CN111638720A - Control method, device, equipment, medium and distribution robot for lifting platform - Google Patents
Control method, device, equipment, medium and distribution robot for lifting platform Download PDFInfo
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Abstract
The application relates to a control method, a control device, control equipment, control media and a distribution robot of a lifting platform, wherein the control method comprises the following steps: the device comprises a lifting platform, a pushing module, a monitoring module and a control module; the monitoring module is used for acquiring the pressure of N preset positions of the lifting platform and transmitting the pressure of the N preset positions to the control module; and the control module is used for acquiring the pressure of the N preset positions transmitted by the monitoring module, judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, sending a lifting instruction to the pushing module, pushing the lifting platform to ascend by the pushing module under the instruction of the lifting instruction, otherwise, sending a lifting stopping instruction to the pushing module, and stopping pushing the lifting platform to ascend by the pushing module under the instruction of the lifting stopping instruction. This application is used for solving current delivery robot when the delivery article, because article are put at will, leads to the problem that this lift robot's lift platform life shortens.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a control method, a control device, control equipment, control media and a distribution robot for a lifting platform.
Background
The indoor distribution robot is used for large indoor scenes such as hospitals, shopping malls, office buildings and the like, and is used for executing distribution tasks to save manpower. Currently, indoor distribution robots can be divided into two categories: one type is an integrated type, namely a distribution box body and a distribution vehicle body are not separable; the other type is a split type, i.e. the dispensing box and the dispensing car body are separable. Wherein, split type delivery robot has advantages such as flexibility, efficient. In particular, a split-type dispensing robot generally has a lifting platform that lifts a dispensing car off the ground when the robot performs a dispensing task.
The inventor finds that when the existing distribution robot distributes articles, the articles are randomly placed on the lifting platform of the distribution robot, namely, the distribution robot starts to execute distribution tasks, so that the lifting platform is unbalanced in stress and the service life of the lifting platform is shortened.
Disclosure of Invention
The application provides a control method, a control device, control equipment, a control medium and a delivery robot of a lifting platform, and aims to solve the problem that when an existing delivery robot delivers articles, the service life of the lifting platform of the lifting robot is shortened due to the fact that the articles are randomly placed.
In a first aspect, the present application provides a dispensing robot comprising: the monitoring module and the pushing module are respectively in communication connection with the control module, and the pushing module is positioned below the lifting platform;
the monitoring module is positioned on the lifting platform and used for acquiring the pressure of N preset positions of the lifting platform, wherein N is greater than or equal to 1, and transmitting the pressure of the N preset positions to the control module;
the control module is used for acquiring the pressure of the N preset positions transmitted by the monitoring module, judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, sending a lifting instruction to the pushing module, pushing the lifting platform to ascend under the instruction of the lifting instruction by the pushing module, otherwise, sending a lifting stopping instruction to the pushing module, and stopping pushing the lifting platform to ascend under the instruction of the lifting stopping instruction by the pushing module.
Optionally, the monitoring module includes N monitoring units, and the distribution of the N monitoring units satisfies: the monitoring units are arranged at the center of the lifting platform, and N-1 monitoring units are uniformly arranged around the center of the lifting platform, or the N monitoring units are uniformly arranged around the center of the lifting platform.
Optionally, the value of N is 5, one monitoring unit is disposed at the center of the lifting platform, and four monitoring units are disposed at four corners of the lifting platform.
In a second aspect, the present application provides a method for controlling a lifting platform, including:
acquiring the pressure of N preset positions of the lifting platform of the distribution robot, wherein N is greater than or equal to 1;
and judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, controlling the lifting platform to ascend, and otherwise, controlling the lifting platform to stop ascending.
