CN110716567A - Mobile equipment and control method and control device thereof - Google Patents
Mobile equipment and control method and control device thereof Download PDFInfo
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- CN110716567A CN110716567A CN201910993659.4A CN201910993659A CN110716567A CN 110716567 A CN110716567 A CN 110716567A CN 201910993659 A CN201910993659 A CN 201910993659A CN 110716567 A CN110716567 A CN 110716567A
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000001174 ascending effect Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The application provides a mobile device and a control method and a control device thereof, wherein the method comprises the following steps: receiving a first moving instruction, a steering instruction and a second moving instruction sent by a scheduling system, wherein the first moving instruction comprises a steering position of the mobile equipment, and the second moving instruction comprises a destination of the mobile equipment; executing a first moving instruction to control the mobile equipment to move from the current position to a turning position along a linear direction, wherein the speed of the mobile equipment moving to the turning position is greater than zero; executing a steering instruction to control the mobile device to steer at a steering position; and executing a second movement instruction to control the mobile device to move from the turning position to the destination along the straight line direction, wherein the speed of the mobile device starting from the turning position is greater than zero. According to the control method of the mobile equipment, feedback time for sending the instructions is not available among the instruction action pieces, connection of a plurality of instruction actions is smooth, and working efficiency is high.
Description
Technical Field
The application relates to the field of intelligent equipment, in particular to mobile equipment and a control method and a control device thereof.
Background
The navigation mobile robot in the related art completes corresponding work tasks by receiving instructions of a scheduling system. Usually, a work task is completed by linking a plurality of command actions, and the command actions are not smoothly linked due to communication delay and the like, so that the work efficiency is affected.
Disclosure of Invention
The embodiment of the application provides a mobile device and a control method and a control device thereof, which are used for solving the problems in the related technology, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for controlling a mobile device, including:
receiving a first moving instruction, a steering instruction and a second moving instruction sent by a scheduling system, wherein the first moving instruction comprises a steering position of the mobile equipment, and the second moving instruction comprises a destination of the mobile equipment;
executing a first moving instruction to control the mobile equipment to move from the current position to a turning position along a linear direction, wherein the speed of the mobile equipment moving to the turning position is greater than zero;
executing a steering instruction to control the mobile device to steer at a steering position;
and executing a second movement instruction to control the mobile device to move from the turning position to the destination along the straight line direction, wherein the speed of the mobile device starting from the turning position is greater than zero.
In one embodiment, the speed of the mobile device as it moves to the destination is equal to zero.
In one embodiment, the control method further comprises:
receiving a tray ascending instruction sent by a dispatching system;
and before the mobile equipment moves to the destination from the steering position, executing a tray lifting instruction to enable the jacking motor and control the jacking motor to release the brake, and controlling the jacking motor to drive the tray to lift after the mobile equipment moves to the destination.
In one embodiment, the control method further comprises:
receiving a tray rotating instruction sent by a dispatching system;
when the tray is lifted, a tray rotation command is executed to control the tray to rotate.
In one embodiment, the control method further comprises:
and sending the current position to a dispatching system, so that the dispatching system determines a steering position between the current position and the destination according to the current position and the destination, and generates a first movement instruction, a steering instruction and a second movement instruction according to the current position, the destination and the steering position.
In a second aspect, an embodiment of the present application provides a control apparatus for a mobile device, including:
the system comprises a receiving module, a dispatching module and a control module, wherein the receiving module is used for receiving a first moving instruction, a steering instruction and a second moving instruction which are sent by the dispatching system, the first moving instruction comprises the steering position of the mobile equipment, and the second moving instruction comprises the destination of the mobile equipment;
the first execution module is used for executing a first movement instruction so as to control the mobile equipment to move from the current position to a steering position along a linear direction, wherein the speed of the mobile equipment moving to the steering position is greater than zero;
the second execution module is used for executing a steering instruction so as to control the mobile equipment to steer at a steering position;
and the third execution module is used for executing the second movement instruction to control the mobile equipment to move from the turning position to the destination along the linear direction, wherein the speed of the mobile equipment starting from the turning position is greater than zero.
