WO2019134635A1 - 一种设备控制方法及装置 - Google Patents

一种设备控制方法及装置 Download PDF

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Publication number
WO2019134635A1
WO2019134635A1 PCT/CN2019/070020 CN2019070020W WO2019134635A1 WO 2019134635 A1 WO2019134635 A1 WO 2019134635A1 CN 2019070020 W CN2019070020 W CN 2019070020W WO 2019134635 A1 WO2019134635 A1 WO 2019134635A1
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WIPO (PCT)
Prior art keywords
lifting
speed
distance
lifting device
transportation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/070020
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English (en)
French (fr)
Inventor
周琴
钟翔
李建军
陈茂林
余新化
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cainiao Smart Logistics Holding Ltd
Original Assignee
Cainiao Smart Logistics Holding Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cainiao Smart Logistics Holding Ltd filed Critical Cainiao Smart Logistics Holding Ltd
Priority to EP19736049.8A priority Critical patent/EP3722232A4/en
Publication of WO2019134635A1 publication Critical patent/WO2019134635A1/zh
Priority to US16/920,627 priority patent/US11422533B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1413—1D bar codes
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45014—Elevator, lift

Definitions

  • the present application relates to the field of logistics information technology, and in particular, to a device control method and apparatus.
  • sorting is one of the core links. Based on the sharp increase in the volume of express delivery mentioned above, the manual sorting and courier method can not meet the demand more and more, resulting in an automated sorting scheme.
  • the transport equipment such as AGV (automatic guided vehicle) is used to realize the automatic transportation of the logistics object, wherein the AGV is relatively short, and when the AGV goes to the workstation to receive the logistics object, the worker needs to bend over to the logistics object. Place on the AGV.
  • AGV automated guided vehicle
  • the AGV When the AGV is to place the logistics object in the object collection device, it also needs to dump the logistics object to the object collection device through a steel architecture platform that is compatible with the height of the object collection device.
  • an embodiment of the present application provides a device control method, by obtaining distance data between a running position of a transport device and a target position, and controlling operation of the lifting device of the transport device according to the distance data, and solving In the prior art, the manual operation is inconvenient and the cost is high.
  • the embodiment of the present application further provides a device control apparatus for ensuring implementation and application of the foregoing method.
  • the embodiment of the present application discloses a device control method, including:
  • the operation of the lifting device of the transport device is controlled based on the distance data.
  • the embodiment of the present application further discloses a device control apparatus, including:
  • An acquisition module configured to obtain distance data between a running position of the transportation device and the target position
  • control module configured to control operation of the lifting device of the transportation device according to the distance data.
  • an apparatus including:
  • One or more processors are One or more processors.
  • One or more machine readable medium having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform a device control method.
  • the embodiment of the present application further discloses one or more machine readable mediums, on which instructions are stored, and when the instructions are executed by one or more processors, a device control method is executed.
  • the embodiment of the present application controls the operation of the lifting device of the transportation device according to the distance data between the running position of the transportation device and the target position, and raises the lifting device to the transportation device when the transportation device reaches the target position.
  • the highest position because the transportation equipment adopts lifting device, which is highly ergonomically required, realizes the process of connecting the logistics package without manual bending, which makes the labor intensity of the worker low and improves the sorting efficiency of the sorting system. And does not need to use the steel structure platform to dump the logistics object to the object collection equipment, which reduces the installation cost of the sorting system and greatly improves the flexibility of the sorting system.
  • 1A is a schematic plan view of a logistics system according to an embodiment of the present application.
  • FIG. 1B is a schematic structural diagram of a transportation device according to an embodiment of the present application.
  • FIG. 1C is a schematic structural diagram of another transportation device according to an embodiment of the present application.
  • 1D is a schematic diagram of operation of a lifting device of a transportation device according to an embodiment of the present application
  • FIG. 1E is a schematic structural diagram of an object collection device according to an embodiment of the present application.
  • 1F is a schematic diagram of communication of a server according to an embodiment of the present application.
  • FIG. 1G is a schematic diagram of interaction of a device control method according to an embodiment of the present application.
  • FIG. 2 is a flow chart showing the steps of a device control method on the server side according to an embodiment of the present application
  • FIG. 3A is a flowchart of steps of a device control method on a server side according to an embodiment of the present application.
  • FIG. 3B is a flow chart showing the steps of another device control method on the server side according to an embodiment of the present application.
  • FIG. 4 is a flow chart showing steps of a device control method at a system level according to an embodiment of the present application
  • FIG. 5 is a structural diagram of a device control apparatus according to an embodiment of the present application.
  • FIG. 6 is a detailed structural diagram of another device control apparatus according to an embodiment of the present application.
  • 6B is a detailed structural diagram of another device control apparatus according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of hardware of an apparatus according to another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a transportation device according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of cooperation between a transportation device and an object collection device according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of cooperation between another transportation device and an object collection device according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of another transportation device according to an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of another transportation device according to an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of another transportation device according to an embodiment of the present application.
  • FIG. 14A is a schematic structural diagram of a chassis according to an embodiment of the present application.
  • FIG. 14B is a top view of a chassis according to an embodiment of the present application.
  • FIG. 14C is a side view of a chassis according to an embodiment of the present application.