Optionally, according to the pressure at the N preset positions, determining whether the stress of the lifting platform is balanced, if so, controlling the lifting platform to ascend, otherwise, controlling the lifting platform to stop ascending, including:
obtaining the gravity center of a distribution box body of the distribution robot according to the pressures of the N preset positions;
and judging whether the center of the lifting platform and the gravity center of the distribution box body meet a preset distance relation or not, if so, judging that the lifting platform is balanced in stress, controlling the lifting platform to ascend, otherwise, judging that the lifting platform is unbalanced in stress, and controlling the lifting platform to stop ascending.
Optionally, before controlling the lifting platform to ascend, the method further includes:
and determining that the magnitude of each pressure does not exceed a preset pressure value.
Optionally, the preset distance relationship includes: the ratio of the distance from the center of the lifting platform to the point where the gravity center of the distribution box body vertically falls on the lifting platform to a preset distance value is smaller than a preset ratio, and the preset distance value is determined according to the area of the contact surface between the pushing module of the distribution robot and the lifting platform.
Optionally, after controlling the lifting platform to stop rising, the method further includes:
and a voice alarm is generated, or abnormal information is displayed on a display screen of the distribution robot.
In a third aspect, the present application provides a control device for a lifting platform, comprising:
the acquisition module is used for acquiring the pressure of N preset positions of the lifting platform of the distribution robot, wherein N is greater than or equal to 1;
and the processing module is used for judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, controlling the lifting platform to ascend if the stress of the lifting platform is balanced, and controlling the lifting platform to stop ascending if the stress of the lifting platform is balanced.
In a fourth aspect, the present application provides an electronic device, comprising: the system comprises a processor, a communication component, a memory and a communication bus, wherein the processor, the communication component and the memory are communicated with each other through the communication bus; the memory for storing a computer program; and the processor is used for executing the program stored in the memory and realizing the control method of the lifting platform.
In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of controlling a lift platform.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the delivery robot that this application embodiment provided, acquire the pressure of a plurality of preset positions of the lift platform of delivery robot through monitoring module, give control module with this pressure transmission, control module is according to the pressure of this a plurality of preset positions, judge whether lift platform atress is balanced, when the judged result is lift platform atress balanced, send the instruction that rises to the promotion module, this promotion module promotes lift platform according to the instruction that rises and rises, when the judged result is lift platform atress unbalanced, send the instruction that stops rising to the promotion module, this promotion module stops to promote lift platform according to stopping the instruction that rises and rises. Whether the stress of the lifting platform is balanced or not can be determined, the lifting platform is controlled to ascend, the lifting platform is controlled to stop ascending in time under the condition that the stress of the lifting platform is unbalanced, and therefore the problem that the service life of the lifting platform is shortened due to the fact that articles are placed at will and the fact that the lifting platform continuously ascends to the preset height when the stress of the lifting platform is unbalanced and the distribution robot still carries out distribution tasks is effectively avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a control method for a lifting platform according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating a process of determining whether a lifting platform is balanced according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a specific control method for the lifting platform according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control device of a lifting platform according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a dispensing robot according to an embodiment of the present disclosure;
fig. 6A is a schematic structural diagram of a lifting platform according to an embodiment of the present disclosure;
fig. 6B is a schematic structural diagram of another lifting platform provided in the embodiment of the present application;
fig. 7A is a schematic structural diagram of a dispensing robot according to an embodiment of the present disclosure;
fig. 7B is a schematic structural diagram of another dispensing robot provided in the embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
A first embodiment of the present application provides a control method for a lifting platform, which is applied to a delivery robot, and includes: indoor distribution robots and outdoor distribution robots. The distribution robot is a split type distribution robot and is provided with a lifting platform, and when a distribution task is executed, the lifting platform on a distribution vehicle body can be lifted to jack up a distribution box body of the distribution robot and separate from the ground so as to complete the distribution task. The method can be stored in a storage structure of the delivery robot, and the storage structure can be a hardware device with a storage function or a group of hardware devices with a storage function, which are composed of several hardware devices. In addition, the method may also be stored in a remote server.