In one embodiment, the speed of the mobile device as it moves to the destination is equal to zero.
In one embodiment, the receiving module is further configured to receive a tray ascending instruction sent by the scheduling system, and the control device further includes:
and the fourth execution module is used for executing the tray ascending instruction before the mobile equipment moves to the destination so as to enable the jacking motor and control the jacking motor to release the brake, and controlling the jacking motor to drive the tray to ascend after the mobile equipment moves to the destination.
In one embodiment, the receiving module is further configured to receive a tray rotation instruction sent by the scheduling system, and the apparatus further includes:
and the fifth execution module is used for executing a tray rotation instruction when the tray is lifted so as to control the rotation of the tray.
In one embodiment, the control device further comprises:
and the sending module is used for sending the current position to the dispatching system so that the dispatching system determines a steering position between the current position and the destination according to the current position and the destination, and generates a first movement instruction, a steering instruction and a second movement instruction according to the current position, the destination and the steering position.
In a third aspect, an embodiment of the present application provides a mobile device, where the mobile device includes: a memory and a processor. Wherein the memory and the processor are in communication with each other via an internal connection path, the memory is configured to store instructions, the processor is configured to execute the memory-stored instructions, and the processor is configured to cause the processor to perform the method of any of the above-described aspects when executing the memory-stored instructions.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program, and when the computer program runs on a computer, the method in any one of the above-mentioned aspects is executed.
According to the control method of the mobile equipment, feedback time for sending the instructions is not available among the instruction action pieces, and the connection of a plurality of instruction actions is smooth, so that the working efficiency of the mobile equipment is improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a flow chart of a control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an application scenario of a control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a control method according to an embodiment of the present application;
FIG. 4 is a flow chart of a control method according to an embodiment of the present application;
FIG. 5 is a flow chart of a control method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a control method according to an embodiment of the present application;
fig. 7 is a block diagram of a control apparatus according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a mobile device according to an embodiment of the present application;
fig. 9 is a block diagram of a mobile device according to an embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flowchart of a control method of a mobile device according to an embodiment of the present application. As shown in fig. 1, the control method may include:
step S101: receiving a first moving instruction, a turning instruction and a second moving instruction sent by a scheduling system, wherein the first moving instruction comprises a turning position of the mobile equipment, and the second moving instruction comprises a destination of the mobile equipment.
The first move instruction, the turn instruction, and the second move instruction may be sent by the scheduling system at the same time, that is, received by the mobile device at the same time, and after receiving the first move instruction, the turn instruction, and the second move instruction, the mobile device may store the first move instruction, the turn instruction, and the second move instruction in the cache. The first movement instruction, the steering instruction, and the second movement instruction may be sequentially transmitted by the scheduling system, that is, sequentially received by the mobile device, which is not limited in this embodiment.
In one example, a scheduling system can receive a current location transmitted by a mobile device, and determine a turnaround location between the current location and a destination based on the current location of the mobile device and the destination. And generating a first movement instruction, a steering instruction and a second movement instruction according to the relative position relation among the current position, the destination and the steering position, and sending the first movement instruction, the steering instruction and the second movement instruction to the mobile equipment. The first movement is used for controlling the mobile device to move from the current position to the turning position along the linear direction, the turning instruction is used for controlling the mobile device to turn at the turning position, and the second movement instruction is used for controlling the mobile device to move from the turning position to the destination along the linear direction.
Step S102: and executing a first movement instruction to control the mobile equipment to move from the current position to the steering position along the linear direction, wherein the speed of the mobile equipment moving to the steering position is greater than zero.
Step S103: and executing a steering instruction to control the mobile equipment to steer at the steering position.
Step S104: and executing a second movement instruction to control the mobile device to move from the turning position to the destination along the straight line direction, wherein the speed of the mobile device starting from the turning position is greater than zero. That is, the mobile device has a certain initial velocity when the turning position moves in a straight direction to the destination.
