WO2021135635A1 - 一种用于送货装置的控制方法、装置及冰箱 - Google Patents

一种用于送货装置的控制方法、装置及冰箱 Download PDF

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Publication number
WO2021135635A1
WO2021135635A1 PCT/CN2020/126874 CN2020126874W WO2021135635A1 WO 2021135635 A1 WO2021135635 A1 WO 2021135635A1 CN 2020126874 W CN2020126874 W CN 2020126874W WO 2021135635 A1 WO2021135635 A1 WO 2021135635A1
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WIPO (PCT)
Prior art keywords
delivery device
charging
control
refrigerator
power
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PCT/CN2020/126874
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English (en)
French (fr)
Inventor
周枢
刘海波
吴剑
冯志群
费兆军
Original Assignee
青岛海高设计制造有限公司
海尔智家股份有限公司
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Publication of WO2021135635A1 publication Critical patent/WO2021135635A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2642—Domotique, domestic, home control, automation, smart house

Definitions

  • This application relates to the technical field of smart home appliances, for example, to a control method, device and refrigerator for a delivery device.
  • refrigerator is a kind of household appliances. When users need cold drinks or other food in the refrigerator, they usually can only move to the location of the refrigerator by themselves, but if it is a user with mobility problems, or when the user is tired and does not want to go , But you can’t get the food in the refrigerator anytime and anywhere.
  • the embodiments of the present disclosure provide a control method, a device and a refrigerator for a delivery device, so as to solve the technical problem of how to make the delivery device have enough power to complete the delivery through a wired charging method.
  • control method for the delivery device includes:
  • control the delivery device After the power of the delivery device reaches the first set threshold, control the delivery device to load according to the received user instruction and the target location;
  • the delivery device After the delivery device is loaded, the delivery device is controlled to move to the target position.
  • control device for the delivery device includes a processor and a memory storing program instructions, and the processor is configured to execute the above-mentioned delivery device when the program instructions are executed. ⁇ Control methods.
  • the refrigerator includes the aforementioned delivery device, and, a control device.
  • the control method, device and refrigerator for the delivery device provided by the embodiments of the present disclosure can achieve the following technical effects:
  • the delivery device can have sufficient power through the wired charging method, and the goods can be delivered to the target location, ensuring delivery
  • the process can be completed normally, which avoids the situation that the delivery device cannot reach the target position or cannot return to the initial position due to lack of electricity, making the user experience more comfortable.
  • Figure 1 is a flow chart of a control method for a delivery device provided by a disclosed embodiment
  • FIG. 2 is a schematic diagram of cooperation between a refrigerator and a delivery device provided by a disclosed embodiment
  • FIG. 3 is a front schematic view of the refrigerator and the delivery device in an open door state provided by a disclosed embodiment
  • Fig. 4 is a side view of a refrigerator provided by a disclosed embodiment in cooperation with a delivery device
  • FIG. 5 is a schematic cross-sectional view of the open state of the delivery device box cover provided by a disclosed embodiment
  • FIG. 6 is a schematic cross-sectional view of a closed state of the delivery device box cover provided by a disclosed embodiment
  • Fig. 7 is a schematic diagram of a control device for a refrigerator delivery device provided by a disclosed embodiment.
  • the embodiment of the present disclosure provides a control method for a delivery device, as shown in FIG. 1, including:
  • Step S101 When the charging head of the delivery device is connected to the charging socket of the refrigerator, the delivery device is charged according to the power of the delivery device;
  • Step S102 After the power of the delivery device reaches the first set threshold, control the delivery device to load according to the received user instruction and the target location;
  • Step S103 After the delivery device is loaded, control the delivery device to move to the target position.
  • the refrigerator is provided with a delivery device.
  • the delivery device and the refrigerator body together form a smart refrigerator.
  • the refrigerator provides power for the delivery device, and the delivery device and the refrigerator perform wireless data interaction through a wireless communication module.
  • the delivery device is charged via a refrigerator; the delivery device can be delivered to the user according to the user's instruction.
  • the target location is the location of the user.
  • the target location may also be a set coordinate value.
  • the location of the user is the location of the user terminal that sends the user instruction.
  • charging the delivery device according to the power of the delivery device includes:
  • the conversion between DC fast charge and AC slow charge is performed according to the power of the delivery device.
  • the conversion between DC fast charging and AC slow charging is performed according to the power of the delivery device, including:
  • the DC fast charging method is used for charging; when the power of the delivery device reaches the second set threshold, the AC slow charging method is used for charging.
  • the second set threshold is 80% of the power.
  • the DC charging method is used. Charging; if the power of the delivery device is greater than or equal to 80%, the AC charging method is used for charging. In this way, the charging speed can be faster and the damage to the battery is less.
