspond to the mobile fixation position of mobile load bearing equipment, for example, if the mesh of equipment to be lifted Mark shift position be 7 layers, then move load bearing equipment target shift position control information can be to press 7 layers of button, it is subsequent can basis The target shift position control information is configured the mobile load bearing equipment, for example presses 7 layers of button.

It in this implementation, can be by being arranged to be lifted after obtaining the target shift position control information Image recognition apparatus in equipment carries out the identification of several control buttons in mobile load bearing equipment, then is determining that the target is mobile It, should to touch or start by the executing agency being arranged in equipment to be lifted after the corresponding control button of position control information Control button realizes the setting for mobile load bearing equipment.Before this, it can also be transported according to movement angle of executing agency etc. Dynamic feature controls the equipment to be lifted to the moving distance of control button, for equipment to be lifted and control button Between there are enough operating distances, suitable operating space is provided for executing agency, to guarantee that the executing agency can Accurately start the control button, and after executing agency performs start-up operation to the control button, it can be safe Neatly withdraw.At this point, the equipment to be lifted, which is in target position, judges state.

It should be noted that can further obtain the target after obtaining the target shift position control information Shift position controls the corresponding control button state of information, if the control button is set via the carrieds equipment such as other users It sets and chooses, then show that the control button has been in starting state, execute setting operation again without controlling executing agency.Separately Outside, before reaching target shift position, the equipment needs to be lifted repeat to detect the state of the control button, it is ensured that institute It states control button and is in starting state, and when the control button is in non-started state, control executing agency again and execute Setting operation.

In an optional implementation of the present embodiment, after the equipment to be lifted takes the mobile load bearing equipment, The two is jointly mobile to target shift position from the current location of equipment to be lifted.In view of the current location of mobile load bearing equipment Between the target shift position of equipment to be lifted, the possible more than one in the position that mobile load bearing equipment can be stopped, i.e. movement is held The current location for carrying equipment may change.Therefore, it is necessary to confirm the current location of the mobile load bearing equipment in real time, In the current location of the mobile load bearing equipment and the target shift position determination of equipment to be lifted matches and the movement is held Equipment is carried after removable do well, the equipment to be lifted is controlled at this time and is moved out of the mobile load bearing equipment accommodation space Out.Wherein, removable do well of the mobile load bearing equipment can be by pre-determined distance on the equipment moving direction to be lifted Barrier is not detected to determine, that is to say, that when barrier is not detected in pre-determined distance on the equipment moving direction to be lifted When hindering object, it is believed that the mobile load bearing equipment door has been opened extensible.

In the present embodiment, Data Detection can be carried out simultaneously by current location of the equipment to be lifted itself to mobile load bearing equipment It analyzes to realize the judgement to mobile load bearing equipment current location, and then knows whether equipment to be lifted is moved to the mobile position of target It sets.Specifically, in the present embodiment, following implementations can be used to realize the judgement to mobile load bearing equipment current location:

Alternatively,

In above-mentioned implementation, the mobile distance of mobile load bearing equipment can be judged using moving distance detection parameters, To realize after equipment to be lifted takes mobile load bearing equipment, the current location after mobile load bearing equipment is mobile is judged.Specifically, The moving distance detection parameters can be carried out by the barometer, accelerometer and inertial navigation equipment being arranged in equipment to be lifted The processing of survey fixed sum data, for example floor information, Huo Zhetong are judged by the relative barometric pressure height that barometer detects floor gap The draught head cooperation acceleration and deceleration process for crossing floor gap, judges to reach floor information.Wherein, inertial navigation is the letter of inertial navigation system Claim, the basic functional principle of inertial navigation be based on Newton mechanics law, by measurement carrier inertial reference system acceleration, It integrates the time, and it is transformed in navigational coordinate system, it will be able to obtain speed in navigational coordinate system, partially The boat information such as angle and position.

In above-mentioned implementation, using the location information shown inside mobile load bearing equipment, to judge mobile carrying Current location after equipment is mobile, such as the image recognition apparatus by being arranged in equipment to be lifted identify floor in carriage Information is shown, to judge reached floor information.