In one example, as shown in fig. 2, the mobile device moves from location a (i.e., the current location) to location B (i.e., the destination), in which the mobile device needs to move from location a to a turning point (i.e., a turning location) in a straight direction, and then from the turning point to location B after turning 90 degrees. As shown in fig. 3, the dispatch system generates and sends an instruction a (i.e., a first move instruction), an instruction B (i.e., a turn instruction), and an instruction c (i.e., a second move instruction) to the cart (i.e., the mobile device) according to the position a, the turn point, and the position B. And the mobile equipment receives the instruction a, the instruction b and the instruction c, stores the instruction a, the instruction b and the instruction c in a cache, and sequentially executes the instruction a, the instruction b and the instruction c. The instruction a is used for controlling the trolley to move from the position A to the turning inflection point; the instruction b is used for controlling the trolley to turn 90 degrees at the turning inflection point; and the instruction c is used for controlling the trolley to move from the turning point to the position B.
The movement of the trolley for executing the command b is connected with the movement of the command a, namely the trolley moves to a turning point at a certain speed and then performs pivot steering for 90 degrees; and the action of the trolley for executing the command c is linked with the action of the command B, namely the trolley moves to the position B at a certain speed after the turning point of the trolley finishes the steering action. That is, the speed of the carriage is greater than zero at both the end of the operation of command a and the start of the operation of command c.
In one example, as shown in fig. 8, the mobile device is provided with a driving means for executing a first movement instruction, a steering instruction, and a second movement instruction. In particular, the drive means comprise two drive wheels 1 arranged side by side and located on opposite sides of the trolley. In the execution process of the first movement instruction or the second movement instruction, the rotation directions and the rotation speeds of the two driving wheels 1 are the same, so that the mobile equipment can run along a straight line direction; during the execution of the steering command, the two driving wheels 1 rotate in opposite rotation directions at the same rotation speed (for example, one driving wheel 1 rotates in a clockwise direction, and the other driving wheel 1 rotates in a counterclockwise direction), so that the mobile device rotates around the center point of the two driving wheels 1 as a rotation center, thereby realizing pivot steering of the mobile device at the steering position.
More specifically, during the movement of the mobile device from the current position to the turning position during the execution of the first movement instruction, the two drive wheels 1 rotate in the same direction and at the same rotational speed, so that the mobile device can move in a straight direction from the destination to the turning position. When the mobile device moves to the turning position and executes a turning instruction, the two driving wheels 1 turn in opposite directions and at the same rotation speed, so that the mobile device rotates in situ at the turning position until the mobile device turns in a direction toward the destination. The speed of the mobile equipment when reaching the steering position is not zero, and the speed of the mobile equipment when reaching the steering position and running along the linear direction is converted into the initial angular speed of the trolley rotating in situ, so that the action of the mobile equipment executing the steering command is seamlessly connected with the action of executing the first mobile command. After the steering of the mobile device is completed, a second movement command is executed, in which case the two drive wheels 1 are adjusted to follow the same steering and rotational speed transfer, so that the mobile device can be moved in a straight direction from the steered position to the destination. The angular velocity of the mobile equipment is not zero when the mobile equipment finishes steering, and the angular velocity of the mobile equipment can be converted into the initial velocity when the mobile equipment moves from the steering position to the destination, so that the action of the mobile equipment for executing the second moving instruction is seamlessly connected with the action of executing the steering instruction.
According to the control method of the mobile device, the mobile device can receive a plurality of instructions and store the instructions in the cache, then the instructions are combined and sequentially executed, switching time is not needed in the connection process of the instructions, and compared with a serial execution mode which is usually adopted when the mobile device executes the instructions in the related art, the control method of the mobile device can eliminate feedback time for instruction sending, so that efficiency of the mobile device in executing tasks is improved. Moreover, the speed of the mobile device when the mobile device reaches the turning position from the current position and the speed of the mobile device when the mobile device is sent to the destination from the turning position are both greater than zero, so that the action connection of the mobile device when the mobile device executes the first movement instruction and the second movement instruction is smooth, the average speed of the mobile device when the mobile device moves to the destination from the current position can be improved, and the moving efficiency of the mobile device is improved.