  • controlling the loading of the delivery device includes: controlling the delivery device to turn on according to a user instruction, and controlling the delivery device to turn off after detecting that an item enters the delivery device.
  • the delivery device is controlled to move the goods to the conveying device according to a user instruction
  • the conveying device is controlled to move the goods to the delivery device.
  • the first set threshold is 40% of power.
  • the delivery device can be controlled to load according to the quality of the user and the target location, and after the loading is completed To move to the target location.
  • the power of the delivery device is less than 40%, the delivery device will not be controlled to load, and it will not be controlled to move to the target location. Through the detection of power, it is ensured that the delivery device has enough power to deliver the goods to the target location and return to the initial location.
  • control method for the delivery device further includes: when the delivery device reaches the target location, controlling the delivery device to turn on.
  • control method for the delivery device further includes: controlling the delivery device to close after detecting that an item leaves the delivery device.
  • controlling the opening of the delivery device includes: controlling the warehouse of the delivery device to rise, so that the delivery device is opened.
  • controlling the closing of the delivery device includes: controlling the lowering of the warehouse of the delivery device, so that the delivery device is closed.
  • the delivery device after detecting that there is an item leaving the delivery device and controlling the delivery device to close, it further includes: controlling the delivery device to return to the initial position, so that the power consumption of the delivery device can be saved.
  • the delivery device is controlled to close and return to the initial position after a set time has elapsed, so that the power consumption of the delivery device can be saved.
  • the target location is obtained by calculating the location beacon address broadcast by the location beacon and the received signal strength indication value (RSSI).
  • RSSI received signal strength indication value
  • the location beacon is a Bluetooth Beacon.
  • the delivery device is arranged at the bottom of the refrigerator, as shown in Figure 2, which is a schematic diagram of the cooperation between the refrigerator and the delivery device, including the delivery device 4, the refrigerator 1, the refrigerator display screen 2, and the refrigerator handle 3. .
  • the refrigerator 1 is provided with multiple delivery devices.
  • the delivery device includes a first motor 16, a pallet 1a, a partition 1b, and a coil spring. 1c.
  • the multiple shipping devices are divided into two groups, which are fixed in the refrigerator in parallel and spaced from bottom to top, and a channel is left as the shipping channel in the middle.
  • the partition 1b is arranged on the pallet 1a to form a cargo channel.
  • the goods are sorted and placed on the cargo lane, the coil spring 1c is arranged on the cargo lane, and each cargo lane is correspondingly provided with a coil spring 1c, and the pitch of the coil spring 1c is used to accommodate the goods.
  • FIG. 4 it is a side view showing the cooperation between the refrigerator and the delivery device.
  • the first motor 16 of the delivery device is provided with a plurality of transmission devices inside the refrigerator 1.
  • the transmission device includes a second motor 17 and a transmission belt 18.
  • Each first motor 16 drives the corresponding coil spring 1c to rotate and push the goods to move away from the first motor 16, so that the goods on the cargo lane fall on the transmission belt 18 of the corresponding transmission device, and the second motor 17 drives the corresponding The conveyor belt 18 rotates, and the second motor 17 drives the corresponding conveyor belt 18 to transport the goods to the shipping channel between the two sets of shipping devices.
  • the goods fall from the shipping channel to the warehouse 10 raised by the delivery device 4 in.
  • the delivery device 4 includes a running drive wheel 5, a box body 6 and a box cover 7.
  • the running drive wheel 5 is arranged on the lower surface of the bottom of the box body 6.
  • Each running driving wheel 5 is driven by a motor; the box cover 7 is rotatably connected with the box body 6 through a rotating shaft 8.
  • the box cover 7 is in the form of a double door, and a first limit card 7a is provided on the box cover 7 to limit the cargo warehouse 10
  • the lifting height of the box body 6 is provided with a lifting device, which includes a screw rod 11, a fixed rod 12, and a movable frame 13.
  • One end of the screw rod 11 is fixed to the bottom of the box body 6 through a bearing 14, and the stepping motor 15 drives the screw rod 11 to rotate ,
  • the screw rod 11 is threaded on the movable frame 13 through the nut 13a;
  • the fixed rod 12 is threaded on the movable frame 13, one end of the fixed rod 12 is fixedly connected to the bottom of the box 6, and the other end is provided with a second limit card 12a.
  • one end of the cargo warehouse rod 10 a is fixedly connected with the cargo warehouse 10, and the other end is fixed on the movable frame 13.
  • FIG. 6 it is a schematic cross-sectional view of the closed state of the box cover of the delivery device.
  • the box cover 7 is provided with an electronic lock 9 and the top of the cargo warehouse 10 is lowered into the box body 6.
  • the electronic lock 9 is locked. .