Specifically, as shown in fig. 1, the main process of controlling the lifting platform includes:
In one embodiment, it is assumed that N is equal to 5, and the 5 preset positions are located at the center and four corners of the lifting platform, respectively, where the position located at the center of the lifting platform is a first position, and the positions located at the four corners of the lifting platform are marked in a clockwise direction and are a second position, a third position, a fourth position, and a fifth position, respectively.
The process of acquiring the pressure from the first position to the fifth position mainly comprises the following steps: firstly, articles are added to a distribution box body of a distribution robot, and after the articles are added, the alignment of a distribution vehicle body and the distribution box body is completed, wherein when the distribution box body is positioned above a lifting platform, the alignment is completed. After the alignment is completed, the lifting platform starts to rise, and in the process of rising of the lifting platform, the pressure of the 5 preset positions is obtained in real time. The pressure sensor is arranged on the lifting platform, and the pressure is obtained by the pressure sensor which is arranged after the lifting platform continuously rises and contacts with the distribution box body and the distribution box body generates acting force on the lifting platform. In addition, the lifting platform is pushed to rise by the pushing module of the distribution robot, and the center of the pushing module is superposed with the center of the lifting platform.
It should be noted that the values of N and the positions of the N pressure sensors on the lifting platform may be set as needed, and are not limited to the above-mentioned cases, and the number and the setting positions of the pressure sensors are not limited to the protection scope of the present application, and all of them are within the protection scope of the present application as long as the number and the setting positions of the pressure sensors that can identify the force balance of the lifting platform are identified.
And 102, judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, executing a step 103, and otherwise, executing a step 104.
And 103, controlling the lifting platform to ascend.
And 104, controlling the lifting platform to stop lifting.
Specifically, as shown in fig. 2, the main process of determining whether the lifting platform is balanced according to the pressures at the N preset positions is as follows:
In one embodiment, the example that N is equal to 5, and the 5 preset positions are respectively located at the center and four corners of the lifting platform is described, wherein the position located at the center of the lifting platform is a first position, and the positions located at the four corners of the lifting platform are marked in a clockwise direction and are respectively a second position, a third position, a fourth position and a fifth position. And acquiring the pressures of the 5 preset positions, and acquiring the gravity center of a distribution box body of the distribution robot according to the moment balance, wherein the pressures of the 5 preset positions are vectors and have both magnitude and direction.
Specifically, a space rectangular coordinate system is established by taking the surface of the lifting platform as a plane, the X axis and the Y axis of the coordinate system are positioned on the lifting platform, the Z axis of the coordinate system is vertical to the lifting platform, and the origin of coordinates is set at the center of the lifting platform. Suppose that the pressure at which 5 preset positions are obtained is F1, F2, F3, F4, F5, and the coordinates of the 5 preset positions are A1(x1,y1,z1)，A2(x2,y2,z2)，A3(x3,y3,z3)，A4(x4,y4,z4)，A5(x5,y5,z5) Let the coordinate of the center of gravity C be (x)c,yc,zc). From the moment balance it is possible to obtain:
moment is taken for the X axis: mx(F)＝Mx(F1)+Mx(F2)+Mx(F3)+Mx(F4)+Mx(F5) obtaining-Fyc＝-(F1y1+F2y2+F3y3+F4y4+F5y5)；
Moment is taken for the Y axis: my(F)＝My(F1)+My(F2)+My(F3)+My(F4)+My(F5) Obtaining Fxc＝(F1x1+F2x2+F3x3+F4x4+F5x5)；
Moment is taken for the Z axis: mz(F)＝Mz(F1)+Mz(F2)+Mz(F3)+Mz(F4)+Mz(F5) Obtaining Fzc＝(F1z1+F2z2+F3z3+F4z4+F5z5)；
Obtained from the above formula
Obtained (x)c,yc,zc) I.e. the centre of gravity of the dispensing box.