In one embodiment, the speed of the mobile device as it moves to the destination is equal to zero. That is, the mobile device arrives at the destination and stays at the destination in order to perform the next task.
In one implementation, as shown in fig. 4, the control method of this embodiment further includes:
step S201: receiving a tray ascending instruction sent by a dispatching system;
step S202: and before the mobile equipment moves to the destination from the steering position, executing a tray lifting instruction to enable the jacking motor and control the jacking motor to release the brake, and controlling the jacking motor to drive the tray to lift after the mobile equipment moves to the destination. Wherein, the jacking motor can be controlled to start, and the jacking motor can be controlled to release the band-type brake to cancel locking.
In one example, the mobile device is provided with a tray assembly, and the tray assembly comprises a tray and a jacking motor, and the jacking motor is used for driving the tray to ascend and descend. The tray is suitable for lifting the goods, and the loading and unloading of the goods are realized by driving the tray to lift. And the tray ascending instruction is sent to the mobile equipment by the scheduling system along with the first moving instruction, the steering instruction and the second moving instruction I, and is stored in the cache. Before the mobile equipment moves to the destination, the jacking motor is started, the internal contracting brake of the jacking motor is released, and when the mobile equipment moves to the destination, the jacking motor is controlled to drive the tray to ascend. Because the ascending action of the tray is linked with the action that the mobile equipment moves to the destination, namely the tray is controlled to ascend immediately after the mobile equipment moves to the destination, the feedback time for sending the instruction is not required to wait. Therefore, the action of the mobile equipment for executing the second moving instruction and the tray lifting action can be linked smoothly, and the efficiency of lifting the goods by the mobile equipment is improved.
In one implementation, as shown in fig. 5, the control method of this embodiment further includes:
step S301: receiving a tray rotating instruction sent by a dispatching system;
step S302: when the tray is lifted, a tray rotation command is executed to control the tray to rotate.
In one example, the jacking motor is also used to control the tray rotation. It will be appreciated that the pallet needs to be rotated to a suitable lifting angle in advance before lifting the goods so that the pallet can lift the goods. The tray can synchronously execute a tray rotating command in the lifting process so that the tray rotates to a proper lifting angle before contacting with the goods. And the tray rotating instruction is sent to the mobile equipment by the scheduling system along with the first moving instruction, the steering instruction and the second moving instruction I, and is stored in the cache. After the mobile device moves to the destination, the motor drives the tray to rotate according to the tray rotating instruction so as to drive the goods to rotate to a proper angle. The tray rotation command and the tray lifting action are executed synchronously, namely the tray is not required to be controlled to rotate after the tray is lifted to a preset height, so that the feedback time of command sending is eliminated. Therefore, the mobile equipment can synchronously execute the tray lifting instruction and the tray rotating instruction, and the efficiency of moving and lifting goods is improved.
In one example, as shown in fig. 6, the tray-up command and the tray-rotation command may be executed in synchronization to further improve the movement efficiency of the tray. Specifically, an instruction a (i.e., a second move instruction), an instruction b (i.e., a tray rotate instruction), and an instruction c (a tray raise instruction) are synchronously transmitted to the mobile device by the scheduling system and stored to the cache. Wherein the instruction a is used for controlling the mobile equipment to move to a destination; the instruction b is used for controlling the tray of the mobile device to rotate; the instruction c is used for controlling the tray of the mobile device to ascend. And the action of executing the instruction b by the mobile equipment is linked with the action of executing the instruction a, namely the mobile equipment controls the tray to rotate immediately after reaching the destination. The action of the mobile device for executing the instruction b and the action of the mobile device for executing the instruction c can be parallel, so that the action corresponding to the instruction b and the action corresponding to the instruction c are combined into d action, namely the tray is synchronously driven to ascend and rotate, and the d action is connected with the action corresponding to the instruction a.
