CN112612271A

CN112612271A - Transport method of carrier, food delivery device and storage medium

Info

Publication number: CN112612271A
Application number: CN202011478377.XA
Authority: CN
Inventors: 舒宜宝; 金峥
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-04-06

Abstract

The application relates to a transport method of a cargo, a food delivery device and a storage medium. The method for transporting the carried goods comprises the following steps: acquiring the running state of the food delivery equipment; the running state comprises a current stop position and an opening and closing state of the opening and closing cover; when the current stop position and the opening and closing state of the opening and closing cover are confirmed to meet the transport condition of the carried object, the current state of the carrying device and the placement position of the carried object on the food delivery equipment are obtained; and outputting a pushing command according to the placing position and the current working state. The stopping precision of the food delivery equipment is improved by acquiring the current stopping position of the food delivery equipment, so that the carried object is prevented from falling off due to inaccurate pushing position when a subsequent push rod mechanism acts; acquiring the opening and closing state of the opening and closing cover to avoid mechanical collision between the push rod mechanism and the opening and closing cover; and outputting a pushing command according to the placing position and the current working state so as to reduce the risk that the carried object falls off in the pushing process due to the fact that the placing position is not centered.

Description

Transport method of carrier, food delivery device and storage medium

Technical Field

The application relates to the technical field of article transportation, in particular to a transport method of a carried object, meal delivery equipment and a storage medium.

Background

With the development of automation and intelligent technologies, Automated Guided Vehicles (AGV) are widely used in various industries, and can carry, place, and transfer articles. In the catering industry, the intelligent food delivery trolley derived based on the AGV trolley can replace manual food delivery operation, so that the labor intensity of food and beverage service personnel can be reduced, the food delivery efficiency is improved, and the problem of labor shortage in the market can be effectively alleviated. The intelligent serving trolley capable of running along the cloud rail erected at the high-altitude position of the catering place is an intelligent serving trolley with a good application prospect.

In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the traditional transportation method of the freight carrier has the problems of poor safety and the like.

Disclosure of Invention

In view of the above, it is necessary to provide a transportation method of a payload, a meal delivery apparatus, and a storage medium with high safety.

In order to achieve the above object, in one aspect, an embodiment of the present invention provides a method for transporting a payload, including:

acquiring the running state of the food delivery equipment; the running state comprises a current stop position and an opening and closing state of the opening and closing cover;

when the current stop position and the opening and closing state of the opening and closing cover are confirmed to meet the transport condition of the carried object, the current state of the carrying device and the placement position of the carried object on the food delivery equipment are obtained;

outputting a push command according to the placement position and the current state; the push command is used for instructing the push rod mechanism to act so as to move the carried object to the carrying device.

One of the above technical solutions has the following advantages and beneficial effects:

according to the conveying method of the carried goods, the stopping precision of the meal delivery equipment is improved by acquiring the current stopping position of the meal delivery equipment, so that the carried goods are prevented from falling off due to inaccurate pushing position when a subsequent push rod mechanism acts; acquiring the opening and closing state of the opening and closing cover to avoid mechanical collision between the push rod mechanism and the opening and closing cover; the current state of the containing object and the placing position of the carrying object are obtained, and a pushing command is output according to the placing position and the current working state, so that the risk that the carrying object drops in the pushing process due to the fact that the placing position is not centered is reduced.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a first schematic flow diagram of a method of transporting a payload in one embodiment;

figure 2 is a second schematic flow chart diagram of a method of transporting a payload in one embodiment;

fig. 3 is a schematic flow chart illustrating a procedure of confirming that both the current stop position and the open/close state of the retractable cover satisfy the condition for transporting the carrier in one embodiment;

FIG. 4 is a flowchart illustrating steps of outputting a push command in one embodiment;

FIG. 5 is a first schematic flow chart diagram illustrating the steps for performing a corresponding descent action in one embodiment;

FIG. 6 is a flowchart illustrating the steps of detecting the occurrence of a current obstacle event in one embodiment;

FIG. 7 is a second schematic flow chart diagram illustrating the steps for performing a corresponding descent action in one embodiment;

FIG. 8 is a third schematic flow chart diagram illustrating the steps for performing a corresponding descent action in one embodiment;

FIG. 9 is a flowchart illustrating the steps for determining whether the transmission is in a fault condition according to one embodiment;

FIG. 10 is a schematic flow chart of the steps of detecting whether the amounts of motion of the first and second roping mechanisms are synchronized in one embodiment;

FIG. 11 is a fourth schematic flow chart diagram illustrating the steps for performing a corresponding descent action in one embodiment;

figure 12 is a block diagram of the structure of a payload lift device in one embodiment;

FIG. 13 is a block diagram of the containment device in one embodiment;

fig. 14 is a block diagram of the structure of the food delivery apparatus in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, as shown in fig. 1, there is provided a method of transporting a payload, comprising the steps of:

s110, acquiring the running state of the food delivery equipment; the running state comprises a current stop position and an opening and closing state of the opening and closing cover;

wherein, the food delivery equipment can be a trolley for delivering food and the like. In a specific example, the food delivery device is an AGV trolley, and the AGV trolley is provided with an opening and closing cover. The current stop position is the current position of the food delivery device when the food delivery device stops moving. The opening and closing state of the opening and closing cover comprises an opening state and a closing state.