In a specific embodiment, the preset distance relationship may specifically be: the ratio of the distance from the center of the lifting platform to the point where the gravity center of the distribution box body vertically falls on the lifting platform to a preset distance value is smaller than a preset ratio, and the preset distance value is determined according to the area of the contact surface between the pushing module of the distribution robot and the lifting platform. For example, when the contact surface is a circle, the predetermined distance value is a radius of the circle, and a center of the circle coincides with a center of the lifting platform. When the pressure generated when the center of the lifting platform and the gravity center of the distribution box body do not meet the preset distance relationship acts on the lifting platform, the service life of the lifting platform can be influenced.
For example, when the weight of an article a is m g, where m is the mass of a and g is a constant of gravity, the magnitude of g is about 9.8N/kg, the gravity will change with the change in the magnitude of the latitude, and an object with a mass of 1kg will experience a gravity of 9.8N. When the center of gravity of the article a is vertically located at the point of the lifting platform, and the distance from the center of the lifting platform is L1, the force applied to the center of the lifting platform in the direction perpendicular to the axial direction is F ═ m × g × L1/L2, wherein L2 is a preset distance value, the axial direction is perpendicular to the plane of the lifting platform, and the intersection point is the center of the lifting platform. When the ratio of the L1 to the L2 does not satisfy the preset distance relationship, that is, the L1/L2 is not less than the preset ratio, if the delivery robot continues to perform the delivery task, the service life of the lifting platform is affected.
Wherein, the point that the gravity center of the article A vertically falls on the lifting platform is the point that the gravity center of the distribution box body vertically falls on the lifting platform.
And step 203, judging that the lifting platform is balanced in stress, and controlling the lifting platform to ascend.
And 204, judging that the lifting platform is unbalanced in stress, and controlling the lifting platform to stop rising.
In one embodiment, after the distribution vehicle body and the distribution box body are aligned, the pushing module is lifted to push the lifting platform to lift. In the process that the lifting platform gradually rises, the pressure of a preset position is obtained in real time, and whether the obtained pressure exceeds a preset pressure value or not is judged. When the pressure of each preset position is judged to not exceed the preset pressure value, the lifting platform is controlled to ascend to the preset height, the distribution box body is separated from the ground, and the distribution robot starts to execute distribution tasks.
When the pressure at a preset position exceeds a preset pressure value, the lifting platform is controlled to stop lifting, a voice alarm is sent out, and an overweight prompt is sent out to a worker, for example, the overweight of your article is! ", or, display the overweight information to a display screen of the dispensing robot. Because the overweight of the article can influence the steering and braking of the delivery robot and the service life of the lifting platform, whether the article is overweight is monitored, and under the condition of overweight, the lifting platform is controlled to stop rising, namely the delivery robot does not execute delivery tasks, so that the delivery robot can deliver more safely, and the service life of the lifting platform is further prolonged.
In one embodiment, after the distribution vehicle body and the distribution box body are aligned, the pushing module is lifted to push the lifting platform to lift. And in the process that the lifting platform gradually rises, acquiring the pressure of a preset position in real time, and judging whether the lifting platform is balanced in stress or not according to the pressure. When the lifting platform is judged to be stressed in balance, the lifting platform is controlled to ascend to a preset height, the distribution box body is separated from the ground, and the distribution robot starts to execute distribution tasks.
When the lifting platform is judged to be unbalanced in stress, the lifting platform is controlled to stop rising, a voice alarm is sent out, and a center-of-gravity deviation prompt is sent out to a worker, for example, the center of gravity of a distribution box body is seriously deviated from the center of the lifting platform! ", or, displaying the item deviation information to a display screen of the dispensing robot. Whether the lifting platform is stressed in a balanced manner is monitored, the lifting platform is controlled to stop rising under the condition that the stress of the lifting platform is unbalanced, and a voice alarm is sent out, so that a worker can timely know that the article is placed wrongly. In addition, the display screen is used for displaying the article deviation information, so that the worker can quickly and effectively align the article according to the article deviation information, and the service life of the lifting platform is further prolonged.