  • the first motor 16 corresponding to the shipping device is controlled according to the user's instruction to drive the corresponding coil spring 1c to rotate while pushing the goods, such as mineral water, to move to the corresponding conveyor belt 18.
  • the electronic lock 9 is opened, the stepper motor 15 reverses to drive the movable frame 13 and the cargo warehouse rod 10a to move upward, and the cargo warehouse 10 rises.
  • the movable frame 13 rises to the second limit card 12a on the fixed rod 12
  • the stepper motor 15 stops reversing, and the cargo warehouse 10 stops rising.
  • the corresponding second motor 17 drives the conveyor belt 18 to rotate, so that the mineral water is transported to the shipping channel between the two sets of shipping devices, and the mineral water falls from the shipping channel to the delivery channel.
  • the cargo device 4 is raised in the warehouse 10.
  • the time spent in the ascending process of the warehouse is 2 s, and the time spent in transferring the goods to the warehouse is 5 s.
  • the stepping motor 15 is controlled to move to drive the movable rack 13 and the warehouse rod 10a to move the cargo warehouse 10 down.
  • step The motor 15 stops running.
  • the cargo warehouse 10 is lowered into the box body 6, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed.
  • the delivery device 4 receives the mineral water and is closed, the delivery device is controlled to move to a set target position, such as a sofa.
  • a set target position such as a sofa.
  • the electronic lock 9 is opened and the stepping motor 15
  • the reversal drives the movable frame 13 and the cargo warehouse rod 10a, so that the cargo warehouse 10 rises.
  • the movable frame 13 rises to the second limit card 12a on the fixed rod 12
  • the top of the cargo warehouse 10 at this time bears the lid 7
  • the cargo warehouse 10 stops rising, and the mineral water is displayed in front of the user.
  • the stepping motor 15 When the mineral water is taken away, or, after a set time, such as 10 minutes, the stepping motor 15 is controlled to run to drive the movable rack 13 and the warehouse rod 10a to move to make the warehouse 10 fall.
  • the movable rack 13 drops to the box 6
  • the stepper motor 15 stops running, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed. Then, the delivery device is controlled to return to the initial position, which is the bottom of the refrigerator.
  • the refrigerator can control the delivery device to move the goods to the delivery device according to the user's instructions, and transport the goods to the set target location, without the user issuing a control instruction, and automatically deliver the goods to the user, adding the function of the refrigerator to make Refrigerators are more intelligent and at the same time improve user experience.
  • a photoelectric switch is provided in the cargo warehouse 10, and the photoelectric switch is used to detect whether the cargo is received in the cargo warehouse or the cargo is taken away.
  • a pressure sensor is provided in the cargo warehouse 10, and a change in the pressure value is detected by the pressure sensor to determine whether the goods are received or taken away. When the pressure value increases, it is determined that the cargo has been received, and when the pressure value decreases, it is determined that the cargo has been taken away.
  • the delivery device is provided with a running drive wheel and a drive motor, which can make the delivery device move on a plane, and the front and side of the delivery device are also provided with camera devices, which can acquire road surface information in real time by collecting graphics and identifying them.
  • the controller controls the delivery device to turn or stop running to prevent collision or falling; at the same time, a radar ultrasonic sensor is set up to detect the distance between the delivery device and the surrounding objects when it moves ;
  • the operation driving wheel of the delivery device is equipped with a photoelectric coding disk, which can detect and control the wheel speed, and realize positioning and path planning.
  • control method for the refrigerator delivery device in the above embodiment, it can be known that the control method for the refrigerator delivery device provided by the embodiment of the present disclosure can enable the delivery device to have sufficient power through the wired charging method to deliver the goods to The target position ensures that the delivery process can be completed normally, avoids the situation that the delivery device cannot reach the target position or cannot return to the initial position because of no electricity, and makes the user experience more comfortable.
  • the embodiment of the present disclosure provides a control device for a refrigerator delivery device. Its structure is shown in FIG. 7.
  • the device includes a processor 100 and a memory 101 storing program instructions, and may also include Communication interface (Communication Interface) 102 and bus 103. Among them, the processor 100, the communication interface 102, and the memory 101 can communicate with each other through the bus 103.
  • the communication interface 102 can be used for information transmission.
  • the processor 100 can call the program instructions in the memory 101, and the processor is configured to execute the control method for the refrigerator delivery device of the foregoing embodiment when the program instructions are executed.
  • the above-mentioned logical instructions in the memory 101 can be implemented in the form of a software functional unit and when sold or used as an independent product, they can be stored in a computer readable storage medium.
  • the memory 101 can be used to store software programs and computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure.
  • the processor 100 executes functional applications and data processing by running software programs, instructions, and modules stored in the memory 101, that is, realizes the control method for the refrigerator delivery device in the foregoing method embodiment.