Specifically, the operation state of the food delivery device may be acquired by any means in the field. In one specific example, the current stop position of the food delivery device may be obtained by image recognition. For example: and acquiring the image information of the food delivery equipment through the image acquisition equipment, and processing the image information to obtain the current stop position of the food delivery equipment. In another example, a current stop position of the serving device may be obtained by a ranging sensor. In a specific example, the open-close state of the open-close cover can be directly called from a processor of the food delivery device, or can be detected through the image acquisition device. The image acquisition device may be a camera or the like.

S120, when the current stop position and the opening and closing state of the opening and closing cover are confirmed to meet the transportation condition of the carried object, the current state of the carrying device and the placement position of the carried object on the food delivery equipment are obtained;

the transport condition of the carried goods can be any condition which meets the requirement of article transport. The current state of the loading device comprises an open state and a closed state. It should be noted that the containing device comprises a bearing tray and an opening and closing structure movably arranged on the bearing tray; the opening and closing mechanism has a closed state for stopping the load and an open state for avoiding the load. The opening state of the opening and closing mechanism is also the opening state of the loading device, and the closing state of the opening and closing mechanism is also the closing state of the loading device. The placement position of the carrier can be the relative position relationship between the carrier and the meal delivery equipment bearing surface, and can also comprise the position of the carrier. The containing device is used for supporting the carrying object. The carrying device may be driven to perform an elevating operation to transport the carried object to a target position.

Specifically, when it is confirmed that both the current stop position and the open/close state of the open/close cover satisfy the condition for transporting the carrier, the step of acquiring the current state of the loading device and the placement position of the carrier on the food delivery apparatus is performed. Furthermore, the current state of the loading device can be obtained by any means in the field, for example, the current state of the loading device can be obtained by obtaining image information of the loading device, extracting an image of the target position by adopting any image processing technology in the field, and further obtaining the current state of the loading device according to the image of the target position. The placement of the payload on the serving device may be obtained by any means in the art, such as by an image capture device.

S130, outputting a pushing command according to the placing position and the current working state; the push command is used for instructing the push rod mechanism to act so as to enable the carried object to fall on the carrying device.

Specifically, the push command may be output when the placement position and the current working state satisfy a preset push condition. In one specific example, the preset push condition may include: the current action state is an opening state, and the placement position is in the target area. In another specific example, the preset push condition may include: the current action state is an opening state, and the placing position is located in the middle of the supporting surface of the food delivery device.

Further, the push rod mechanism acts and pushes the carried object away from the meal delivery equipment and falls on the containing device. Specifically, the push rod mechanism can be arranged on the food delivery trolley and also can be arranged at one side of the containing device.

In one embodiment, as shown in fig. 2, the method for transporting a payload further comprises the steps of:

s210, acquiring an action path of the push rod mechanism, and comparing the action path with a preset path;

specifically, the motion path of the push rod mechanism can be acquired by any technical means in the field. For example: and acquiring the action path through image acquisition equipment. The preset path is a preset path which can successfully push the carrier into the loading device.

And S220, outputting a corresponding control command according to the comparison result.

Specifically, the comparison result may include the similarity between the motion path and the preset path, and may also include whether the motion path can be matched with the preset path. In a specific example, the step of outputting the corresponding control command according to the comparison result includes:

if the similarity between the action path and the preset path is smaller than a set value, outputting a corresponding control command; the corresponding control command is used for indicating the push rod mechanism to stop acting.

In one embodiment, the step of instructing the pushing mechanism to stop according to the comparison result comprises:

and if the comparison result is that the paths are not matched, the corresponding control command is used for indicating the push rod mechanism to stop acting.

The step of detecting the action path of the push rod mechanism can further prevent the carried object from falling off in the pushing process.

In one embodiment, as shown in fig. 3, the step of confirming that the current stop position and the opening and closing state of the retractable cover both satisfy the condition for transporting the carrier:

s310, determining whether the food delivery equipment is in an offset state or not according to the current stop position;

specifically, the current stop position may be obtained by an image acquisition device; and according to the current stop position and the target placement position, whether the meal delivery equipment is in an offset state or not can be confirmed. For example: whether the food delivery equipment is in the deviation state or not can be confirmed by judging the contact ratio of the current stop position and the target placing position.

And S320, if the food delivery equipment is not in the deviation state and the opening and closing state of the opening and closing cover is in the opening state, determining that the current stop position and the opening and closing state of the opening and closing cover both meet the transport condition of the carried goods.

According to the method, the deviation judgment is carried out on the meal delivery equipment, and the condition that the meal delivery equipment stops inaccurately so as to influence the pushing process of the push rod mechanism is prevented.

In one embodiment, the method of transporting a payload further comprises the steps of:

and if the food delivery equipment is in the deviation state, sending a position correction command to the food delivery equipment.

Specifically, the position correction command may be any command capable of adjusting the stop position of the food delivery apparatus in the art.