In one embodiment, the control process of the lifting platform is described in detail with reference to fig. 3:
and 301, completing the matching of the distribution vehicle body and the distribution box body, wherein when the distribution box body is positioned above the lifting platform, the matching is completed.
At step 304, the push module stops rising and proceeds to step 308.
And step 306, controlling the lifting platform to ascend to a preset height, separating the matched box body from the ground, and starting the distribution robot to execute a distribution task.
In step 307, the push module stops rising and step 309 is performed.
And 308, displaying overload on a display of the distribution robot, and playing an overload prompt through a sound box.
After step 302, step 305 may be executed, and after the determination result is that the gravity center of the distribution box satisfies the preset distance relationship, step 303 is executed. In addition, after the step 302, the step 303 and the step 305 may be executed at the same time, and when it is determined that the magnitude of the obtained pressure does not exceed the preset pressure value and the two conditions that the gravity center of the distribution box body satisfies the preset distance relationship are both satisfied, the step 306 is executed; when either condition is not satisfied, step 304 or step 307 is executed.
The method provided by the embodiment of the application comprises the steps of firstly, obtaining the pressure of N preset positions of a lifting platform of a distribution robot, then judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, controlling the lifting platform to ascend when the stress of the lifting platform is balanced according to the judgment result, and controlling the lifting platform to stop ascending when the stress of the lifting platform is unbalanced according to the judgment result. Whether the stress of the lifting platform is balanced or not can be determined, the lifting platform is controlled to ascend, the lifting platform is controlled to stop ascending in time under the condition that the stress of the lifting platform is unbalanced, and therefore the problem that the service life of the lifting platform is shortened due to the fact that articles are placed at will and the fact that the lifting platform continuously ascends to the preset height when the stress of the lifting platform is unbalanced and the distribution robot still carries out distribution tasks is effectively avoided.
Based on the same concept, a second embodiment of the present application provides a control device for a lifting platform, and specific implementation of the device may refer to the description of the method embodiment, and repeated descriptions are omitted, as shown in fig. 4, the device mainly includes:
the obtaining module 401 is configured to obtain pressures at N preset positions of a lifting platform of the distribution robot, where N is greater than or equal to 1.
And the processing module 402 is configured to judge whether the stress of the lifting platform is balanced according to the pressures of the N preset positions, if so, control the lifting platform to ascend, and otherwise, control the lifting platform to stop ascending.
In an embodiment, the processing module 402 is specifically configured to obtain the gravity center of the distribution box of the distribution robot according to the pressures at the N preset positions; judging whether the center of the lifting platform and the gravity center of the distribution box body meet a preset distance relation, if so, judging that the lifting platform is balanced in stress, controlling the lifting platform to ascend, otherwise, judging that the lifting platform is unbalanced in stress, and controlling the lifting platform to stop ascending.
In a specific embodiment, the processing module 402 is further configured to determine that the magnitude of each pressure does not exceed a preset pressure value.
The device that this application embodiment provided, at first, acquire the pressure of the N default position of the lift platform of delivery robot through obtaining module 401, then, processing module 402 judges whether lift platform atress is balanced according to the pressure of this N default position, when the judged result is lift platform atress balance, controls this lift platform and rises, when the judged result is lift platform atress unbalance, controls this lift platform and stops rising. Whether the stress of the lifting platform is balanced or not can be determined, the lifting platform is controlled to ascend, the lifting platform is controlled to stop ascending in time under the condition that the stress of the lifting platform is unbalanced, and therefore the problem that the service life of the lifting platform is shortened due to the fact that articles are placed at will and the fact that the lifting platform continuously ascends to the preset height when the stress of the lifting platform is unbalanced and the distribution robot still carries out distribution tasks is effectively avoided.