  • the memory 101 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and at least one application program required for a function; the data storage area may store data created according to the use of the mobile terminal.
  • the memory 101 may include a high-speed random access memory, and may also include a non-volatile memory.
  • control device for the refrigerator delivery device in the above embodiment, it can be known that the control device for the refrigerator delivery device provided by the embodiment of the present disclosure can make the delivery device have sufficient power through the wired charging method to deliver the goods to The target position ensures that the delivery process can be completed normally, avoids the situation that the delivery device cannot reach the target position or cannot return to the initial position because of no electricity, and makes the user experience more comfortable.
  • the embodiment of the present disclosure provides a refrigerator, including the above-mentioned delivery device, and, a control device.
  • the refrigerator can use the control device for the refrigerator delivery device to enable the delivery device to have sufficient power through the wired charging method to deliver the goods to the target location, ensuring that the delivery process can be completed normally, and avoiding the delivery device because The situation where the target position cannot be reached or returned to the initial position without electricity makes the user experience more comfortable.
  • the embodiment of the present disclosure provides a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are configured to execute the aforementioned control method for a refrigerator delivery device.
  • the embodiments of the present disclosure provide a computer program product.
  • the computer program product includes a computer program stored on a computer-readable storage medium.
  • the computer program includes program instructions. Control method of cargo device.
  • the aforementioned computer-readable storage medium may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
  • the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which can be a personal computer, a server, or a network). Equipment, etc.) execute all or part of the steps of the method of the embodiment of the present disclosure.
  • the aforementioned storage medium may be a non-transitory storage medium, including: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc.
  • the first element can be called the second element, and likewise, the second element can be called the first element, as long as all occurrences of the "first element” are renamed consistently and all occurrences "Second component” can be renamed consistently.