In one embodiment, the current state includes an open state and a closed state;

as shown in fig. 4, the step of outputting the push command according to the placement position and the current working state includes:

s410, judging whether the carried object is in the middle position of the bearing surface of the food delivery equipment or not according to the placement position;

specifically, the placement position of the carrier may be a relative position relationship between the carrier and the supporting surface of the food delivery device, and may also include the position of the carrier; in a specific example, whether the carried object is located in the central position of the bearing surface of the food delivery device is judged according to the relative position relation; in another specific example, whether the carrier is in the central position of the supporting surface of the meal delivery device is judged according to the position of the carrier and the acquired position of the supporting surface.

And S420, if the carried object is in the middle position of the bearing surface of the food delivery equipment and the current state is the opening state, outputting a pushing command.

According to the method, when the carried object is confirmed to be located in the middle position of the bearing surface of the food delivery device and the containing device is in the opening state, the pushing command is output to carry out pushing action, and the risk that the carried object falls is reduced.

detecting that the current state is a closed state and the opening and closing cover is in a closed state, and outputting a descending command; the descending command is used for instructing the driving mechanism to execute corresponding descending action; the driving mechanism is in driving connection with the containing device and is used for driving the containing device to execute corresponding descending actions.

Specifically, when the current state is the closed state and the opening and closing cover is in the closed state, a descending command is output so that the loading device performs a descending operation to reach the target position. Further, detecting that the current state is a closed state and the opening and closing cover is in a closed state, and outputting a driving away command; the drive-off command is used for instructing the food delivery device to leave the current stop position.

In one embodiment, as shown in FIG. 5, the step of performing the corresponding lowering action includes:

s510, outputting a descending control instruction; the descending control instruction is used for instructing a driving mechanism of the food delivery equipment to execute descending action according to a preset descending rule; the preset descending rule comprises any sequential combination of an acceleration descending process, a constant-speed descending process and a deceleration descending process;

the preset descending rule is a set rule for controlling descending action, and when the driving mechanism executes a descending control instruction, action is performed according to the preset descending rule. Wherein, the acceleration descending process may be an acceleration process in which the acceleration is positive; the constant speed descending process can be a constant speed motion process of descending at a certain constant speed; the acceleration-down process may be a deceleration process in which the acceleration is negative. The driving mechanism can be a part for providing power for the food delivering equipment, in particular to equipment for providing the containing device for descending driving force. Further, the containing device is used for containing food and is mechanically connected with the driving mechanism; when the driving mechanism acts, the loading device acts along with the action of the driving mechanism. The set position is a preset position, and when the set position is reached, the speed needs to be reduced so as to prevent the containing device from still having higher speed when the bottom position (such as an end position which the containing device finally needs to reach when descending) is reached, and further equipment collision is caused. The set position is different from the bottom position, and can be adjusted. It can be seen that, for the setting position, the setting position is used for indicating the last distance (distance between the setting position and the final position) of the driving mechanism to perform the deceleration descending action when the loading device reaches the setting position, so that when the loading device descends to the final position, the speed/speed of the loading device is within the preset speed range or the preset speed value, and the situation that the driving mechanism is damaged due to collision or dragging of the loading device with other equipment due to the fact that the loading device still has higher speed/speed when reaching the final position is avoided. Preferably, so that the speed/velocity of the loading means when lowered to the final position is 0.

Specifically, the preset descending rule includes any sequential combination of an acceleration descending process, a constant-speed descending process and a deceleration descending process, for example, the preset ascending rule may be that the acceleration descending process, the constant-speed descending process and the deceleration descending process are sequentially performed. It should be noted that the preset ascending rule may also include other sequential combinations in accordance with the ascending control logic.

S520, when the current descending process is in accordance with the conditions and the current obstacle event is detected to occur, responding to the current obstacle event, executing the current obstacle identification control operation to instruct the driving mechanism to stop the descending action, and instructing the driving mechanism to execute the descending action and update the current set position under the condition that the current obstacle event disappears; wherein, the descending process meeting the conditions comprises at least one of an accelerated descending process and a constant speed descending process;

specifically, the eligible descending process includes at least one of an accelerated descending process and a constant descending process, that is, the obstacle recognition control operation may or may not occur in the accelerated descending process and the constant descending process.

Further, the current obstacle event may refer to an obstacle occurring in a traveling route of the loading device, an obstacle occurring in a preset area below the loading device, or a situation that the obstacle collides with the obstacle after continuously traveling according to a preset descending rule. Any technical means in the field can be adopted to detect whether the current obstacle event occurs, for example, a distance detection sensor (such as an infrared sensor and an ultrasonic sensor) can be arranged at the bottom of the containing device, and the following steps are also included: when the distance detection sensor detects the obstacle, the collision between the distance detection sensor and the obstacle is confirmed to occur according to a preset descending rule, and if the collision occurs, the current obstacle event is considered to be detected. And if the current obstacle event is detected, entering the current obstacle identification control operation and indicating the driving mechanism to stop the descending action.