A third embodiment of the present application provides a dispensing robot, as shown in fig. 5, including: the device comprises a lifting platform 501, a pushing module 502, a monitoring module 503 and a control module 504, wherein the monitoring module 503 and the pushing module 502 are respectively in communication connection with the control module 504, and the pushing module 502 is positioned below the lifting platform 501;
the monitoring module 503 is located on the lifting platform 501, and is configured to acquire pressures at N preset positions of the lifting platform 501, where N is greater than or equal to 1, and transmit the pressures at the N preset positions to the control module 504;
the control module 504 is configured to obtain pressures of the N preset positions transmitted by the monitoring module 503, determine whether the stress of the lifting platform 501 is balanced according to the pressures of the N preset positions, send a lifting instruction to the pushing module 502 if the stress of the lifting platform 501 is balanced, push the lifting platform 501 to ascend under the instruction of the lifting instruction by the pushing module 502, otherwise send a lifting stopping instruction to the pushing module 502, and stop pushing the lifting platform 501 to ascend under the instruction of the lifting stopping instruction by the pushing module 502.
In one embodiment, the monitoring module 503 includes N monitoring units, and the N monitoring units are disposed at N preset positions of the lifting platform 501. The monitoring unit can be a pressure sensor, and the distribution of N pressure sensors satisfies: one pressure sensor is arranged at the center of the lifting platform 501, and N-1 pressure sensors are uniformly arranged around the center of the lifting platform 501, or N pressure sensors are uniformly arranged around the center of the lifting platform 501. For example, taking the surface of the lifting platform as a rectangle as an example, when N is 1, the pressure sensor is disposed at the center of the lifting platform 501; when the value of N is 2, the 2 pressure sensors are respectively disposed at the midpoint of a pair of parallel sides of the lifting platform 501; when the value of N is 3, one of the 3 pressure sensors is placed at the center of the lifting platform 501, and the other 2 pressure sensors are respectively placed at the middle points of a pair of parallel edges of the lifting platform 501; when N is 4, the 4 pressure sensors are respectively placed at four corners of the lifting platform 501, and so on.
It should be noted that the value of N and the positions of N pressure sensors on the lifting platform 501 may be set as needed, and are not limited to the above-listed cases, and the number and the setting positions of the pressure sensors are not limited to the protection scope of the present application, and all of them are within the protection scope of the present application as long as the number and the setting positions of the pressure sensors that balance the force applied to the lifting platform 501 can be identified.
In one embodiment, N is 5, the monitoring module 503 includes 5 pressure sensors, and the 5 pressure sensors are disposed at the center of the lifting platform 501 and at four corners of the lifting platform 501. As shown in fig. 6A and 6B, a first pressure sensor 601 is located at the center of the elevating platform 501, and pressure sensors located at four corners of the elevating platform 501 are marked in a clockwise direction, and are respectively a second pressure sensor 602, a third pressure sensor 603, a fourth pressure sensor 604 and a fifth pressure sensor 605.
In one embodiment, the dispensing robot may further include: and a distribution box 505, wherein the distribution box 505 is positioned right above the lifting platform 501 and is used for loading articles.
In one embodiment, the first pressure sensor 601, the second pressure sensor 602, the third pressure sensor 603, the fourth pressure sensor 604 and the fifth pressure sensor 605 are distributed on the lifting platform 501, and are used for measuring the pressures borne by the center of the lifting platform 501 and the periphery of the lifting platform 501, and transmitting the measured pressures to the control module 504, wherein the control module 504 may be a controller. The controller determines whether to drive the pushing module 502 to lift according to the pressure transmitted by the 5 pressure sensors.
Specifically, the controller determines whether the lifting platform 501 is balanced in stress according to the pressure transmitted by the 5 pressure sensors. When the judgment result is that the stress is balanced, the controller sends a lifting instruction to the pushing module 502, the pushing module 502 pushes the lifting platform 501 to lift up under the instruction of the lifting instruction, so that the distribution box 505 is separated from the ground, and the distribution robot starts to execute a distribution task. When the judgment result is that the stress is unbalanced, the controller sends a lifting stopping instruction to the pushing module 502, and the pushing module 502 stops pushing the lifting platform 501 to lift under the instruction of the lifting stopping instruction. By monitoring whether the lifting platform 501 is stressed in a balanced manner and controlling the lifting platform 501 to stop rising under the condition that the lifting platform 501 is stressed in an unbalanced manner, the delivery robot can deliver more safely, and the service life of the lifting platform is prolonged.