  • FIG. 14D is a schematic diagram of a housing according to an embodiment of the present application.
  • Figure 14E is a side view of a housing according to an embodiment of the present application.
  • Figure 14F is a front elevational view of a housing according to an embodiment of the present application.
  • FIG. 15 is a structural diagram of a transportation system according to an embodiment of the present application.
  • Loading area refers to temporarily storing the logistics objects to be sorted on the truck to the distribution area near the connection station;
  • Connection station refers to the area where the worker performs the bag-out operation. The worker or machine can place the logistics object on the AGV.
  • Scanning code area The logistics object is pasted with a bar code list, and the bar code record records the logistics object characteristic information of the logistics object. After the worker places the logistics object in the AGV, the AGV needs to drive to the scanning code area, and the scanning code device set by the scanning code area is set. To automatically identify the logistics object feature information of the logistics object for subsequent task calculation.
  • Path area refers to the area that the AGV may occupy when walking, usually a flat land.
  • the logistics object can be understood as an object such as a logistics package.
  • the sorting of express parcels refers to the logistics parcels that are mixed together, sorted according to the rules of destinations, and with the vigorous development of logistics technology, they have got rid of the manual sorting of logistics parcels.
  • the automatic sorting of the logistics package can be automatically sorted by the robot automatic sorting operation platform, which greatly saves human resources and improves the sorting efficiency.
  • the sorting system includes: a server, a plurality of transport devices, a plurality of object collection devices divided according to destinations, and a scan code device.
  • FIG. 1A is a schematic plan view of a logistics system according to an embodiment of the present application.
  • the site sorted in the figure may be a flat site, and the functional area is divided in the embodiment of the present application.
  • the entire site is divided into a work area path area A1, an upper material area A2, and a scan code area A3.
  • the docking station A21 is set based on the loading area A2, and the scanning code unit A31 is set in the scanning code area A3.
  • A3 can also be other types of information acquisition areas, such as a near field communication type information acquisition area, A3 is a near field communication collection area, and A31 is a label scanning device. Labels can be set in the logistics package, and the tag can carry the logistics object characteristic information.
  • a plurality of transport equipment B1 (AGV) and object collection equipment C1 operate in the work area path area A1.
  • the basic sorting process for the sorting system is:
  • the single-piece logistics object is placed on the transportation device B1 by manpower or machine.
  • the transportation device B1 After the transportation device B1 carries the logistics object, it will go to the scanning code area A3 according to the preset path, and the transportation is carried out by the scanning code device A31.
  • the logistics object carried by the equipment B1 scans the code to obtain the logistics object characteristic information of the logistics object, that is, the destination information.
  • the scanning code device A31 sends the logistics object characteristic information to the server, and the server selects the logistics object characteristic information as the transportation device.
  • FIG. 1B is a schematic structural diagram of a transportation device provided by an embodiment of the present application, wherein the transportation device B1 may include a lifting device B11 and a tray B12, wherein the lifting device B11 can be telescopically lifted and lowered, and the tray B12 is used to carry a logistics object, and the tray B12 You can also do a counterclockwise flip action to receive a parcel or dump a parcel.
  • 1B is a state diagram when the transportation device is raised to the highest position.
  • FIG. 1C shows a schematic structural view of another transportation device provided by the embodiment of the present application, and FIG. 1C shows that the transportation device is lowered to State diagram at the lowest position. Referring to FIG.
  • FIG. 1D a schematic diagram of the operation of the lifting device of the transportation device provided by the embodiment of the present application is shown.
  • the transportation device B1 can gradually raise the lifting device B11 from the leftmost station in FIG. 1D to the rightmost station. It is also possible to gradually raise the lifting device B11 from the rightmost station in Fig. 1D to the leftmost station.
  • the transportation device B1 operates at a relatively fast speed, but when the weight of the logistics object carried by the tray B12 of the transportation device B1 is large, and the lifting device B11 is extended to a high position, The transport equipment B1 is dumped due to the instability of the center of gravity, causing an accident. Therefore, it is necessary to control the raising or lowering of the lifting device B11 according to the distance data between the operating position of the transporting device B1 and the target position, thereby preventing the transporting device B1 from traveling. It was dumped because of the unstable center of gravity.
  • the transportation equipment B1 can be operated either in the work area path area A1 or in the work area path area A1 and in the loading area A2 and the scan code area A3 according to requirements.
  • FIG. 1E is a schematic structural diagram of an object collection device according to an embodiment of the present disclosure.
  • the object collection device C1 is divided according to a destination.
  • a corresponding object collection device 1 can be set for a destination in Beijing, Shanghai, and Xi'an.
  • the object collection device 2 and the object collection device 3, the object collection device 1 exclusively carries the logistics package destined for Beijing, the object collection device 2 exclusively carries the logistics package destined for Shanghai, and the object collection device 3 exclusively carries the logistics destination to the destination of Xi'an Parcels, such division can facilitate the subsequent delivery process and improve logistics efficiency.
  • the height of the lifting device B11 of the transporting device B1 when raised to the highest position and the height of the object collecting device C1 can be kept consistent to facilitate dumping of the logistics package.
  • the object collection device C1 can be moved, for example, after the object collection device C1 is fully loaded, the bag operation can be performed by moving the object collection device C1 to the sewing bag area.