  • the first element and the second element are both elements, but they may not be the same element.
  • the terms used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms "a” (a), “an” (an) and “the” are intended to also include plural forms .
  • the term “and/or” as used in this application refers to any and all possible combinations of one or more of the associated lists.
  • the term “comprise” and its variants “comprises” and/or including (comprising) and the like refer to the stated features, wholes, steps, operations, elements, and/or The existence of components does not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components, and/or groups of these. If there are no more restrictions, the element defined by the sentence “including a" does not exclude the existence of other identical elements in the process, method, or device that includes the elements.
  • each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.
  • the methods, products, etc. disclosed in the embodiments if they correspond to the method parts disclosed in the embodiments, then the related parts can be referred to the description of the method parts.
  • the disclosed methods and products can be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of units may only be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment.
  • the functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • each block in the flowchart or block diagram can represent a module, program segment, or part of the code, and the module, program segment, or part of the code contains one or more executables for implementing the specified logical functions. instruction.
  • the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved.

Abstract

一种用于送货装置的控制方法、控制装置及冰箱，用于送货装置的控制方法包括：在送货装置的充电头连接充电插座的情况下，根据送货装置的电量对送货装置进行充电(S101)；送货装置的电量达到第一设定阈值后，根据接收到的用户指令及目标位置控制送货装置装货(S102)；送货装置装货完毕后，控制送货装置向目标位置移动(S103)。本方法能够使送货装置通过有线充电方式拥有充足的电量，将货品运送到目标位置，保证了送货过程能够正常完成，避免了使送货装置因为没有电而不能到达目标位置或者不能返回初始位置的情况，使用户体验更加舒适。

Description

一种用于送货装置的控制方法、装置及冰箱
本申请基于申请号为201911419024.X、申请日为2019年12月31日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及智能家电技术领域，例如涉及一种用于送货装置的控制方法、装置及冰箱。
背景技术
随着物联网技术的迅速发展，智能家居成为家庭信息化和社会信息化的重要组成部分，越来越多的传统家电加入到智能家居的队伍里，通过物联网的方式，实现了家电控制、家电智能场景等。冰箱是一种家用常备的电器，当用户需要冷饮或其他冰箱内的食品时，通常只能自己移动到冰箱所处的位置，但如果是行动不便的用户行动，或者用户很累不想走的时候，却不能随时随地的拿到冰箱里面的食品。
在实现本公开实施例的过程中，发现相关技术中至少存在如下问题：虽然存在冰箱设置有送货装置，但缺乏对送货装置电量的控制，如果送货装置的电量不够，可能存在移动的过程中突然停止的情况，给用户带来不好的体验。
发明内容
为了对披露的实施例的一些方面有基本的理解，下面给出了简单的概括。所述概括不是泛泛评述，也不是要确定关键/重要组成元素或描绘这些实施例的保护范围，而是作为后面的详细说明的序言。
本公开实施例提供了一种用于送货装置的控制方法、装置及冰箱，以解决如何通过有线充电方式使送货装置拥有足够的电量完成运送的技术问题。
在一些实施例中，所述用于送货装置的控制方法，包括：
在送货装置的充电头连接充电插座的情况下，根据所述送货装置的电量对所述送货装置进行充电；