In a specific embodiment, the delivery robot may further include a human-machine interaction module, which may include a display 701, a voice module 702, or both the display 701 and the voice module 702. As shown in fig. 7A and 7B, taking the case that the human-computer interaction module includes both a display 701 and a voice module 702 as an example, when the determination result is unbalanced stress, the controller transmits the determination result to the display 701 of the distribution robot, and simultaneously, the controller also transmits the determination result to the voice module 702, and the voice module 702 plays the determination result. The determination result may be that the distribution box 505 is overloaded or the deviation degree of the gravity center of the distribution box 505 exceeds a threshold value. When the result of the determination is that the dispensing box 505 is overloaded, the display 701 of the dispensing robot displays the overload and plays an overload prompt through the voice module 702, such as "your goods are overloaded! "; when the deviation degree of the gravity center of the distribution box 505 exceeds the threshold value, the display 701 of the distribution robot displays the gravity center deviation direction and plays a gravity center deviation prompt through the voice module 702, for example, "the gravity center of the distribution box is seriously deviated from the center of the lifting platform! ". By monitoring whether the distribution box 505 is overweight and the deviation degree of the gravity center of the distribution box 505, when any one of the distribution box 505 is overweight or the deviation degree of the gravity center of the distribution box 505 exceeds a threshold value, the lifting platform is controlled to stop lifting, abnormal information is displayed through the voice module 702 or the display 701 to prompt staff, and the safety of the distribution robot in the distribution process and the service life of the lifting platform are guaranteed.
In addition, the delivery robot may further include: the driving body 703, the control module 504 and the pushing module 502 are disposed in the driving body 703.
The delivery robot provided by the embodiment of the application, acquire the pressure of the N preset positions of the lifting platform 501 of the delivery robot through the monitoring module 503, transmit the pressure to the control module 504, the control module 504 judges whether the stress of the lifting platform 501 is balanced according to the pressure of the N preset positions, when the judgment result is that the stress of the lifting platform 501 is balanced, send a lifting instruction to the pushing module 502, the pushing module 502 pushes the lifting platform 501 to lift according to the lifting instruction, when the judgment result is that the stress of the lifting platform 501 is unbalanced, send a lifting stopping instruction to the pushing module 502, and the pushing module 502 stops pushing the lifting platform 501 to stop lifting according to the lifting stopping instruction. Whether make can be balanced according to lift platform 501 atress, control lift platform 501's rising, under the unbalanced condition of lift platform 501 atress, in time control lift platform 501 stops rising, effectually avoided because article are put at will, when lift platform 501 atress was unbalanced, lift platform 501 continuously rises to predetermineeing the height, and the delivery robot still delivers the task to lead to the problem that lift platform 501 life shortens.
Based on the same concept, a fourth embodiment of the present application provides an electronic device, as shown in fig. 8, the electronic device mainly includes: a processor 801, a communication component 802, a memory 803, and a communication bus 804, wherein the processor 801, the communication component 802, and the memory 803 communicate with each other via the communication bus 804. Wherein, the memory 803 stores the program which can be executed by the processor 801, the processor 801 executes the program stored in the memory 803, and the following steps are realized: acquiring the pressure of N preset positions of a lifting platform of a distribution robot, wherein N is greater than or equal to 1; and judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, controlling the lifting platform to ascend, and otherwise, controlling the lifting platform to stop ascending.
The communication bus 804 mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 804 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
The communication component 802 is used for communication between the electronic device and other devices described above.
The Memory 803 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor 801.
The Processor 801 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc., and may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components.