Disappearance of a current obstacle event may refer to disappearance of an obstacle (i.e., a target)The area does not detect the obstacle), or the current displacement and the current speed meet certain conditions, so that the position decelerated to 0 still keeps a safe distance from the obstacle. It should be noted that the safety distance may be any value other than 0. When the current obstacle event disappears, the driving mechanism is instructed to execute the descending action and update the current set position. Specifically, the current set position is obtained from the acceleration of the loading device, the current speed, and the current displacement amount. When the current set position is reached, the current set position is just reached

The gondola is decelerated directly to a stop with an acceleration a to reach the bottom position. Wherein a is acceleration; v'_d1Is the current speed; h'_d1Is the current displacement.

And S530, before the loading device reaches the current set position, detecting the next obstacle event, and executing the next obstacle identification control operation.

Specifically, the next obstacle recognition control includes a descending process currently in accordance with the condition, and when the occurrence of the current obstacle event is detected, the current obstacle recognition control operation is executed in response to the current obstacle event to instruct the drive mechanism to stop the descending motion, and in the case where the current obstacle event disappears, the drive mechanism is instructed to execute the descending motion and update the next set position (upon reaching the next set position, the next set position is just updated

Wherein a is acceleration; v'_d2The next speed; h'_d2The next displacement) wherein the descending process meeting the condition comprises at least one of an acceleration descending process and a constant speed descending process; and confirming to enter a deceleration descending process after the loading device reaches the current set position if the next obstacle event cannot be detected before the loading device reaches the current set position. (Note that the loading device can arrive at the current setting position in the acceleration process or in the acceleration processArriving during a uniform velocity). The speed curve graph of normal descending and obstacle avoidance descending of the carrying device is shown in fig. 2.

According to the descending control method of the food delivery equipment, when the current descending process is in accordance with the conditions and the current obstacle event is detected to occur, the current obstacle recognition control operation is executed in response to the current obstacle event so as to instruct the driving mechanism to stop the descending action, the driving mechanism is instructed to execute the descending action and update the current set position under the condition that the current obstacle event disappears, and the next obstacle recognition control operation is executed when the next obstacle event is detected before the loading device reaches the current set position. By optimizing the descending speed in the descending process, accidents of collision with other obstacles are avoided. The current set position is updated when the current obstacle event occurs, so that the containing device can reach the bottom position (namely the end position) when decelerating to 0 when reaching the current set position, and the safety of the food delivery equipment is further improved.

In one embodiment, as shown in FIG. 6, the step of detecting the occurrence of a current obstacle event includes:

s610, acquiring the current displacement and the current speed of the loading device, and judging whether the current displacement and the current speed meet preset conditions;

specifically, the current displacement amount and the current speed of the loading device may be obtained by any means in the art, for example, the current speed is detected by a speed sensor, and the current displacement amount of the loading device is obtained according to the speed and the time at each moment. The preset condition may be any one of the conditions in the art such that the position decelerated to 0 from the current time remains at a safe distance from the obstacle.

And S620, if the judgment result is negative, confirming that the current obstacle event occurs.

Specifically, if the preset condition is not satisfied, the occurrence of the current obstacle event is confirmed.

In a specific example, if the current displacement and the current speed satisfy the following formulas, it is determined that the current displacement and the current speed satisfy a preset condition; the formula includes:

H-H_t＞＝0.5*(V_t ²/a)+H_s；

wherein H is the total height of the reduction, H_tIs the current displacement; v_tIs the current speed; a is the acceleration; h_sIs the minimum safe distance.

In one embodiment, as shown in FIG. 7, the step of performing the corresponding lowering action comprises the steps of:

s710, outputting a descending control instruction; the descending control instruction is used for instructing a driving mechanism of the food delivery equipment to execute descending action according to a preset descending rule; the preset descending rule comprises any sequential combination of an acceleration descending process, a constant-speed descending process and a deceleration descending process;

s720, when the current descending process is in accordance with the conditions and the current obstacle event is detected to occur, responding to the current obstacle event, executing the current obstacle identification control operation to instruct the driving mechanism to stop the descending action, and instructing the driving mechanism to execute the descending action and update the current set position under the condition that the current obstacle event disappears; wherein, the descending process meeting the conditions comprises at least one of an accelerated descending process and a constant speed descending process;

and S730, before the loading device reaches the current set position, detecting the next obstacle event, and executing the next obstacle identification control operation.

And S740, when the current descending process meets the condition and the current shaking event is detected, responding to the current shaking event, executing the current shaking control operation to instruct the driving mechanism to stop the descending motion, and instructing the driving mechanism to execute the descending motion under the condition that the current shaking event disappears, wherein the descending process meeting the condition comprises at least one of an acceleration descending process, a constant-speed descending process and a deceleration descending process.

Specifically, the shaking event can mean that the containing device shakes, and the condition for judging that the containing device has the current shaking event can be set according to the actual conditionThe condition for judging that the current shaking event disappears may also be set according to the actual situation, and is not specifically limited herein. And if the current descending process meets the conditions and the containing device of the food delivery equipment generates a shaking event, responding to the current shaking event, executing the current shaking control operation, and when entering the current shaking control operation, indicating the driving mechanism to stop the descending action. The instruction of stopping the lowering operation of the drive mechanism may be an instruction of stopping the operation of the motor of the drive mechanism, or may be an instruction of braking the brake mechanism while instructing the stop of the operation of the motor of the drive mechanism, as long as the stop of the displacement of the loading device is achieved. Further, after the driving mechanism is instructed to stop the lowering operation, the current set position needs to be updated. Specifically, the updated current set position is obtained from the acceleration, the current speed, and the current displacement of the loading device. When the current set position after updating is reached

The gondola is decelerated directly to a standstill with an acceleration a to reach the bottom position, i.e. the end position. Wherein a is acceleration; v'_d3The current speed under the condition of shaking event; h'_d3Is the current displacement under the condition of shaking event. It should be noted that the current shake control operation includes instructing the driving mechanism to stop the descending motion, and instructing the driving mechanism to execute the descending motion and update the current set position when the current shake event disappears.