In above-mentioned implementation, using external predeterminated position identification information after mobile load bearing equipment stopping movement, come Judge that the current location after mobile load bearing equipment is mobile, such as the image recognition apparatus by being arranged in equipment to be lifted identify Specific identifier after elevator cab door is opened in elevator hall, to judge reached floor information.Wherein, specific identifier can be with It is the floor display mark in elevator hall, is also possible to the title of the fixation trade company positioned at the floor, it is described specific by identifying Mark can be obtained the floor information that mobile load bearing equipment is stopped.

In above-mentioned implementation, using the mobile load bearing equipment external wireless broadcast singal received, to judge to move Current location after dynamic load bearing equipment is mobile, for example by the radio broadcasting equipment for being placed in each floor elevator Room in advance, pass through The sensor being arranged in equipment to be lifted obtains the information that the radio broadcasting equipment issues in a manner of near-field communication, with The difference of mobile load bearing equipment current location, the wireless broadcast information and signal strength of the different floors that equipment to be lifted obtains It can change, usual equipment to be lifted is closer with a distance from radio broadcasting equipment, and the signal of acquisition is stronger.When mobile carrying is set For when current floor is stopped, the wireless broadcast information and signal strength for the current floor that equipment to be lifted obtains are stronger, accordingly , the current location of mobile load bearing equipment can be judged by signal strength.

It should be noted that the radio broadcasting equipment can also only be placed in individual fixed positions, without holding in movement The each position that can stop of equipment is carried nearby to install, for example, only radio broadcasting equipment is placed in fixed odd floors, and nothing Each floor is needed to place radio broadcasting equipment.In addition, the beacon generating device that radio broadcasting equipment can choose as one, Also bluetooth equipment or other beacon apparatus be could alternatively be.

In an optional implementation of the present embodiment, as shown in figure 3, the step S101, i.e., in response to receiving It is instructed, is moved at the mobile load bearing equipment position using mobile load bearing equipment, and use mobile load bearing equipment according to described The step of instruction executes start-up operation for the mobile load bearing equipment, including step S301-S304:

In step S301, is instructed in response to receiving using mobile load bearing equipment, be moved to the mobile load bearing equipment At position；

In step s 302, the current location of equipment to be lifted is obtained；

In step S303, determined according to the relationship between the current location and target shift position of the equipment to be lifted Mobile load bearing equipment moving direction controls information；

In step s 304, information is controlled according to the moving direction and starting behaviour is executed for the mobile load bearing equipment Make.

In an optional implementation of the present embodiment, the equipment to be lifted refers to that mobile load bearing equipment need to be taken The equipment for being moved to target shift position, such as can be mobile for wheeled robot, caterpillar type robot or walking robot etc. Robot etc..

The current location of the equipment to be lifted is where when equipment to be lifted needs to take the mobile load bearing equipment Position, for example, can be floor position that mobile robot is currently located or be currently located floor merchant location or its He has the position of constant mark.

Behind the current location that equipment to be lifted has been determined, you can learn that the current location of equipment to be lifted and target are mobile Moving direction between position, and then know mobile load bearing equipment moving direction control information.It should be noted that according to entertaining Carry equipment and need the task setting completed, equipment to be lifted after being moved at target shift position and completing corresponding task, The new current location that target shift position at this time can be used as equipment to be lifted carries out movement next time.Such as in Duo Lou Under layer scene, task setting is respectively in the 3rd layer, the 5th layer and the 7th layer execution logistics distribution task, then equipment to be lifted is worked as Preceding target shift position is the 3rd floor, and equipment to be lifted is after the 3rd floor of current goal shift position completes dispatching task, i.e., It can be using the 3rd floor as current location, using the 5th floor as new target shift position.

Due to when equipment to be lifted is needed using mobile load bearing equipment, the currently used state of the mobile load bearing equipment Not can determine that, that is to say, that when equipment to be lifted is needed using mobile load bearing equipment, mobile load bearing equipment may with entertain It carries equipment and is in the position to match, for example, being in same floor, it is also possible to be in the position not matched that with equipment to be lifted It sets, for example is in different floors, therefore, it is necessary to control information according to the moving direction to hold the mobile load bearing equipment Row start-up operation is convenient for so that the mobile load bearing equipment is moved to the position to match with the current location of equipment to be lifted The equipment to be lifted is taken the mobile load bearing equipment and is moved.

In an optional implementation of the present embodiment, the step S304 is controlled according to the moving direction and is believed The step of breath executes start-up operation for the mobile load bearing equipment, can be implemented as:

Start-up operation is executed for the target moving direction control switch.