  • the scanning code area A3 is provided with one or more sets of scanning code devices A31, and the scanning code device A31 can be a bar code scanning code gun with a certain scanning range. Therefore, the worker or the machine is placing the logistics object on the transportation device.
  • the tray B12 of B1 is on, the side of the log object to which the barcode is attached needs to be placed upward, so that the scanning range of the scanning code device A31 can be matched.
  • the scanning device A31 can send the scanned object information to the scanned object.
  • the server so that the server assigns a corresponding path to the transport device B1 according to the logistics object characteristic information.
  • FIG. 1F is a schematic diagram of communication of a server provided by an embodiment of the present application.
  • the server can be connected with all the scanning code devices, the transportation device, and the object collection device in real time to determine the location of each transportation device and the object collection device, and determine the transportation.
  • the server can also assign a path to the transport device, and the server can also accept the sweep.
  • the logistics object characteristic information transmitted by the code device thereby determining the object collection device corresponding to the transportation device.
  • the target location includes at least one of a location of the picking node, a location of the scan code node, and a location of the receiving node; wherein the picking node refers to the docking station, and the scan code node refers to the scan code.
  • the device, the receiving node refers to an object collecting device.
  • FIG. 1G a schematic diagram of interaction of a device control method according to an embodiment of the present application is shown.
  • the server acquires first distance data between a running position of the transportation device and a location of the connection station.
  • the surface of the path area A1 and the loading area A2 may be covered with a two-dimensional code label coordinate grid, and each two-dimensional code label coordinates correspond to a position parameter, such as latitude and longitude information, etc., while in the transportation device.
  • a corresponding scanning device can be disposed at the bottom of B1, by scanning the coordinates of the two-dimensional code label of the location where the current transportation device B1 is located, thereby obtaining the location information of the current location of the transportation device B1, and transmitting the location information to the server, so that the server is obtained.
  • the database of the server stores real-time location information of the location of each access station A21, and the server determines the location of the transport device B1 and the connection station A21 according to the operation location of the transport device B1 and the location of the docking station A21.
  • the server sends a first control instruction to the transportation device according to the first distance data.
  • the lifting device B11 of the transportation device B1 can be controlled by the server through the first control command to rise when reaching the connection station A21. Up to the highest position, the lifting action needs to satisfy a certain condition that the first distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance.
  • the lifting device B11 is first controlled to perform a landing action, and The transport device B1 advances at a relatively fast speed.
  • the transport device B1 can be advanced at a slower speed without operating the lifting device B11, and additionally, at the first
  • the lifting device B11 is controlled to perform the raising operation until it reaches the highest position when reaching the docking station A21.
  • the transportation device goes to the connection station to receive the logistics object according to the first control instruction, and controls the operation of the lifting device.
  • the transport device B1 under the control of the first control command, the transport device B1 reaches the docking station A21 in the loading area A2, at which time the lifting device B1 is raised to the highest position, and the single-piece logistics object is placed by manpower or machine. On the transport device B1, and ensure that the logistics object is placed with the barcode side up.
  • the server acquires second distance data between the running position of the transport device and the scan code area.
  • the real-time location information of the transport device B1 is determined by the same method as that in step S1, and the second distance data is calculated according to the location information of the scan code device A31 in the scan code area A3 stored in the server. .
  • the position of the scanning code area A3 is the position of the scanning code device.
  • the server sends a second control instruction to the transportation device according to the second distance data.
  • step S2 the logic on which the second control command is based is identical to that in step S2.
  • the purpose is to ensure that the transport equipment B1 is stable in center of gravity during operation, and that the lift device B1 can be raised to the highest position when the transport device B1 arrives at the scan code area.
  • the transportation device scans the code in the scan code area according to the second control instruction, and controls the operation of the lifting device.
  • the scanning code device in the scanning code area scans the logistics object carried by the transportation device, and sends the scanning result to the server.
  • the scan code device A31 can send the scanned logistic object feature information to the server, so that the server allocates a corresponding path to the transport device B1 according to the logistic object feature information.
  • the logistics object feature information obtained by scanning code is usually destination information, such as Beijing, Shanghai, etc.
  • the server determines a path that the transport device travels to the corresponding object collection device.
  • the server After determining the destination corresponding to the logistics object, the server allocates a route to the corresponding object collection device C1 for the transportation device B1, such as a logistics object whose destination is Beijing, and assigns a corresponding transportation device B1 to Beijing.
  • the object collects the path of device C1.
  • the server acquires third distance data between a running position of the transport device and a location where the object collecting device is located.
  • the server can obtain the real-time location information of the object collection device C1 through real-time communication with the respective object collection device C1, and the server determines the transportation device B1 and the object collection according to the operation position of the transportation device B1 and the operation position of the object collection device C1.
  • the server sends a third control instruction to the transportation device according to the third distance data.
  • step S2 the logic on which the third control command is based is identical to that in step S2.
  • the purpose is to ensure that the transport equipment B1 is stable during the operation, and that the lifting device B1 can be raised to the highest position when the transport device B1 arrives at the object collecting device.
  • the transportation device goes to the object collection device according to the third control instruction, and controls the operation of the lifting device.