It should be noted that, when the next shaking event is detected before the loading device reaches the updated current set position, the next shaking control operation is executed.

And confirming to enter a deceleration descending process after the loading device reaches the current set position if the next obstacle event cannot be detected before the loading device reaches the current set position. The descending control method further optimizes the descending speed, can avoid the collision between the carrying device and other equipment (such as a carrying trolley body) caused by the fact that the carrying device cannot stop in time when descending, and further improves the safety of meal delivery by controlling the speed of the current shaking time.

In one embodiment, the descending control method further comprises the steps of:

and acquiring the posture variation of the containing device, and confirming that the containing device shakes under the condition that the posture variation is larger than a preset value.

Specifically, the attitude variation of the holding device can be obtained by any technical means in the field. For example: the attitude variation of the loading device can be obtained through the attitude sensor; the attitude sensor may include a gyroscope or the like. It should be noted that the attitude change amount is a difference between the current attitude angle and the initial attitude angle.

In one embodiment, the attitude change includes at least one of a pitch angle change, a yaw angle change, and a roll angle change; the preset value comprises at least one of a first threshold value, a second threshold value and a third threshold value;

the step of confirming that the containing device shakes when the posture variation is larger than the preset value comprises the following steps:

and if the pitch angle variation is larger than the first threshold, the yaw angle is larger than the second threshold, and/or the roll angle variation is larger than the third threshold, confirming that the containing device shakes.

Specifically, the pitch angle variation, yaw angle variation, and roll angle variation may be acquired by any means in the art. For example, receiving an attitude angle of a loading device transmitted by a gyroscope, and converting the attitude angle to obtain a pitch angle, a yaw angle and a roll angle; the pitch angle variation is the difference between the current pitch angle and the initial pitch angle; the yaw angle variation is the difference between the current yaw angle and the initial yaw angle; the rolling angle variation is the difference between the current rolling angle and the initial rolling angle. The initial pitch angle, the initial yaw angle and the output roll angle can be measured when the loading device is static.

And when any one of the following conditions or a combination of the following conditions occurs, the shaking event of the containing device is confirmed. The condition includes an elevation change amount being greater than a first threshold; the yaw angle variation is larger than a second threshold value; the roll angle variation is greater than a third threshold. Specifically, the first threshold value is 1.5 °, the second threshold value is 5 °, and the third threshold value is 6 °.

Furthermore, the obtained variation of the pitch angle theta, the yaw angle psi and the roll angle phi can measure the shaking degree of the hanging basket. Because the top of the hanging basket is pulled by the left rope and the right rope, under the condition that the ropes are normally wound, the pitching angle theta cannot be changed greatly when the hanging basket swings in the left and right directions. The practical measurement shows that when the variation of theta is larger than 1.5 degrees, the variation of phi is larger than 5 degrees, or the variation of psi is larger than 6 degrees, the hanging basket shakes violently, and the hanging basket needs to be decelerated to stop descending.

and acquiring the posture variation of the containing device, and confirming that the shaking event disappears under the condition that the posture variation meets the preset condition.

The preset condition may be any condition in the art that satisfies the balance requirement. For example: the attitude variation is smaller than a set value, specifically, any one of pitch angle variation, yaw angle variation and roll angle variation is smaller than the set value; the pitch angle variation is smaller than a first set value, the yaw angle variation is smaller than a second set value, and the roll angle variation is smaller than a third set value.

In one embodiment, the attitude change includes a pitch angle change, a yaw angle change, and a roll angle change;

the preset conditions comprise that the sum of the pitch angle variation, the yaw angle variation and the roll angle variation is smaller than a set value.

Wherein the pitch angle variation is the difference between the current pitch angle and the initial pitch angle; the yaw angle variation is the difference between the current yaw angle and the initial yaw angle; the rolling angle variation is the difference between the current rolling angle and the initial rolling angle. In one specific example, the set value is 9 °.

when the drive mechanism fails, the drive mechanism is instructed to stop the lowering operation.

The driving mechanism comprises a motor, and the motor is connected with the transmission mechanism;

specifically, it is possible to confirm whether the driving mechanism is malfunctioning by any means in the art, and instruct the driving mechanism to stop the lowering operation in the case where the driving mechanism is malfunctioning.