Accurate start-up operation is executed for the mobile load bearing equipment in order to control information according to the moving direction, In the implementation, information is controlled according to the moving direction first and determines target moving direction control switch；Then institute is obtained State the location information of target moving direction control switch；Then according to the target moving direction control switch with it is described to be lifted Positional relationship between equipment is moved at the target moving direction control switch position；It is mobile finally for the target Direction control switch executes start-up operation.

In an optional implementation of the present embodiment, the moving direction control information is for determining equipment to be lifted The current location direction mobile to target shift position, and then determine that the target moving direction started controls and open It closes, wherein the target moving direction control switch is for controlling the movement of mobile load bearing equipment when being activated.When the shifting When dynamic load bearing equipment is elevator, the target moving direction control switch such as can be arranged in it is upper on elevator control panel Capable or descending button, more specifically, when target shift position is located at the top of current location, it, can by starting uplink button Elevator is controlled to stop on the direction travelled upwardly in current location, when target shift position is located at the lower section of current location, By starting descending button, elevator can control to stop on the direction travelled downwardly in current location.It should be noted that at certain Under a little special screnes, since the movement rule of the mobile load bearing equipment of elevator is different, however not excluded that need to carry out opposite with above description Operation, i.e., when target shift position is located at the top of current location, need by start descending button, control elevator to Stopped on the direction of lower traveling in current location etc..That is, the target moving direction control switch and mobile carrying Between relationship, the target moving direction control switch between the moving direction of equipment and moving direction control information Relationship can be configured and select according to the needs of practical application, and the disclosure is not especially limited it.

In an optional implementation of the present embodiment, believe in the position for obtaining the target moving direction control switch When breath, the identification of the location information of control switch can be carried out by the image recognition apparatus being arranged in equipment to be lifted.Tool Body, image recognition apparatus can preset the identification region range of different mobile load bearing equipments, then in the cog region The identification of control switch location information is carried out within the scope of domain, wherein the identification region range can be according to different mobile carryings The setting of the target moving direction control switch of equipment is liked to determine.Wherein, described image identification equipment can be for figure As the picture pick-up device etc. of identification function.

Wherein, what the target moving direction control switch position region referred to is also a predeterminable area, and above Describe similar, the distance between the predeterminable area and target moving direction control switch are in preset threshold, in the preset areas In domain, the executing agency being set in equipment to be lifted is able to carry out the behaviour of the starting for the target moving direction control switch Make.

The location information of the target moving direction control switch is being determined, and is being controlled according to the target moving direction Positional relationship between switch and the equipment to be lifted makes the equipment to be lifted be moved to the target moving direction control After at the position of the switch, so that it may by the executing agency being arranged in equipment to be lifted, such as robotic arm, to touch the mesh It marks moving direction control switch and executes start-up operation.Before this, it can also be moved according to movement angle of executing agency etc. special Point controls the moving distance of the equipment to be lifted, for equipment to be lifted and target moving direction control switch it Between there are enough operating distances, suitable operating space is provided for executing agency, to guarantee that the executing agency can be quasi- Really start the target moving direction control switch, and the target moving direction control switch is executed in executing agency After start-up operation, can neatly it withdraw safely.At this point, the equipment to be lifted, which is in wait, takes state.

In an optional implementation of the present embodiment, as shown in figure 4, the step S102, i.e., in response to the shifting Dynamic load bearing equipment be in can loaded state, be moved to the mobile load bearing equipment can step in bearing space, including step S401-S403:

In step S401, the current location of the mobile load bearing equipment and the current location of equipment to be lifted are obtained；

Current location and the current location phase of the equipment to be lifted in step S402, when the mobile load bearing equipment When matching and the mobile mobile load bearing equipment stopping, the loaded state of the mobile load bearing equipment is determined；

In step S403, when the mobile load bearing equipment be in can loaded state when, be moved to the mobile carrying and set It is standby can be in bearing space.