所述送货装置的电量达到第一设定阈值后，根据接收到的用户指令及目标位置控制所述送货装置装货；
所述送货装置装货完毕后，控制所述送货装置向所述目标位置移动。
在一些实施例中，所述用于送货装置的控制装置包括：处理器和存储有程序指令的存储器，该处理器被配置为在执行所述程序指令时，执行上述的用于送货装置的控制方法。
在一些实施例中，所述冰箱包括上述的送货装置，和，控制装置。
本公开实施例提供的用于送货装置的控制方法、装置及冰箱，可以实现以下技术效果： 能够使送货装置通过有线充电方式拥有充足的电量，将货品运送到目标位置，保证了送货过程能够正常完成，避免了使送货装置因为没有电而不能到达目标位置或者不能返回初始位置的情况，使用户体验更加舒适。
以上的总体描述和下文中的描述仅是示例性和解释性的，不用于限制本申请。
附图说明
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明和附图并不构成对实施例的限定，附图中具有相同参考数字标号的元件示为类似的元件，附图不构成比例限制，并且其中：
图1是一公开实施例提供的用于送货装置的控制方法流程图；
图2是一公开实施例提供的冰箱与送货装置的配合示意图；
图3是一公开实施例提供的开门状态下冰箱与送货装置配合的正面示意图；
图4是一公开实施例提供的冰箱与送货装置配合的侧示图；
图5是一公开实施例提供的送货装置箱盖开启状态的剖面示意图；
图6是一公开实施例提供的送货装置箱盖闭合状态的剖面示意图；
图7是一公开实施例提供的用于冰箱送货装置的控制装置示意图。
具体实施方式
为了能够更加详尽地了解本公开实施例的特点与技术内容，下面结合附图对本公开实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本公开实施例。在以下的技术描述中，为方便解释起见，通过多个细节以提供对所披露实施例的充分理解。然而，在没有这些细节的情况下，一个或多个实施例仍然可以实施。在其它情况下，为简化附图，熟知的结构和装置可以简化展示。
本公开实施例提供了一种用于送货装置的控制方法，如图1所示，包括：
步骤S101.在送货装置的充电头连接冰箱的充电插座的情况下，根据送货装置的电量对送货装置进行充电；
步骤S102.送货装置的电量达到第一设定阈值后，根据接收到的用户指令及目标位置控制送货装置装货；
步骤S103.送货装置装货完毕后，控制送货装置向目标位置移动。
在一些实施例中，冰箱设置有送货装置，送货装置与冰箱主体共同成为一个智能冰箱，冰箱为送货装置提供电源，送货装置与冰箱通过无线通信模块进行无线数据交互。可选地，送货装置通过冰箱进行有线充电；送货装置可以根据用户指令送货到用户身边。
在一些实施例中，目标位置为用户的位置，当然，目标位置也可以为设定好的坐标值。可选地，用户的位置为发送用户指令的用户终端的位置。
在一些实施例中，根据送货装置的电量对送货装置进行充电，包括：
根据送货装置的电量进行直流快充及交流慢充的转换。
在一些实施例中，根据送货装置的电量进行直流快充及交流慢充的转换，包括：
在送货装置的电量没有达到第二设定阈值的情况下，采用直流快充方式进行充电；在送货装置的电量达到第二设定阈值的情况下，采用交流慢充方式进行充电。
在一些实施例中，第二设定阈值为80％的电量，当检测到送货装置的充电头连接冰箱的充电插座的情况下，如果送货装置的电量小于80％，采用直流充电方式进行充电；如果送货装置的电量大于或等于80％，则采用交流充电方式进行充电。通过这种方式能够使充电速度更快，对电池的伤害较小。
在一些实施例中，控制送货装置装货包括：根据用户指令控制送货装置开启，在检测到有物品进入送货装置后，控制送货装置关闭。
可选地，根据用户指令控制出货装置将所述货物移动到传输装置，并控制传输装置将货物移动到送货装置。
在一些实施例中，第一设定阈值为40％的电量，当送货装置的电量达到40％时，即可控制送货装置根据用户质量和目标位置进行装货，并在装货完毕后，向目标位置移动。当送货装置的电量小于40％时，即不会控制送货装置进行装货，更不会控制其向目标位置移动。通过对电量的检测，保证了送货装置拥有足够的电量能够实现将货品送到目标位置并返回初始位置。
在一些实施例中，用于送货装置的控制方法还包括：当送货装置到达目标位置时，控制送货装置开启。
在一些实施例中，用于送货装置的控制方法还包括：在检测到有物品离开送货装置后，控制送货装置关闭。
在一些实施例中，控制送货装置开启包括：通过控制送货装置的货仓上升，使得送货装置开启。
在一些实施例中，控制送货装置关闭包括：通过控制送货装置的货仓下降，使得送货装置关闭。
在一些实施例中，在检测到有物品离开送货装置并控制送货装置关闭后，还包括：控制送货装置回到初始位置，这样，能够节约送货装置的用电量。
可选地，在送货装置到达目标位置后，经过设定时间后控制送货装置关闭并控制送货装置回到初始位置，这样，能够节约送货装置的用电量。
在一些实施例中，目标位置通过计算定位信标广播的定位信标地址和接收信号强度指示值(Received Signal Strength Indication，RSSI)得到。
在一些实施例中，定位信标为蓝牙Beacon。
在实际应用中，可选地，送货装置设置在冰箱底部，如图2所示，为冰箱与送货装置的配合示意图，包括送货装置4、冰箱1、冰箱显示屏2、冰箱把手3。
如图3所示，为开门状态下冰箱与送货装置配合的正面示意图，冰箱1内部设有多个 出货装置，出货装置包括第一电机16、托板1a、隔板1b和螺旋弹簧1c。多个出货装置分为两组，分别自下而上平行间隔固定在冰箱内，中间留有通道为出货通道，隔板1b设置在托板1a上形成货道。将货物分类放在货道上，螺旋弹簧1c设置在货道上，每个货道上对应设置一个螺旋弹簧1c，螺旋弹簧1c的节距用于容纳货物。
如图4所示，为冰箱与送货装置配合的侧示图，出货装置的第一电机16，冰箱1内部还设有多个传输装置，传输装置包括第二电机17和传输带18。每个第一电机16带动对应的螺旋弹簧1c转动并推动货物向远离该第一电机16的方向移动，使货道上的货物掉落在对应传输装置的传输带18上，第二电机17带动对应的传输带18转动，该第二电机17带动对应的传输带18将货物输送至两组出货装置间的出货通道，货物从出货通道掉落到送货装置4升起的货仓10里。