  • the lifting device B1 When the transporting device B1 reaches the object collecting device, the lifting device B1 is raised to the highest position, and at this time, the logistics object carried by the pallet B12 of the transporting device B1 can be dumped into the object collecting device for collection by the dumping cargo operation.
  • sorting transportation has the following disadvantages: (1) Because the AGV is short, the worker needs to bend over each time the package is placed, which is inconvenient for the worker to operate. (2) It is necessary to dump the logistics object to the object collection device by means of the steel architecture platform, resulting in a significant increase in cost.
  • the sorting system provided by the embodiment of the present application overcomes the above disadvantages well:
  • the sorting system of the embodiment of the present application does not rely on a fixed sorting device (such as a steel structure sorting platform), all transport equipment is moved in the same floor, and all object sorting equipment and objects are collected. The equipment is also on the same floor.
  • a fixed sorting device such as a steel structure sorting platform
  • the position, size, and quantity of the object collection device cannot be modified once the sorting device is completed.
  • the position, size, and quantity of the object collection device can be dynamically adjusted according to the distribution of the object flow direction at any time according to the embodiment of the present application. For example, if it is expected that the number of objects going to a certain place is greatly increased, the number of devices collected to the object in the place, the size of the device to be collected to the object in the place, and the position of the object collecting device to the place may be adjusted from the object. The entrance is closer, which increases system efficiency.
  • the sorting system is customized for a certain site, and once it is built, it is difficult to migrate to another site, which increases the cost of site migration.
  • the mobile device, the object collection device, the object sorting device, the information acquisition device and the like are transported, and the installation period of the new site is short, and the site can be flexibly expanded without being affected by the site difference, thereby greatly Reduce the cost of site migration.
  • the second aspect realizes automatic sorting by integrating the AGV of the lifting device, and uses the distance data between the running position of the transportation device and the target position to control the operation of the lifting device of the transportation device to meet the transportation device.
  • the lifting device When running to the docking station, the scanning code area and the object collection equipment, the lifting device is raised to the highest position, which facilitates the worker's operation and the dumping of the package, and avoids the need for the worker to bend over each time the package is placed, thereby reducing the labor intensity.
  • FIG. 2 a flow chart of steps of an apparatus control method embodiment of the present application is shown from the server side, and specifically includes the following steps:
  • Step 210 Obtain distance data between the running position of the transportation device and the target position.
  • a server for controlling the operation of each device, a plurality of transportation devices, a plurality of object collection devices divided according to destinations, and a scanning code device are disposed in the logistics system.
  • the target location includes at least one of a location of a pickup node, a location of a scan code node, and a location of a delivery node; wherein the pickup node refers to a connection station, and the scan code node refers to a scan A code device, the receiving node refers to an object collecting device.
  • a picking node, a scan code node, and a receiving node are set in the logistics system.
  • the pick-up node transport device receives the location of the logistics object; the scan code node is the location where the feature information of the logistic object is scanned; the receiving node is the destination of the transport object to which the transport device transfers.
  • the picking node may be the docking station A21, and the location of the picking node is the location of the docking station A21.
  • the scan code node is the scan code device A31, and the position of the scan code node is the position of the scan code device A31, which is actually the position of the scan code area A3 where the scan code device A31 is located.
  • the receiving node is the aforementioned object collecting device C1, and the location of the receiving node is the current location of the object collecting device C1.
  • the target location may be at least one of a location of the picking node, a location of the scan code node, and a location of the receiving node.
  • the target location will change during different transportation processes.
  • the embodiment of the present application may also set multiple transport devices, multiple object collection devices divided according to destinations, and scan code devices at the same level, such as the same floor.
  • the logistics object can be an object such as a logistics package.
  • the surface of the path area A1 and the loading area A2 may be covered with a two-dimensional code label coordinate grid, and each two-dimensional code label coordinate corresponds to a position parameter.
  • the corresponding scanning device can be set on the transport device B1, and the information of the current location of the transport device B1 is obtained by scanning the coordinates of the two-dimensional code label of the location where the current transport device B1 is located, and the information is obtained.
  • Send to the server so that the server gets the real-time running position of the transport device B1.
  • a positioning module with higher precision can be set on the transport device B1, and the information of the current location of the transport device B1 is obtained by the positioning module.
  • the database of the server stores real-time location information of each of the connection stations A21 and the scanning code device A31 in each scanning code area A3, and the server can also communicate with the object collection device C1 in real time, thereby obtaining real-time location information of the object collection device C1.
  • the server determines the transportation according to the operation position of the transportation equipment B1 and the target position (the target position can be the location of the connection station A21, the location of the scanning code device A31 in each scan code area A3, and the location of the object collection device C1). Distance data between the operating position of the device B1 and the target position.
  • Step 220 Control the operation of the lifting device of the transportation device according to the distance data.
  • the transport equipment can have three corresponding target locations: a docking station, a scanning code device, and an object collecting device.
  • the distance between the transport device and the location of the docking station may be the first distance data.
  • the distance between the transport device and the location of the scan code device may be the second distance data.
  • the distance between the transport device and the location of the object collection device may be the third distance data.
  • the above first distance data, the second distance data and the third distance data need to meet certain conditions before the server can trigger the control command sent by the server to the transportation device for the running speed of the transportation device and/or the lifting device to meet the transportation device.