In an optional implementation of the present embodiment, starting is being executed for the target moving direction control switch After operation, the mobile load bearing equipment is mobile to the direction of equipment to be lifted, it is contemplated that before mobile load bearing equipment is mobile Between initial position and the current location of equipment to be lifted, the possible more than one in the position that mobile load bearing equipment is stopped, and every At a possible stop position, the loaded state of mobile load bearing equipment may all change.Therefore, to be lifted in order to guarantee The safety of equipment, equipment to be lifted be moved to the mobile load bearing equipment can be in bearing space before, need for institute State mobile load bearing equipment whether be in can loaded state confirmed, specifically, obtain working as the mobile load bearing equipment first The current location of front position and equipment to be lifted；When the current location of the mobile load bearing equipment and working as the equipment to be lifted When front position matches and the mobile load bearing equipment stops mobile, the loaded state of the mobile load bearing equipment is determined, for example, When the current location of mobile load bearing equipment is 7 layers, the current location of equipment to be lifted is also 7 layers, and the mobile load bearing equipment When stopping mobile, then it is assumed that the current location of the mobile load bearing equipment and the current location of the equipment to be lifted match； Then further judge the mobile load bearing equipment whether be in can loaded state, when the mobile load bearing equipment be in can carry When state, can control that equipment to be lifted is moved to the mobile load bearing equipment can be in bearing space.

In an optional implementation of the present embodiment, holding for the mobile load bearing equipment is determined in the step S402 The step of load state, can be implemented as:

In this embodiment, when barrier is not detected in pre-determined distance on the equipment moving direction to be lifted, It is believed that the mobile load bearing equipment door has been opened and space is enough, when further judging mobile load bearing equipment load capacity Less than or equal to maximum can load capacity, i.e., when not overloading, it may be determined that the mobile load bearing equipment be in can loaded state.Its In, the barrier, which can be, is not switched on or is not switched on complete elevator cab door, in mobile load bearing equipment receiving Object, mobile load bearing equipment have taken its of mobile load bearing equipment when stopping before the current location of the equipment to be lifted His user, robot or the other users carried in advance in the current position of the equipment to be lifted, robot etc..Its In, the pre-determined distance can determine that the minimum value of the pre-determined distance makes according to the size of the equipment to be lifted In the case where barrier is not present, the equipment to be lifted is able to enter in the mobile load bearing equipment.

Specifically, the judgement of barrier can be carried out by the contactless obstacle avoidance sensor being arranged in equipment to be lifted, After clear within the scope of sensor discovery pre-determined distance, it can be driven and be entertained by the chassis controller of equipment to be lifted Equipment is carried to advance into mobile load bearing equipment.Judge that equipment to be lifted integrally enters certain distance (such as by odometer later Half meter, which is determined by the size of the equipment to be lifted, is hereinafter discussed in greater detail) after, turn round 180 degree towards Outside, at this point, the equipment to be lifted is in the working stage in mobile load bearing equipment.

In an optional implementation of the present embodiment, the mobile load bearing equipment is moved in the step S403 Can step in bearing space, can be implemented as:

In order to guarantee that other accommodate the safety of object in equipment to be lifted and mobile load bearing equipment, preferably In, a safety moving distance is set, so that equipment to be lifted is moved to the mobile carrying according to the safety moving distance Equipment can be in bearing space.Wherein, the safety moving distance refers to that equipment to be lifted can be in mobile load bearing equipment Mobile distance, according to the dimension information of the mobile load bearing equipment, the dimension information of the equipment to be lifted and described Mobile load bearing equipment can obstacle position information in bearing space determine, the equipment to be lifted is moved integrally To the mobile load bearing equipment can in bearing space, and be moved to the mobile load bearing equipment can be in bearing space after, will not It touches, be urged in mobile load bearing equipment other receiving objects.

Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.

Fig. 5 shows the structural block diagram of the mobile controller according to one embodiment of the disclosure, which can be by soft Part, hardware or both are implemented in combination with as some or all of of electronic equipment.As shown in figure 5, the mobile control dress It sets and includes:

Execution module 501 is configured to respond to receive using mobile load bearing equipment instruction, is moved to the movement and holds It carries at device location, and start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction according to described, Wherein, described use in mobile load bearing equipment instruction includes target shift position；

Mobile module 502, be configured to respond to the mobile load bearing equipment be in can loaded state, be moved to the shifting Dynamic load bearing equipment can be in bearing space；

Identification module 503 is configured as identifying that the mobile load bearing equipment reaches target shift position, hold from the movement Carry can removing in bearing space for equipment.