In one embodiment, as shown in fig. 8, the step of performing the corresponding descending action further comprises the steps of:

s810, judging whether the transmission mechanism is in a fault state; the driving mechanism comprises a motor and a transmission mechanism respectively connected with the motor and the containing device;

specifically, whether the transmission mechanism is in a failure state can be judged by any means in the field. Specifically, the determination of whether the transmission is in a failure state may be made by any means in the art. In addition, it is possible to determine whether or not the transmission mechanism is in a failure state when the drive mechanism is operating. In a specific example, it may also be determined whether the transmission mechanism is in a failure state during the operation of the driving mechanism according to a preset descending rule. Specifically, whether the transmission mechanism is in a failure state is judged under the condition that the driving mechanism acts according to an acceleration descending process, a constant speed descending process and a deceleration descending process.

And S820, if the judgment result is yes, the motor is instructed to stop the operation.

And indicating the motor to stop acting under the condition that whether the transmission mechanism is in a fault state or not.

In one embodiment, as shown in fig. 9, the step of determining whether the transmission mechanism is in a failure state includes:

s910, detecting whether the motion quantities of the first rope winding mechanism and the second rope winding mechanism are synchronous or not; the transmission mechanism comprises a first rope winding mechanism and a second rope winding mechanism;

specifically, whether the operation amounts of the first and second rope winding mechanisms are synchronized may be detected by any means in the art; the condition for judging synchronization can be set according to the actual situation.

S920, if the detection result is negative, confirming that the transmission mechanism is in a fault state;

specifically, if the action amounts of the first rope winding mechanism and the second rope winding mechanism are asynchronous, ropes at the left end and the right end of the loading device are wound in a messy manner, and safety risks occur.

As shown in fig. 10, the step of detecting whether the operation amounts of the first and second roping mechanisms are synchronized includes:

s1010, acquiring a difference value between the pulse number output by the first encoder and the pulse number output by the second encoder; the first encoder is arranged on the first rope winding mechanism; the second encoder is arranged on the second rope winding mechanism;

and S1020, if the difference is larger than the preset difference, determining that the action amounts of the first rope winding mechanism and the second rope winding mechanism are asynchronous.

Specifically, whether the rope winding mechanism is abnormal or not can be analyzed by comparing the pulse number difference of the two encoders in real time. Here again the pulse difference is set to deltan (which can be modified by the actual application). When the pulse number output by the two encoders is larger than delta n, the rope winding mechanism is considered to be abnormal, the mechanism needs to be repaired manually, and the ascending and descending functions are started after the external fault is eliminated.

In one embodiment, the preset descending rule is obtained according to the maximum speed of the driving mechanism, the minimum speed of the driving mechanism and the descending height;

specifically, in order to maximize the meal delivery efficiency, the preset descending rule may be obtained according to the maximum speed of the driving mechanism, the minimum speed of the driving mechanism, and the descending height, so as to minimize the time of the whole meal delivery.

In one embodiment, the current set position is obtained according to the acceleration, the current speed and the current displacement of the loading device.

As shown in fig. 11, the step of performing the corresponding lowering action further comprises the steps of:

s1110, confirming to enter an accelerated descending process when a descending control instruction is received;

s1120, confirming to enter a constant speed descending process when the continuous action time of the driving mechanism reaches the preset time length;

it should be noted that the preset time period may be calculated according to the acceleration and the maximum speed.

And S1130, confirming to enter a deceleration descending process when detecting that the loading device of the food delivery equipment reaches the set position.

It should be understood that although the various steps in the flow charts of fig. 1-11 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-11 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 12, there is provided a payload lifting device comprising:

the carrying device 10, the carrying device 10 is used for carrying the carrying object 20;

a push rod mechanism 30;

the image acquisition device 40 is used for acquiring the current stop position of the meal delivery device 50 and the placement position of the carried goods by the image acquisition device 40;

a processor (not shown in FIG. 12); the processor is respectively connected with the image acquisition equipment 40 and the push rod mechanism 30; the steps of any of the methods described above are implemented when the computer program is executed by a processor.

The push rod mechanism can be any equipment with a push function in the field. The image capturing device may be a camera, a video camera, or the like having an image capturing function.

In particular, the delivery device is moved by a glass track 60. Further, the carrier elevating device further includes a driving mechanism 70; the driving mechanism 70 is in driving connection with the loading device 10, and the driving mechanism 70 is used for driving the loading device to do lifting movement.

Taking the dish as an example, the food delivery device delivers the dish from the back to one side of the holding device along the glass track. Then the processor acquires the running state of the food delivery equipment; the running state comprises a current stop position and an opening and closing state of the opening and closing cover; the processor acquires the current state of the loading device and the placement position of the carried object on the food delivery equipment when confirming that the current stop position and the opening and closing state of the opening and closing cover both meet the carried object transmission condition; the processor outputs a pushing command according to the placing position and the current working state; the push command is used for indicating the push rod mechanism to act so that the carried object falls on the carrying device. Further, when the current state is detected to be a closed state and the opening and closing cover is in a closed state, outputting a descending command; the lowering command is used to instruct the drive mechanism to perform a corresponding lowering action.

Further, as shown in fig. 13, the carrying device 10 includes a carrying tray 11 and an opening and closing structure 13 movably disposed on the carrying tray; the opening and closing mechanism has a closed state for stopping the load and an open state for avoiding the load.