如图5所示，为送货装置箱盖开启状态的剖面示意图，送货装置4包括运行驱动轮5、箱体6和箱盖7，运行驱动轮5设置在箱体6底部的下表面，各运行驱动轮5由电机驱动；箱盖7通过转轴8与箱体6转动连接，箱盖7为双开门形式，在箱盖7上设置有第一限位卡7a，用于限制货仓10的上升高度；箱体6内部设置升降装置，升降装置包括丝杆11、固定杆12、活动架13，丝杆11一端通过轴承14固定在箱体6底部，步进电机15带动丝杆11旋转，丝杆11通过螺母13a穿设在活动架13上；固定杆12穿设在活动架13上，固定杆12的一端与箱体6底部固连，另一端设置第二限位卡12a，用于限定活动架13上升的高度；货仓杆10a一端与货仓10固定连接，另一端固定在活动架13上。
如图6所示，为送货装置箱盖闭合状态的剖面示意图，箱盖7上设置有电子锁9，货仓10顶部降至箱体6以内，箱盖7闭合时，电子锁9上锁。
可选地，根据用户指令控制出货装置对应的第一电机16带动对应的螺旋弹簧1c转动的同时推动货物，例如矿泉水，向对应的传输带18移动。而同时，电子锁9打开，步进电机15反转带动活动架13及货仓杆10a向上移动，带动货仓10上升，当活动架13上升至固定杆12上的第二限位卡12a时，此时的货仓10的顶部顶住箱盖7的第一限位卡7a，步进电机15停止反转，货仓10停止上升。当矿泉水掉落到对应传输带18上，对应第二电机17带动该传输带18转动，使矿泉水输送至两组出货装置间的出货通道，矿泉水从出货通道掉落到送货装置4升起的货仓10里。
可选地，根据多次试验，货仓上升过程花费的时间为2s，传输一次货物到货仓花费的时间为5s。
可选地，货仓10接收到矿泉水后，则控制步进电机15运转带动活动架13及货仓杆10a运动使货仓10下降，当活动架13下降至箱体6底部时，步进电机15停止运转，此时的货仓10降至箱体6以内，箱盖7闭合，电子锁9上锁，送货装置关闭。
可选地，当送货装置4接收到矿泉水并关闭后，控制送货装置向设定的目标位置，例如沙发移动，当送货装置4到达目标位置时，电子锁9打开，步进电机15反转带动活动架13及货仓杆10a，使货仓10上升，当活动架13上升至固定杆12上的第二限位卡12a 时，此时的货仓10顶部顶住箱盖7上的第一限位卡7a，货仓10停止上升，将矿泉水展示在用户面前。当矿泉水被取走，或者，在设定时间，例如10分钟后，控制步进电机15运转带动活动架13及货仓杆10a运动使货仓10下降，当活动架13下降至箱体6底部时，此时的货仓10降至箱体6以内，步进电机15停止运转，箱盖7闭合，电子锁9上锁，送货装置关闭。然后，控制送货装置回到初始位置，即冰箱底部。这样，冰箱能够根据根据用户指令控制出货装置将货物移动到送货装置，并运送到设定的目标位置，无需用户下发控制指令，自动将货物送到用户身边，增加冰箱的功能，使冰箱更加智能化，同时提高用户体验。
可选地，在货仓10内设置光电开关，通过光电开关检测货仓内是否接收到货物或者货物被取走。
在一些实施例中，在货仓10内设置压力传感器，通过压力传感器检测到压力值的变化确定是否接收到货物或者货物被取走。当压力值变大时，确定有接收到货物，当压力值减小时，确定有货物被取走。
可选地，送货装置设置有运行驱动轮和驱动电机，能够使送货装置在平面上进行移动，送货装置前端和侧面还设置有摄像装置，通过采集图形并进行识别，实时获取路面信息，如遇台阶等障碍物时，则控制器控制送货装置转向或停止运行，可以防止碰撞或跌落；同时还设置有雷达超声波传感器，用于检测送货装置移动时与周围物体之间的距离；送货装置的运行驱动轮上设置有光电编码盘，可以对轮速进行检测和控制，实现定位和路径规划。
根据上述实施例中的用于冰箱送货装置的控制方法可知，本公开实施例提供的用于冰箱送货装置的控制方法能够使送货装置通过有线充电方式拥有充足的电量，将货品运送到目标位置，保证了送货过程能够正常完成，避免了使送货装置因为没有电而不能到达目标位置或者不能返回初始位置的情况，使用户体验更加舒适。
本公开实施例提供了一种用于冰箱送货装置的控制装置，其结构如图7所示，该装置包括处理器(processor)100和存储有程序指令的存储器(memory)101，还可以包括通信接口(Communication Interface)102和总线103。其中，处理器100、通信接口102、存储器101可以通过总线103完成相互间的通信。通信接口102可以用于信息传输。处理器100可以调用存储器101中的程序指令，处理器被配置为在执行程序指令时，执行上述实施例的用于冰箱送货装置的控制方法。
此外，上述的存储器101中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。
存储器101作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令/模块。处理器100通过运行存储在存储器101中的软件程序、指令以及模块，从而执行功能应用以及数据处理，即实现上述方法实施例中的用于冰箱送货装置的控制方法。
存储器101可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至 少一个功能所需的应用程序；存储数据区可存储根据移动终端的使用所创建的数据等。此外，存储器101可以包括高速随机存取存储器，还可以包括非易失性存储器。
根据上述实施例中的用于冰箱送货装置的控制装置可知，本公开实施例提供的用于冰箱送货装置的控制装置能够使送货装置通过有线充电方式拥有充足的电量，将货品运送到目标位置，保证了送货过程能够正常完成，避免了使送货装置因为没有电而不能到达目标位置或者不能返回初始位置的情况，使用户体验更加舒适。
本公开实施例提供了一种冰箱，包括上述送货装置，和，控制装置。该冰箱能够通过用于冰箱送货装置的控制装置能够使送货装置通过有线充电方式拥有充足的电量，将货品运送到目标位置，保证了送货过程能够正常完成，避免了使送货装置因为没有电而不能到达目标位置或者不能返回初始位置的情况，使用户体验更加舒适。
本公开实施例提供了一种计算机可读存储介质，存储有计算机可执行指令，计算机可执行指令设置为执行上述用于冰箱送货装置的控制方法。
本公开实施例提供了一种计算机程序产品，计算机程序产品包括存储在计算机可读存储介质上的计算机程序，计算机程序包括程序指令，当程序指令被计算机执行时，使计算机执行上述用于冰箱送货装置的控制方法。
上述的计算机可读存储介质可以是暂态计算机可读存储介质，也可以是非暂态计算机可读存储介质。