In view of drawbacks described above, in this embodiment, a kind of mobile controller is proposed, device control robot exists It receives using after mobile load bearing equipment instruction, is moved to mobile load bearing equipment position, start mobile load bearing equipment and to move Load bearing equipment be in can loaded state, and after mobile load bearing equipment reaches target shift position, from mobile load bearing equipment can It is removed in bearing space.Above-mentioned technical proposal makes it possible that robot is automatic, accurately takes mobile load bearing equipment, the party Case is not necessarily to be communicated with mobile load bearing equipment, eliminates the transformation to mobile load bearing equipment, thus substantially reduce investment at This, is conducive to use manpower and material resources sparingly, while program applicability is wide, is conducive to promote the use of.

In an optional implementation of the present embodiment, as shown in fig. 6, the identification module 503 includes:

First determines submodule 601, is configured as determining that mobile load bearing equipment target is moved according to the target shift position Dynamic position control information；

Submodule 602 is set, is configured as controlling information to the mobile load bearing equipment according to the target shift position It is configured；

Submodule 603 is removed, is configured as obtaining the current location of the mobile load bearing equipment, when the mobile carrying is set When standby current location and the target shift position match and the mobile load bearing equipment is in removable and does well, from described Mobile load bearing equipment can remove in bearing space.

In the present embodiment, Data Detection can be carried out simultaneously by current location of the equipment to be lifted itself to mobile load bearing equipment It analyzes to realize the judgement to mobile load bearing equipment current location, and then knows whether equipment to be lifted is moved to the mobile position of target It sets.Specifically, in the present embodiment, following implementations can be used to realize and set to mobile carrying in the removal submodule 603 The judgement of standby current location:

Alternatively,

In above-mentioned implementation, the removal submodule 603 can judge that movement is held using moving distance detection parameters The mobile distance of equipment is carried, to realize after equipment to be lifted takes mobile load bearing equipment, after judging that mobile load bearing equipment is mobile Current location.Specifically, institute can be carried out by the barometer, accelerometer and inertial navigation equipment being arranged in equipment to be lifted The survey fixed sum data processing of moving distance detection parameters is stated, for example the relative barometric pressure height of floor gap is detected to sentence by barometer Disconnected floor information, or acceleration and deceleration process is cooperated by the draught head of floor gap, judge to reach floor information.Wherein, inertial navigation is The abbreviation of inertial navigation system, the basic functional principle of inertial navigation are based on Newton mechanics law, by measurement carrier used The acceleration of property referential, it integrates the time, and it is transformed in navigational coordinate system, it will be able to obtain navigating The information such as speed, yaw angle and position in coordinate system.

In above-mentioned implementation, the submodule 603 that removes can be believed using the position shown inside mobile load bearing equipment Breath, to judge that the current location after mobile load bearing equipment is mobile, such as the image recognition by being arranged in equipment to be lifted are set Standby to identify, floor shows information in carriage, to judge reached floor information.

In above-mentioned implementation, outside is pre- after the removal submodule 603 can stop movement using mobile load bearing equipment If station location marker information, to judge the current location after mobile load bearing equipment is mobile, such as by being arranged in equipment to be lifted Specific identifier of image recognition apparatus identification after elevator cab door is opened in elevator hall, to judge that reached floor is believed Breath.Wherein, specific identifier can be the display mark of the floor in elevator hall, be also possible to the name of the fixation trade company positioned at the floor Claim, by identifying the specific identifier, can be obtained the floor information that mobile load bearing equipment is stopped.

In above-mentioned implementation, the submodule 603 that removes is using the mobile load bearing equipment external wireless received Broadcast singal, to judge the current location after mobile load bearing equipment is mobile, such as by being placed in each floor elevator Room in advance Radio broadcasting equipment is obtained the radio broadcasting the sensor being arranged in equipment to be lifted in a manner of near-field communication and set The information that preparation goes out, with the difference of mobile load bearing equipment current location, different floors that equipment to be lifted obtains it is wireless wide Broadcasting information and signal strength can also change, and usual equipment to be lifted is closer with a distance from radio broadcasting equipment, the letter of acquisition It is number stronger.When mobile load bearing equipment is when current floor is stopped, the wireless broadcast information for the current floor that equipment to be lifted obtains And signal strength is stronger, correspondingly, can judge the current location of mobile load bearing equipment by signal strength.