  • the lifting device is raised to the highest position, and at the same time, the transportation device is operated at a reasonable speed, and the center of gravity is stable during the operation.
  • the distance data between the running position of the transportation device and the target position is obtained, and according to the distance data, the operation of the lifting device of the transportation device is controlled, so that the lifting device rises when the transportation device reaches the target position.
  • the transportation equipment adopts lifting device it is highly ergonomically required, and realizes the process of connecting the logistics package without manual bending, which makes the labor intensity of the worker low and improves the classification system. Sorting efficiency; and does not need to use the steel structure platform to dump the logistics object to the object collection equipment, which reduces the installation cost of the sorting system and greatly improves the flexibility of the sorting system.
  • FIG. 3A a flow chart of steps of an apparatus control method embodiment of the present application is shown from the server side, and specifically includes the following steps:
  • Step 310 Obtain distance data between the running position of the transportation device and the target position.
  • step 210 For the step, reference may be made to step 210 above, and details are not described herein again.
  • the transport device may also send information to the server that has carried the logistics object.
  • Step 312 If the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance, then the lifting device is controlled to rise from the current position at the first speed.
  • the server may control the transportation device to perform some special actions, such as: controlling the lifting device of the transportation device to rise or fall, and controlling the transportation device to operate in the sorting system at a preset speed, and the corresponding position of the transportation device
  • the utility model can be a connection station, a scanning code device and an object collecting device.
  • the first preset distance s1 L*v2/v1
  • L is the lifting device
  • v2 is the maximum speed of the transport equipment
  • v1 is the lifting speed of the lifting device
  • v2 and v1 are all according to the lifting device included in the transport equipment and transport equipment.
  • ⁇ s is the distance adjustment constant, which can be set according to the requirements or according to the experiment, so that the transport equipment can control the lifting and lowering device of the transport equipment after the distance data enters the range between s1 and s2. Ensure that the lifting device has reached the highest point when it reaches the target position.
  • the current location is the lowest location.
  • the transportation device controls the lifting and lowering device of the transportation device to ensure that the lifting device has risen to the highest point when reaching the target position.
  • the current position of the lifting device may not be at the lowest position, so as long as it is not at the highest position, it can be controlled to rise.
  • the traveling speed of the transportation device can be reduced, such as from the second speed to the third speed, wherein the second speed is greater than the third speed.
  • Step 314 If the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance, and the current position is already at the highest position, then the lifting device is controlled to remain at the highest position.
  • the highest position of the lifting device is maintained. Until driving to the target position.
  • the third speed can be traveled, and the third speed is less than the second speed.
  • the distance data between the running position of the transportation device and the target position is obtained, and according to the distance data, the operation of the lifting device of the transportation device is controlled, so that the lifting device rises when the transportation device reaches the target position.
  • the transportation equipment adopts lifting device, it is highly ergonomically required, and realizes the process of connecting the logistics package without manual bending, which makes the labor intensity of the worker low and improves the classification system.
  • Picking efficiency and does not need to use the steel structure platform to dump the logistics object to the object collection equipment, which reduces the installation cost of the sorting system, greatly improves the flexibility of the sorting system; and, when reaching a certain target position, it is guaranteed
  • the lifting device is raised to the highest point for convenient operation.
  • the lifting device is raised to the highest point to facilitate the worker to place the logistics object, and the lifting device is raised to the highest position when the location of the object collecting device is reached.
  • Point convenient to transfer logistics objects to object collection equipment, without steel frame platform Finish the sorting of the goods.
  • FIG. 3B a flow chart of the steps of the device control method embodiment of the present application is shown from the server side, and specifically includes the following steps:
  • Step 320 Obtain distance data between the running position of the transportation device and the target position.
  • step 210 For the step, reference may be made to step 210 above, and details are not described herein again.
  • Step 322 if the lifting device is at the highest position and the distance data is greater than or equal to a third preset distance, then controlling the transportation device to travel at the second speed and controlling the lifting device to descend from the highest position at the first speed ;
  • the third preset distance s3 2L*v2/v1+ ⁇ s; wherein, L is the total length of the lifting device, the v2 is the maximum speed of the transport device, and the v1 is the The lifting speed of the lifting device; the ⁇ s is a distance adjustment constant.
  • the transportation device can be driven at the third speed, and after the lifting device is lowered to the lowest point, the transportation device is driven at the second speed, wherein the second speed is greater than the first speed. Three speeds. Further avoiding the phenomenon that the transportation equipment is traveling too fast, and the transportation equipment loaded with the logistics object is unstable due to the unstable center of gravity.
  • Step 324 if the lifting device is located at the highest position and the distance data is less than the third predetermined distance, then the transportation device is controlled to run at a third speed, wherein the third speed is less than the second speed.
  • the transportation device is controlled to run at a slower third speed, at which time the target position is relatively close, not It is necessary to speed up and drive at a slower third speed, and there is no need to continue to operate the lifting device to maintain the highest position.
  • Step 326 If the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance, then the lifting device is controlled to rise from the current position at the first speed.
  • Step 326 refers to the description of the foregoing step 312, and will not be described in detail herein.
  • the lifting device carries the logistics object, and the lifting device is at the highest point.
  • the scan code device scans the feature information of the logistics object and sends it to the server, and the scan code device can also send the identity information of the transport device carrying the logistics object to the server.