In one embodiment, the control method further comprises: and sending the current position to a dispatching system, so that the dispatching system determines a steering position between the current position and the destination according to the current position and the destination, and generates a first movement instruction, a steering instruction and a second movement instruction according to the current position, the destination and the steering position.
Fig. 7 is a block diagram illustrating a control apparatus of a mobile device according to an embodiment of the present application. As shown in fig. 7, the apparatus may include:
a receiving module 801, configured to receive a first movement instruction, a steering instruction, and a second movement instruction sent by a scheduling system, where the first movement instruction includes a steering position of a mobile device, and the second movement instruction includes a destination of the mobile device;
a first executing module 802, configured to execute a first moving instruction to control the mobile device to move from a current position to a turning position along a linear direction, where a speed of the mobile device moving to the turning position is greater than zero;
a second executing module 803, configured to execute a steering instruction to control the mobile device to steer at a steering position;
and a third executing module 804, configured to execute the second moving instruction to control the mobile device to move from the turning position to the destination along the straight direction, where a speed of the mobile device starting from the turning position is greater than zero.
In one embodiment, the speed of the mobile device as it moves to the destination is equal to zero.
In one embodiment, the receiving module is further configured to receive a tray ascending instruction sent by the scheduling system, and the apparatus further includes:
and the fourth execution module is used for executing the tray ascending instruction before the mobile equipment moves to the destination so as to enable the jacking motor and control the jacking motor to release the brake, and controlling the jacking motor to drive the tray to ascend after the mobile equipment moves to the destination.
In one embodiment, the receiving module is further configured to receive a tray rotation instruction sent by the scheduling system, and the apparatus further includes:
and the fifth execution module is used for executing a tray rotation instruction when the tray is lifted so as to control the rotation of the tray.
In one embodiment, the apparatus further comprises:
and the sending module is used for sending the current position to the dispatching system so that the dispatching system determines a steering position between the current position and the destination according to the current position and the destination, and generates a first movement instruction, a steering instruction and a second movement instruction according to the current position, the destination and the steering position.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
Fig. 9 shows a block diagram of a mobile device according to an embodiment of the present application. As shown in fig. 9, the mobile device includes: a memory 910 and a processor 920, the memory 910 having stored therein computer programs operable on the processor 920. The processor 920 implements the control method of the mobile device in the above-described embodiments when executing the computer program. The number of the memory 910 and the processor 920 may be one or more.
The mobile device further comprises:
and a communication interface 930 for communicating with an external device to perform data interactive transmission.
If the memory 910, the processor 920 and the communication interface 930 are implemented independently, the memory 910, the processor 920 and the communication interface 930 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
Optionally, in an implementation, if the memory 910, the processor 920 and the communication interface 930 are integrated on a chip, the memory 910, the processor 920 and the communication interface 930 may complete communication with each other through an internal interface.
Embodiments of the present application provide a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, the computer program implements the method provided in the embodiments of the present application.
The embodiment of the present application further provides a chip, where the chip includes a processor, and is configured to call and execute the instruction stored in the memory from the memory, so that the communication device in which the chip is installed executes the method provided in the embodiment of the present application.
An embodiment of the present application further provides a chip, including: the system comprises an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected through an internal connection path, the processor is used for executing codes in the memory, and when the codes are executed, the processor is used for executing the method provided by the embodiment of the application.
It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be an advanced reduced instruction set machine (ARM) architecture supported processor.
Further, optionally, the memory may include a read-only memory and a random access memory, and may further include a nonvolatile random access memory. The memory may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may include a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available. For example, Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct memory bus RAM (DR RAM).