本公开实施例的技术方案可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括一个或多个指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开实施例的方法的全部或部分步骤。而前述的存储介质可以是非暂态存储介质，包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等多种可以存储程序代码的介质，也可以是暂态存储介质。
以上描述和附图充分地示出了本公开的实施例，以使本领域的技术人员能够实践它们。其他实施例可以包括结构的、逻辑的、电气的、过程的以及其他的改变。实施例仅代表可能的变化。除非明确要求，否则单独的部件和功能是可选的，并且操作的顺序可以变化。一些实施例的部分和特征可以被包括在或替换其他实施例的部分和特征。本公开实施例的范围包括权利要求书的整个范围，以及权利要求书的所有可获得的等同物。当用于本申请中时，虽然术语“第一”、“第二”等可能会在本申请中使用以描述各元件，但这些元件不应受到这些术语的限制。这些术语仅用于将一个元件与另一个元件区别开。比如，在不改变描述的含义的情况下，第一元件可以叫做第二元件，并且同样第，第二元件可以叫做第一元件，只要所有出现的“第一元件”一致重命名并且所有出现的“第二元件”一致重命名即可。第一元件和第二元件都是元件，但可以不是相同的元件。而且，本申请中使用的用词仅用于描述实施例并且不用于限制权利要求。如在实施例以及权利要求的描述中使用的，除非上下文清楚地表明，否则单数形式的“一个”(a)、“一个”(an)和 “所述”(the)旨在同样包括复数形式。类似地，如在本申请中所使用的术语“和/或”是指包含一个或一个以上相关联的列出的任何以及所有可能的组合。另外，当用于本申请中时，术语“包括”(comprise)及其变型“包括”(comprises)和/或包括(comprising)等指陈述的特征、整体、步骤、操作、元素，和/或组件的存在，但不排除一个或一个以上其它特征、整体、步骤、操作、元素、组件和/或这些的分组的存在或添加。在没有更多限制的情况下，由语句“包括一个…”限定的要素，并不排除在包括要素的过程、方法或者设备中还存在另外的相同要素。本文中，每个实施例重点说明的可以是与其他实施例的不同之处，各个实施例之间相同相似部分可以互相参见。对于实施例公开的方法、产品等而言，如果其与实施例公开的方法部分相对应，那么相关之处可以参见方法部分的描述。
本领域技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，可以取决于技术方案的特定应用和设计约束条件。技术人员可以对每个特定的应用来使用不同方法以实现所描述的功能，但是这种实现不应认为超出本公开实施例的范围。技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本文所披露的实施例中，所揭露的方法、产品(包括但不限于装置、设备等)，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，可以仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例。另外，在本公开实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
附图中的流程图和框图显示了根据本公开实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。在附图中的流程图和框图所对应的描述中，不同的方框所对应的操作或步骤也可以以不同于描述中所披露的顺序发生，有时不同的操作或步骤之间不存在特定的顺序。例如，两个连续的操作或步骤实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。框图 和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。

Claims (10)

  1. 一种用于送货装置的控制方法，其特征在于，包括：
    在送货装置的充电头连接充电插座的情况下，根据所述送货装置的电量对所述送货装置进行充电；
    所述送货装置的电量达到第一设定阈值后，根据接收到的用户指令及目标位置控制所述送货装置装货；
    所述送货装置装货完毕后，控制所述送货装置向所述目标位置移动。
  2. 根据权利要求1所述的方法，其特征在于，根据所述送货装置的电量对所述送货装置进行充电，包括：
    根据所述送货装置的电量进行直流快充及交流慢充的转换。
  3. 根据权利要求2所述的方法，其特征在于，根据所述送货装置的电量进行直流快充及交流慢充的转换，包括：
    在所述送货装置的电量没有达到第二设定阈值的情况下，采用直流快充方式进行充电；在所述送货装置的电量达到第二设定阈值的情况下，采用交流慢充方式进行充电。
  4. 根据权利要求3所述的方法，其特征在于，控制所述送货装置装货包括：
    根据所述用户指令控制送货装置开启，在检测到有物品进入所述送货装置后，控制所述送货装置关闭。
  5. 根据权利要求1至4任一项所述的方法，其特征在于，还包括：
    当所述送货装置到达所述目标位置时，控制送货装置开启。
  6. 根据权利要求5所述的方法，其特征在于，还包括：
    在检测到有物品离开所述送货装置后，控制所述送货装置关闭。
  7. 根据权利要求6所述的方法，其特征在于，在检测到有物品离开所述送货装置并控制所述送货装置关闭后，还包括：
    控制所述送货装置回到初始位置。
  8. 根据权利要求7所述的方法，其特征在于，所述目标位置通过计算定位信标广播的定位信标地址和接收信号强度指示值RSSI得到。
  9. 一种用于送货装置的控制装置，包括处理器和存储有程序指令的存储器，其特征在于，所述处理器被配置为在执行所述程序指令时，执行如权利要求1至8任一项所述的用于送货装置的控制方法。
  10. 一种冰箱，其特征在于，包括：
    送货装置，和，如权利要求9所述用于送货装置的控制装置。
PCT/CN2020/126874 2019-12-31 2020-11-05 一种用于送货装置的控制方法、装置及冰箱 WO2021135635A1 (zh)

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