  • the server determines an object collection device according to the feature information, and then plans a travel path for the transportation device according to the target location where the object collection device is located and the operation position of the transportation device. After planning, the server can determine the distance data between the transport device and the object collection device.
  • the server determines whether the distance data is greater than or equal to the third preset distance. If the distance data is greater than or equal to the third preset distance, the process proceeds to step 322, indicating that the running position and the target position are far apart, and the AGV needs to be Driving at a higher speed to improve the sorting efficiency, the process of raising the lifting device after the first drop can be completed, then in order to avoid the AGV dumping due to the high center of gravity, the lifting device is lowered to the lowest point, and at the second higher speed.
  • step 324 indicating that the two positions of the running position and the target position are relatively close, and the process of raising the lifting device after the first landing is not completed, so the transport device is controlled to Driving at a third speed less than the second speed and keeping the lifting device at the highest position.
  • the running position is continuously sent to the server in the foregoing manner, and the server monitors the distance data from the target position in real time, and determines whether the distance data is greater than or equal to the first preset distance and Less than or equal to the second preset distance, and the current position of the lifting device. If the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance, and the current position of the lifting device is not at the highest position, then step 326 is entered to control the lifting device from the current position. Rise at the first speed.
  • the device control method provided by the embodiment of the present application does not depend on a fixed sorting device (for example, a steel structure sorting platform), all transport devices are in the same floor, and all object sorting devices and objects are collected. The equipment is also on the same floor.
  • a fixed sorting device for example, a steel structure sorting platform
  • all transport devices are in the same floor
  • all object sorting devices and objects are collected.
  • the equipment is also on the same floor.
  • the position, size, and quantity of the object collection device cannot be modified once the sorting device is completed.
  • the position, size, and quantity of the object collection device can be dynamically adjusted according to the distribution of the object flow direction at any time according to the embodiment of the present application. For example, if it is expected that the number of objects going to a certain place is greatly increased, the number of devices collected to the object in the place, the size of the device to be collected to the object in the place, and the position of the object collecting device to the place may be adjusted from the object. The entrance is closer, which increases system efficiency.
  • the sorting system is customized for a certain site, and once it is built, it is difficult to migrate to another site, which increases the cost of site migration.
  • the mobile device, the object collection device, the object sorting device, the information acquisition device and the like are transported, and the installation period of the new site is short, and the site can be flexibly expanded without being affected by the site difference, thereby greatly Reduce the cost of site migration.
  • the second aspect realizes automatic sorting by integrating the AGV of the lifting device, and uses the distance data between the running position of the transportation device and the target position to control the operation of the lifting device of the transportation device to meet the transportation device.
  • the lifting device is raised to the highest position, which facilitates the worker's operation and the dumping of the package, avoiding the need for the worker to bend over each time the package is placed, reducing labor. strength.
  • the system layer includes: a server, a plurality of transport devices, and the like, and a plurality of object collection devices divided according to the destination.
  • the docking station and the scanning area are shown in the system layer.
  • FIG. 4 specifically may include the following steps:
  • the server obtains first distance data between a running position of the transportation device and a location of the connection station.
  • the server sends a first control instruction to the transportation device according to the first distance data.
  • the transportation device goes to the connection station to receive the logistics object according to the first control instruction, and controls the operation of the lifting device.
  • the server acquires second distance data between a running position of the transport device and a location of the scan code device.
  • the location of the scanning code device can be understood as the position of the scanning code area.
  • the server sends a second control instruction to the transportation device according to the second distance data.
  • the transportation device scans the code at the location of the scanning code device according to the second control instruction, and controls the operation of the lifting device.
  • the scanning code device scans the logistics object carried by the transportation device, and sends the scan result to the server.
  • the server determines a path that the transport device travels to the corresponding object collection device.
  • the server acquires third distance data between a running position of the transportation device and a location where the object collection device is located.
  • the server sends a third control instruction to the transportation device according to the third distance data.
  • the transportation device goes to the object collection device according to the third control instruction, and controls the operation of the lifting device.
  • the embodiment of the present application has low requirements on the shape and space of the site, is easy to maintain, has low construction difficulty, short cycle, low cost, flexibility and expandability, and reduces the labor intensity of the worker and improves the sorting efficiency.
  • FIG. 5 a structural diagram of a device control apparatus (for example, the server 500) of the present application is shown. Specifically, the following modules may be included:
  • the obtaining module 510 is configured to obtain distance data between the running position of the transportation device and the target position.
  • the control module 520 is configured to control the operation of the lifting device of the transportation device according to the distance data.
  • the target location includes at least one of a location of a pickup node, a location of a scan code node, and a location of a delivery node; wherein the pickup node refers to a connection station, and the scan code node refers to a scan A code device, the receiving node refers to an object collecting device.
  • control module 520 includes:
  • the first riser module 521 is configured to control the lifting device to rise from the current position at the first speed if the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance.
  • the current location is the lowest location.
  • control module 520 includes:
  • the hover sub-module 522 is configured to control the lifting device to remain at the highest position when the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance, and the current position is already at the highest position. .