In an optional implementation of the present embodiment, as shown in fig. 7, the execution module 501 includes:

First movement submodule 701 is configured to respond to receive using mobile load bearing equipment instruction, be moved to described At mobile load bearing equipment position；

First acquisition submodule 702 is configured as obtaining the current location of equipment to be lifted；

Second determines submodule 703, is configured as current location and target shift position according to the equipment to be lifted Between relationship determine that mobile load bearing equipment moving direction controls information；

Implementation sub-module 704 is configured as holding the mobile load bearing equipment according to moving direction control information Row start-up operation.

In an optional implementation of the present embodiment, the implementation sub-module 704 is configured as:

Start-up operation is executed for the target moving direction control switch.

In an optional implementation of the present embodiment, as shown in figure 8, the mobile module 502 includes:

Second acquisition submodule 801 is configured as obtaining the current location of the mobile load bearing equipment and equipment to be lifted Current location；

Third determines submodule 802, is configured as current location when the mobile load bearing equipment and to be lifted sets with described When standby current location matches and the mobile load bearing equipment stops mobile, the carrying shape of the mobile load bearing equipment is determined State；

Second mobile submodule 803, be configured as when the mobile load bearing equipment be in can loaded state when, be moved to institute That states mobile load bearing equipment can be in bearing space.

In an optional implementation of the present embodiment, the third, which determines, determines that the movement is held in submodule 802 The part for carrying the loaded state of equipment, is configured as:

In an optional implementation of the present embodiment, the movement is moved in second mobile submodule 803 Load bearing equipment can part in bearing space, be configured as:

The disclosure also discloses a kind of electronic equipment, and Fig. 9 shows the knot of the electronic equipment according to one embodiment of the disclosure Structure block diagram, as shown in figure 9, the electronic equipment 900 includes memory 901 and processor 902；Wherein,

The memory 901 is for storing one or more computer instruction, wherein one or more computer refers to It enables and being executed by the processor 902 to realize above method step.

Figure 10 is suitable for being used to realizing that the structure of the computer system of the control method for movement according to disclosure embodiment is shown It is intended to.

As shown in Figure 10, computer system 1000 include central processing unit (CPU) 1001, can according to be stored in only It reads the program in memory (ROM) 1002 or is loaded into random access storage device (RAM) 1003 from storage section 1008 Program and execute the various processing in above embodiment.In RAM1003, be also stored with system 1000 operate it is required various Program and data.CPU1001, ROM1002 and RAM1003 are connected with each other by bus 1004.Input/output (I/O) interface 1005 are also connected to bus 1004.

I/O interface 1005 is connected to lower component: the importation 1006 including keyboard, mouse etc.；Including such as cathode The output par, c 1007 of ray tube (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section including hard disk etc. 1008；And the communications portion 1009 of the network interface card including LAN card, modem etc..Communications portion 1009 passes through Communication process is executed by the network of such as internet.Driver 1010 is also connected to I/O interface 1005 as needed.It is detachable to be situated between Matter 1011, such as disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 1010, so as to In being mounted into storage section 1008 as needed from the computer program read thereon.

Particularly, according to embodiment of the present disclosure, method as described above may be implemented as computer software programs. For example, embodiment of the present disclosure includes a kind of computer program product comprising be tangibly embodied in and its readable medium on Computer program, the computer program includes program code for executing above-mentioned control method for movement.In such reality It applies in mode, which can be downloaded and installed from network by communications portion 1009, and/or is situated between from detachable Matter 1011 is mounted.

Flow chart and block diagram in attached drawing illustrate system, method and computer according to the various embodiments of the disclosure The architecture, function and operation in the cards of program product.In this regard, each box in course diagram or block diagram can be with A part of a module, section or code is represented, a part of the module, section or code includes one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer The combination of order is realized.

Being described in unit or module involved in disclosure embodiment can be realized by way of software, can also It is realized in a manner of through hardware.Described unit or module also can be set in the processor, these units or module Title do not constitute the restriction to the unit or module itself under certain conditions.

As on the other hand, the disclosure additionally provides a kind of computer readable storage medium, the computer-readable storage medium Matter can be computer readable storage medium included in device described in above embodiment；It is also possible to individualism, Without the computer readable storage medium in supplying equipment.Computer-readable recording medium storage has one or more than one journey Sequence, described program is used to execute by one or more than one processor is described in disclosed method.

Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art Member is it should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed in the disclosure Can technical characteristic replaced mutually and the technical solution that is formed.

Claims

1. a kind of control method for movement characterized by comprising

It is instructed, is moved at the mobile load bearing equipment position, and according to described using mobile load bearing equipment in response to receiving Start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction, wherein described to set using mobile carrying It include target shift position in standby instruction；

In response to the mobile load bearing equipment be in can loaded state, be moved to the mobile load bearing equipment can bearing space It is interior；

Identify that the mobile load bearing equipment reaches target shift position, from can moving in bearing space for the mobile load bearing equipment Out.

2. the method according to claim 1, wherein the identification mobile load bearing equipment reaches target movement Position, from being removed in bearing space for the mobile load bearing equipment, comprising:

The current location for obtaining the mobile load bearing equipment, when the current location of the mobile load bearing equipment and the target are mobile Position matches and the mobile load bearing equipment is in removable when doing well, from the mobile load bearing equipment can be in bearing space It removes.

3. according to the method described in claim 2, it is characterized in that, the current location for obtaining the mobile load bearing equipment, It is implemented as:

Moving distance detection parameters are obtained, and determine the current of the mobile load bearing equipment according to the moving distance detection parameters Position, wherein the moving distance detection parameters include mobile air pressure detection parameters and/or acceleration detection parameter and/or are used to Lead detection parameters；

Alternatively,

The location information shown inside the mobile load bearing equipment is obtained, the position shown inside the mobile load bearing equipment is believed Breath is determined as the current location of the mobile load bearing equipment；

Alternatively,

It obtains the mobile load bearing equipment and stops external predeterminated position identification information after movement, and according to the external predeterminated position Identification information determines the current location of the mobile load bearing equipment；

Alternatively,

The mobile load bearing equipment external wireless broadcast singal is obtained, and is determined according to the intensity of the external wireless broadcast singal The current location of the mobile load bearing equipment.

4. the method according to claim 1, wherein described referred in response to receiving using mobile load bearing equipment It enables, is moved at the mobile load bearing equipment position, and the movement is held using mobile load bearing equipment instruction according to described It carries equipment and executes start-up operation, comprising:

Obtain the current location of equipment to be lifted；

Determine that mobile load bearing equipment is mobile according to the relationship between the current location and target shift position of the equipment to be lifted Direction controlling information；

5. a kind of mobile controller characterized by comprising

Execution module is configured to respond to receive using mobile load bearing equipment instruction, is moved to the mobile load bearing equipment At position, and start-up operation is executed for the mobile load bearing equipment using mobile load bearing equipment instruction according to described, wherein institute Stating using in mobile load bearing equipment instruction includes target shift position；

Mobile module, be configured to respond to the mobile load bearing equipment be in can loaded state, be moved to the mobile carrying Equipment can be in bearing space；

Identification module is configured as identifying that the mobile load bearing equipment reaches target shift position, from the mobile load bearing equipment Can remove in bearing space.

6. device according to claim 5, which is characterized in that the identification module includes:

First determines submodule, is configured as determining mobile load bearing equipment target shift position control according to the target shift position Information processed；

Submodule is set, is configured as setting the mobile load bearing equipment according to target shift position control information It sets；

Submodule is removed, is configured as obtaining the current location of the mobile load bearing equipment, when working as the mobile load bearing equipment When front position and the target shift position match and the mobile load bearing equipment is in removable do well, held from the movement Carry can removing in bearing space for equipment.

7. device according to claim 6, which is characterized in that the removal submodule obtains the mobile load bearing equipment The part of current location, is configured as:

Alternatively,

8. device according to claim 5, which is characterized in that the execution module includes:

First movement submodule is configured to respond to receive using mobile load bearing equipment instruction, is moved to the movement and holds It carries at device location；

Second determines submodule, is configured as the pass between the current location and target shift position according to the equipment to be lifted System determines that mobile load bearing equipment moving direction controls information；

Implementation sub-module is configured as controlling information according to the moving direction and executing the mobile load bearing equipment starting behaviour Make.

9. a kind of electronic equipment, which is characterized in that including memory and processor；Wherein, the memory is for storing one Or a plurality of computer instruction, wherein one or more computer instruction is executed by the processor to realize claim The described in any item method and steps of 1-4.

10. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction quilt Claim 1-4 described in any item method and steps are realized when processor executes.