In a fifth embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, which, when run on a computer, causes the computer to perform the control method of the lifting platform described in the above-described embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes, etc.), optical media (e.g., DVDs), or semiconductor media (e.g., solid state drives), among others.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A dispensing robot, comprising: the monitoring module and the pushing module are respectively in communication connection with the control module, and the pushing module is positioned below the lifting platform;
the monitoring module is positioned on the lifting platform and used for acquiring the pressure of N preset positions of the lifting platform, wherein N is greater than or equal to 1, and transmitting the pressure of the N preset positions to the control module;
the control module is used for acquiring the pressure of the N preset positions transmitted by the monitoring module, judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, sending a lifting instruction to the pushing module, pushing the lifting platform to ascend under the instruction of the lifting instruction by the pushing module, otherwise, sending a lifting stopping instruction to the pushing module, and stopping pushing the lifting platform to ascend under the instruction of the lifting stopping instruction by the pushing module.
2. The dispensing robot of claim 1, wherein the monitoring module comprises N monitoring units, the distribution of the N monitoring units satisfying: the monitoring units are arranged at the center of the lifting platform, and N-1 monitoring units are uniformly arranged around the center of the lifting platform, or the N monitoring units are uniformly arranged around the center of the lifting platform.
3. The dispensing robot as claimed in claim 2, wherein the value of N is 5, one monitoring unit is disposed at the center of the lifting platform, and four monitoring units are disposed at four corners of the lifting platform.
4. A control method of a lifting platform is characterized by comprising the following steps:
acquiring the pressure of N preset positions of the lifting platform of the distribution robot, wherein N is greater than or equal to 1;
and judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, if so, controlling the lifting platform to ascend, and otherwise, controlling the lifting platform to stop ascending.
5. The method for controlling the lifting platform according to claim 4, wherein whether the stress on the lifting platform is balanced is judged according to the pressure of the N preset positions, if so, the lifting platform is controlled to ascend, otherwise, the lifting platform is controlled to stop ascending, and the method comprises the following steps:
obtaining the gravity center of a distribution box body of the distribution robot according to the pressures of the N preset positions;
and judging whether the center of the lifting platform and the gravity center of the distribution box body meet a preset distance relation or not, if so, judging that the lifting platform is balanced in stress, controlling the lifting platform to ascend, otherwise, judging that the lifting platform is unbalanced in stress, and controlling the lifting platform to stop ascending.
6. The method of claim 5, wherein prior to controlling the lift platform to ascend, the method further comprises:
and determining that the magnitude of each pressure does not exceed a preset pressure value.
7. The method of claim 5, wherein the predetermined distance relationship comprises: the ratio of the distance from the center of the lifting platform to the point where the gravity center of the distribution box body vertically falls on the lifting platform to a preset distance value is smaller than a preset ratio, and the preset distance value is determined according to the area of the contact surface between the pushing module of the distribution robot and the lifting platform.
8. The method for controlling the elevating platform according to any one of claims 4 to 7, further comprising, after controlling the elevating platform to stop rising:
and a voice alarm is generated, or abnormal information is displayed on a display screen of the distribution robot.
9. A control device for a lifting platform, comprising:
the acquisition module is used for acquiring the pressure of N preset positions of the lifting platform of the distribution robot, wherein N is greater than or equal to 1;
and the processing module is used for judging whether the stress of the lifting platform is balanced or not according to the pressure of the N preset positions, controlling the lifting platform to ascend if the stress of the lifting platform is balanced, and controlling the lifting platform to stop ascending if the stress of the lifting platform is balanced.
10. An electronic device, comprising: the system comprises a processor, a communication component, a memory and a communication bus, wherein the processor, the communication component and the memory are communicated with each other through the communication bus;
the memory for storing a computer program;
the processor is used for executing the program stored in the memory and realizing the control method of the lifting platform of any one of claims 1 to 5.
11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of controlling a lifting platform according to any one of claims 4 to 8.
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