  • the first preset distance s1 L*v2/v1
  • the second preset distance s2 L*v2/v1+ ⁇ s
  • the L is the total length of the lifting device
  • the v2 is the maximum speed of the transportation device
  • the v1 is the lifting speed of the lifting device
  • the ⁇ s is a distance adjustment constant.
  • control module 520 includes:
  • a drop sub-module 531 configured to control the transport device to travel at a second speed and control the lifting device from a highest position if the lifting device is at a highest position and the distance data is greater than or equal to a third predetermined distance The first speed drops.
  • control module 520 includes:
  • a speed limiting sub-module 532 configured to control the transportation device to travel at a third speed if the lifting device is at a highest position and the distance data is less than a third predetermined distance, wherein the third speed is less than the Second speed.
  • the third preset distance s3 2L*v2/v1+ ⁇ s; wherein, L is the total length of the lifting device, the v2 is the maximum speed of the transport device, and the v1 is the The lifting speed of the lifting device; the ⁇ s is a distance adjustment constant.
  • control module 520 includes:
  • the second riser module 533 is configured to control the lifting device to rise from the current position at the first speed if the distance data is greater than or equal to the first preset distance and less than or equal to the second preset distance.
  • the first preset distance s1 L*v2/v1
  • the second preset distance s2 L*v2/v1+ ⁇ s
  • the L is the total length of the lifting device
  • the v2 is the maximum speed of the transportation device
  • the v1 is the lifting speed of the lifting device
  • the ⁇ s is a distance adjustment constant.
  • the distance data between the running position of the transportation device and the target position is obtained, and according to the distance data, the operation of the lifting device of the transportation device is controlled, so that the lifting device rises when the transportation device reaches the target position.
  • the transportation equipment adopts lifting device it is highly ergonomically required, and realizes the process of connecting the logistics package without manual bending, which makes the labor intensity of the worker low and improves the classification system. Sorting efficiency; and does not need to use the steel structure platform to dump the logistics object to the object collection equipment, which reduces the installation cost of the sorting system and greatly improves the flexibility of the sorting system.
  • the position, size, and quantity of the object collection device cannot be modified once the sorting device is completed.
  • the position, size, and quantity of the object collection device can be dynamically adjusted according to the distribution of the object flow direction at any time according to the embodiment of the present application. For example, if it is expected that the number of objects going to a certain place is greatly increased, the number of devices collected to the object in the place, the size of the device to be collected to the object in the place, and the position of the object collecting device to the place may be adjusted from the object. The entrance is closer, which increases system efficiency.
  • the sorting system is customized for a certain site, and once it is built, it is difficult to migrate to another site, which increases the cost of site migration.
  • the mobile device, the object collection device, the object sorting device, the information acquisition device and the like are transported, and the installation period of the new site is short, and the site can be flexibly expanded without being affected by the site difference, thereby greatly Reduce the cost of site migration.
  • the second aspect realizes automatic sorting by integrating the AGV of the lifting device, and uses the distance data between the running position of the transportation device and the target position to control the operation of the lifting device of the transportation device to meet the transportation device.
  • the lifting device is raised to the highest position, which facilitates the worker's operation and the dumping of the package, and prevents the worker from bending over each time the package is placed, reducing labor. strength.
  • the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.
  • FIG. 7 is a schematic structural diagram of a server according to an embodiment of the present application.
  • the server 700 can be used to implement the device control method provided in the above embodiments.
  • the server 700 can vary considerably depending on configuration or performance, and can include one or more central processing units (CPUs) 722 (eg, one or more processors) and memory 732, one or one
  • the storage medium 730 (for example, one or one of the Shanghai quantity storage devices) storing the application 742 or the data 744 above.
  • the memory 732 and the storage medium 730 may be temporarily stored or persistently stored.
  • the program stored on storage medium 730 may include one or more modules (not shown), each of which may include a series of instruction operations in the server.
  • central processor 722 can be configured to communicate with storage medium 730, executing a series of instruction operations in storage medium 730 on server 700.
  • Server 700 may also include one or more power sources 726, one or more wired or wireless network interfaces 750, one or more input and output interfaces 758, one or more keyboards 756, and/or one or more operating systems 741 For example, Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • the central processor 722 can execute instructions on the server 700 for the following operations:
  • the operation of the lifting device of the transport device is controlled based on the distance data.
  • the central processing unit 722 can execute the aforementioned instructions executed on the server side on the server 700.
  • Embodiments of the present application provide an apparatus, on which one or more machine readable mediums having instructions for causing the apparatus to perform a device control method when the instructions are executed by the one or more processors .
  • Embodiments of the present application also provide one or more machine readable medium having stored thereon instructions that, when executed by one or more processors, perform a device control method.
  • FIG. 8 is a schematic structural diagram of a transportation device according to an embodiment of the present disclosure, which may specifically include:
  • the lifting component 82 of the transporting device in the docking station of the logistics sorting system, is at the highest position, and at this time, the single-piece logistics object is placed on the carrying component 81 of the transporting device by human or machine. After the transport device carries the logistics object, it will go to the scan code area according to the preset path to scan the code, and move to the object collection device according to the scan code result. When the transport device is located in the object collection device, the lifting member 82 is also at the highest position and passes The carrier member 81 unloads the logistics object into the object collection device, thereby completing the sorting of the logistics object.
  • the lifting member 82 can be telescopically raised and lowered.