Specifically, the carrying tray 11 is provided with a carrying object 20, and the opening and closing mechanism is in an opening state when waiting for the pushing of the carrying object by the push rod mechanism or when a customer takes a meal; when the loading device performs descending action, the opening and closing mechanism is in a closed state to prevent the loaded object from falling. In one particular example, the opening and closing mechanism is petal-shaped.

In one embodiment, there is provided a payload transport system comprising a serving device, and a payload lifting device as in any above;

as shown in fig. 14, the meal delivery apparatus 50 includes:

a carrying mechanism 15, the carrying mechanism 15 being used for carrying the carried object 20;

an opening and closing cover 17, wherein the opening and closing cover 17 is arranged on the conveying mechanism 15; an accommodating cavity for accommodating the carried objects is formed between the opening and closing cover 17 and the conveying mechanism 15.

Particularly, the conveying mechanism can provide dish conveying service, can well complete dish conveying actions of modern catering service attendants, is high in dish conveying stability and efficiency, realizes automatic and intelligent restaurant service, and reduces the labor cost of the catering industry. Through setting up the cover that opens and shuts, can protect and keep warm placing the food that holds the intracavity.

In one embodiment, the transport mechanism 15 includes a carriage body 151 for moving along the cloud rail, a tray 153 provided on the carriage body; an accommodating cavity for accommodating the carried goods is formed between the opening and closing cover 17 and the tray 153.

In one embodiment, there is provided a carrier transport apparatus comprising:

the first acquisition module is used for acquiring the running state of the food delivery equipment; the running state comprises a current stop position and an opening and closing state of the opening and closing cover;

the second acquisition module is used for acquiring the current state of the loading device and the placement position of the carried object on the food delivery equipment when the current stop position and the opening and closing state of the opening and closing cover meet the carrying object transmission condition;

the pushing module is used for outputting a pushing command according to the placing position and the current working state; the push command is used for instructing the push rod mechanism to act so as to enable the carried object to fall on the carrying device.

In one embodiment, the transport device for the carried object further comprises a path comparison module, which is used for acquiring the action path of the push rod mechanism and comparing the action path with a preset path; and outputting a corresponding control command according to the comparison result.

For specific limitations of the means for transporting the payload, reference may be made to the above limitations for the method for transporting the payload, which are not described in detail here. The various modules in the transport apparatus of the above described payloads may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring an action path of the push rod mechanism, and comparing the action path with a preset path;

and outputting a corresponding control command according to the comparison result.

In one embodiment, the step of outputting the corresponding control command according to the comparison result further implements the following steps when executed by the processor:

In one embodiment, the step of confirming that the current stop position and the opening and closing state of the opening and closing cover both meet the carrier transport condition further comprises the following steps when executed by the processor:

according to the current stop position, confirming whether the food delivery equipment is in an offset state;

and if the food delivery equipment is not in the deviation state and the opening and closing state of the opening and closing cover is in the opening state, determining that the current stop position and the opening and closing state of the opening and closing cover both meet the transport condition of the carried goods.

In one embodiment, the step of outputting the push command when executed by the processor further comprises the steps of, based on the placement location and the current operating state:

judging whether the carried object is positioned in the middle position of the bearing surface of the food delivery equipment or not according to the placement position;

and if the carried object is in the central position of the bearing surface of the food delivery equipment and the current state is the opening state, outputting a pushing command.

In one embodiment, the step of performing the respective lowering action when executed by the processor further performs the steps of:

outputting a descending control instruction; the descending control instruction is used for instructing a driving mechanism of the food delivery equipment to execute descending action according to a preset descending rule; the preset descending rule comprises any sequential combination of an acceleration descending process, a constant-speed descending process and a deceleration descending process;

when the current descending process is in accordance with the conditions and the current obstacle event is detected to occur, responding to the current obstacle event, executing current obstacle identification control operation to instruct the driving mechanism to stop descending action, and instructing the driving mechanism to execute descending action and update the current set position under the condition that the current obstacle event disappears; wherein the eligible descending process comprises at least one of the accelerated descending process and the constant descending process;

and before the loading device reaches the current set position, detecting the next obstacle event, and executing the next obstacle identification control operation.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus DRAM (RDRAM), and interface DRAM (DRDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of transporting a payload, comprising the steps of:

outputting a push command according to the placement position and the current state; the push command is used for indicating the push rod mechanism to act so as to enable the carried object to move to the carrying device.

2. The method of transporting a payload of claim 1, further comprising the steps of:

3. The method according to claim 2, wherein the step of outputting the corresponding control command according to the comparison result comprises:

4. The method of claim 1, wherein the step of confirming that the current stop position and the open/close state of the retractable cover both satisfy a condition for transporting the payload comprises:

and if the food delivery equipment is not in the deviation state and the opening and closing state of the opening and closing cover is in the opening state, confirming that the current stop position and the opening and closing state of the opening and closing cover both meet the transport condition of the carried goods.

5. The method of transporting a payload of claim 4, further comprising the steps of:

6. The method of transporting a payload of claim 1, wherein the current state includes an open state and a closed state;

the step of outputting a push command according to the placement position and the current working state comprises:

and if the carried object is located in the middle position of the bearing surface of the food delivery equipment and the current state is the opening state, outputting the pushing command.