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the present application are generated in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
The control method of the mobile equipment can eliminate the feedback time of instruction sending, thereby improving the efficiency of the mobile equipment for executing tasks; in addition, the speed of the mobile equipment when the mobile equipment reaches the turning position from the current position and the speed of the mobile equipment when the mobile equipment is sent to the destination from the turning position are both larger than zero, so that the action connection of the mobile equipment when the mobile equipment executes the first movement instruction and the second movement instruction is smooth, the average speed of the mobile equipment when the mobile equipment moves to the destination from the current position can be improved, and the moving efficiency of the mobile equipment is further improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes other implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the method of the above embodiments may be implemented by hardware that is configured to be instructed to perform the relevant steps by a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A method for controlling a mobile device, comprising:
receiving a first moving instruction, a turning instruction and a second moving instruction sent by a scheduling system, wherein the first moving instruction comprises a turning position of the mobile equipment, and the second moving instruction comprises a destination of the mobile equipment;
executing the first movement instruction to control the mobile device to move from the current position to the turning position along a straight line direction, wherein the speed of the mobile device moving to the turning position is greater than zero;
executing the steering instruction to control the mobile device to steer at the steering position;
executing the second movement instruction to control the mobile device to move from the turning position to the destination along a straight line direction, wherein the speed of the mobile device starting from the turning position is greater than zero.
2. The method of claim 1, wherein a speed of the mobile device moving to the destination is equal to zero.
3. The method of claim 1, further comprising:
receiving a tray ascending instruction sent by the dispatching system;
before the mobile equipment moves from the steering position to the destination, executing the tray ascending instruction to enable the jacking motor and control the jacking motor to release the brake, and after the mobile equipment moves to the destination, controlling the jacking motor to drive the tray to ascend.
4. The method of claim 3, further comprising:
receiving a tray rotating instruction sent by the dispatching system;
and when the tray rises, executing the tray rotating instruction to control the tray to rotate.
5. The method of any of claims 1 to 4, further comprising:
and sending the current position to a dispatching system, so that the dispatching system determines the steering position between the current position and the destination according to the current position and the destination, and generates the first movement instruction, the steering instruction and the second movement instruction according to the current position, the destination and the steering position.
6. A control apparatus of a mobile device, comprising:
the mobile terminal comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a first moving instruction, a steering instruction and a second moving instruction which are sent by a scheduling system, the first moving instruction comprises a steering position of the mobile device, and the second moving instruction comprises a destination of the mobile device;
the first execution module is used for executing the first movement instruction to control the mobile equipment to move from the current position to the turning position along a linear direction, wherein the speed of the mobile equipment moving to the turning position is greater than zero;
the second execution module is used for executing the steering instruction to control the mobile equipment to steer at the steering position;
and the third execution module is used for executing the second movement instruction to control the mobile equipment to move from the turning position to the destination along a straight line direction, wherein the speed of the mobile equipment starting from the turning position is greater than zero.
7. The apparatus of claim 6, wherein a speed of the mobile device moving to the destination is equal to zero.
8. The apparatus according to claim 6, wherein the receiving module is further configured to receive a tray ascending command sent by the scheduling system, and the apparatus further comprises:
and the fourth execution module is used for executing the tray ascending instruction before the mobile equipment moves to the destination so as to enable the jacking motor and control the jacking motor to release the brake, and controlling the jacking motor to drive the tray to ascend after the mobile equipment moves to the destination.
9. The apparatus of claim 8, wherein the receiving module is further configured to receive a tray rotation command sent by the scheduling system, and the apparatus further comprises:
and the fifth execution module is used for executing the tray rotation instruction when the tray is lifted so as to control the tray to rotate.
10. The apparatus of any one of claims 6 to 9, further comprising:
a sending module, configured to send the current location to a scheduling system, so that the scheduling system determines, according to the current location and the destination, the turning location between the current location and the destination, and generates the first movement instruction, the turning instruction, and the second movement instruction according to the current location, the destination, and the turning location.
11. A mobile device, comprising: comprising a processor and a memory, said memory having stored therein instructions that are loaded and executed by the processor to implement the method of any of claims 1 to 5.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112631490A (en) * | 2020-12-30 | 2021-04-09 | 北京飞讯数码科技有限公司 | Display interface control method and device, computer equipment and storage medium |
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