7. The method of transporting a payload of claim 6, further comprising the steps of:

detecting that the current state is a closed state and the opening and closing cover is in a closed state, and outputting a descending command; the descending command is used for instructing the driving mechanism to execute corresponding descending action; the driving mechanism is in driving connection with the loading device and is used for driving the loading device to execute corresponding descending actions.

8. The method of transporting a payload of claim 7, wherein the step of performing a corresponding lowering action includes:

9. The method of transporting a payload of claim 8, wherein the step of detecting the occurrence of a current obstacle event includes:

acquiring the current displacement and the current speed of the loading device, and judging whether the current displacement and the current speed meet preset conditions;

if the judgment result is negative, the current obstacle event is confirmed to occur;

wherein the step of judging whether the current displacement and the current speed satisfy preset conditions includes:

if the current displacement and the current speed meet the following formula, confirming that the current displacement and the current speed meet preset conditions; the formula includes:

H-H_t＞＝0.5*(V_t ²/a)+H_s；

wherein H is the total reduced height, and H_tIs the current displacement amount; v_tIs the current speed; a is the acceleration; h_sIs the minimum safe distance.

10. The method of transporting a payload of claim 8, wherein the step of performing the respective lowering action further comprises:

and when the current descending process is in a qualified descending process and a current shaking event is detected to occur, responding to the current shaking event, executing current shaking control operation to instruct the driving mechanism to stop descending action, and instructing the driving mechanism to execute descending action under the condition that the current shaking event disappears, wherein the qualified descending process comprises at least one of the accelerated descending process, the constant-speed descending process and the decelerated descending process.

11. The method of transporting a payload of claim 10, wherein the step of performing the respective lowering action further comprises:

acquiring the attitude variation of the loading device, and confirming that the loading device shakes when the attitude variation is larger than a preset value;

the attitude variation comprises at least one of pitch angle variation, yaw angle variation and roll angle variation; the preset value comprises at least one of a first threshold value, a second threshold value and a third threshold value;

the step of confirming that the containing device shakes when the posture variation is larger than a preset value comprises the following steps:

and if the pitch angle variation is larger than a first threshold value, the yaw angle is larger than a second threshold value, and/or the roll angle variation is larger than a third threshold value, confirming that the containing device shakes.

12. The method of transporting a payload of claim 10, wherein the step of performing the respective lowering action further comprises:

acquiring the posture variation of the containing device, and confirming that the shaking event disappears under the condition that the posture variation meets the preset condition;

the attitude variation comprises pitch angle variation, yaw angle variation and roll angle variation; the preset condition comprises that the sum of the pitch angle variable quantity, the yaw angle variable quantity and the roll angle variable quantity is smaller than a set value.

13. The method of transporting a payload of claim 8, wherein determining if the drive mechanism is in a failure state; the driving mechanism comprises a motor and a transmission mechanism respectively connected with the motor and the loading device;

if the judgment result is yes, indicating the motor to stop operating; and/or the presence of a gas in the gas,

detecting whether a motor of the driving mechanism is in failure;

if the detection result is yes, indicating the motor to stop acting;

wherein the step of determining whether the transmission mechanism is in a failure state comprises:

detecting whether the action quantities of the first rope winding mechanism and the second rope winding mechanism are synchronous or not; wherein the transmission mechanism comprises the first and second roping mechanisms;

and if the detection result is negative, confirming that the transmission mechanism is in a fault state.

14. The method according to claim 13, wherein the step of detecting whether the amounts of motion of the first and second roping mechanisms are synchronized comprises:

acquiring a difference value between the pulse number output by the first encoder and the pulse number output by the second encoder; the first encoder is arranged on the first rope winding mechanism; the second encoder is arranged on the second rope winding mechanism;

and if the difference is larger than a preset difference, confirming that the action quantities of the first rope winding mechanism and the second rope winding mechanism are not synchronous.

15. A payload lifting device, comprising:

a holding device for holding the carrier;

a push rod mechanism;

the food delivery device comprises an image acquisition device, a control device and a control device, wherein the image acquisition device is used for acquiring the current stop position of the food delivery device and the placement position of a carried object;

a processor; the processor is respectively connected with the image acquisition equipment and the push rod mechanism; the processor, when executing the computer program, realizes the steps of the method of any one of claims 1 to 14.

16. A load lifting apparatus according to claim 15, wherein the load carrying means comprises a carrying tray and an opening and closing structure movably arranged on the carrying tray; the opening and closing mechanism has a closed state for stopping the payload and an open state for avoiding the payload.

17. A payload conveyor system comprising a delivery device and a payload lifting device according to any of claims 15 to 16;

the meal delivery device comprises:

a transport mechanism for transporting a payload;

the opening and closing cover is arranged on the conveying mechanism; and an accommodating cavity for accommodating the carrying object is formed between the opening and closing cover and the conveying mechanism in an enclosing manner.

18. The payload transport system of claim 17, wherein the transport mechanism includes a cart body for movement along the cloud track and a tray disposed on the cart body; the opening and closing cover and the tray are surrounded to form a containing cavity for containing the carried objects.

19. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 14.