  • the lifting member 82 can specifically include three telescopic tubes 821 , telescopic tubes 822 , and telescopic tubes 823 , and the telescopic tubes 821 , the telescopic tubes 822 , and the telescopic tubes 823 .
  • the socket connection is sequentially connected, the assembly of the lifting member 82 is completed, and the motor is driven and expanded.
  • FIG. 8 shows a schematic diagram of the transportation device when the lifting member 82 is extended to the highest position. Referring additionally to FIG. 1C, the lifting member is shown. State diagram when reducing to the lowest position. Referring to FIG.
  • FIG. 1D a schematic diagram of the operation of the lifting device of the transportation device provided by the embodiment of the present application is shown.
  • the transportation device can gradually raise the lifting component from the leftmost station in FIG. 1D to the rightmost station, or Lift the lifting member from the rightmost station in Figure 1D to the leftmost station.
  • the carrier member 81 is used to carry a logistics object, and the carrier member 81 can also dump the logistics object to the object collection device.
  • Figure 1C shows a state diagram when the transport device is lowered to the lowest position.
  • FIG. 1D a schematic diagram of the operation of the lifting device of the transportation device provided by the embodiment of the present application is shown.
  • the transportation device B1 can gradually raise the lifting device B11 from the leftmost station in FIG. 1D to the rightmost station. It is also possible to gradually raise the lifting device B11 from the rightmost station in Fig. 1D to the leftmost station.
  • the body member 83 may be provided with a moving device (wheel, crawler, etc.) for driving the transport device for movement.
  • a moving device wheel, crawler, etc.
  • the present application provides a transportation device by providing a carrier member, a lifting member, a vehicle body member; one end of the lifting member is coupled to the vehicle body member, and the other end of the lifting member is coupled to the carrier member; the lifting member is used to raise the carrier member or Landing the load bearing components. Because the transportation equipment adopts lifting and lowering lifting device, the working height of the transportation equipment meets the ergonomic requirements, and the process of connecting the logistics package is realized without manual bending, which makes the labor intensity of the worker low and improves the sorting.
  • the sorting efficiency of the system; and the need to dump the logistics object to the object collection device by means of the steel structure platform reduces the installation cost of the sorting system and greatly improves the flexibility of the sorting system.
  • the carrying member 81 includes: a tray 811 and a dumping control member 812 ; one side of the tilting control member 812 is connected to the lifting member 82 , and a side of the tilting control member 812 facing away from the lifting member 82 is connected to the tray 811 ;
  • the dump control unit 812 controls the tray 811 to rise or fall with one end of the tray 811 as an axis.
  • the height of the tray 811 is higher than the height of the stream object inlet C11 of the object collecting device C1.
  • the lifting member 82 of the transportation device when the transportation device moves to the corresponding object collection device C1, the lifting member 82 of the transportation device is raised to the highest position at this time, and the maximum lifting stroke length of the lifting member 82 needs to be larger than that of the object collecting device C1.
  • the height of the logistics object inlet C11 is such that the height of the tray 811 can be higher than the height of the logistics object inlet C11 of the object collecting device C1, and if the height of the tray 811 is lower than the height of the logistics object inlet C11 of the object collecting device C1, Convenient for dumping logistics objects and creating problems with dumping failures.
  • the tray 811 carries the logistics object and is placed horizontally.
  • one of the dumping control members 811 may be The side is connected to the lifting member 82, and the side of the tilting control member 811 facing away from the lifting member 82 is coupled to the tray 812 via the spindle support frame 813, and the tilting control member 811 can drive the spindle support frame 813 to rotate clockwise or counterclockwise in FIG.
  • the object collection device C1 has a logistics object entry C11.
  • the carrier member 81 includes: a conveyor belt mounting base 814 , a conveyor belt fixing shaft 815 , a conveyor belt 816 , and a conveyor belt pulley 817 ;
  • the table 814 is connected to the lifting member 82, the belt fixing shaft 815 is disposed on the inner ring of the conveyor belt 817, and both ends of the belt fixing shaft 815 are fixedly coupled to the belt mounting table 814; the outer ring of the belt pulley 817 is connected to the inner side of the belt 816, After the lifting member 82 is raised to the highest position, the plane in which the conveyor belt 816 is located is at least higher than the height of the stream object inlet C11 of the object collecting device C1.
  • the transportation device can also transfer the logistics object to the logistics object inlet C11 of the object collection device C1 by means of conveyor transportation.
  • the conveyor pulley 817 is fixed on the conveyor mounting platform 814 by the conveyor fixing shaft 815.
  • the conveyor belt 816 connected to the outer ring of the conveyor pulley 817 is rotated clockwise or counterclockwise, in the docking station of the logistics sorting system, the lifting unit of the transport equipment 82 is in the highest position, at this time, the conveyor pulley 817 is not moved, the conveyor belt 816 is stationary, and a single-piece logistics object is placed on the surface of the conveyor belt 816 by human or machine, and is driven when the transportation equipment has just moved to the corresponding object collection device C1.
  • the conveyor belt 817 rotates to drive the conveyor belt 816, and the logistics object placed on the conveyor belt 816 is put into the logistics object inlet C11. It should be noted that the moving direction of the conveyor belt 816 needs to face the logistics object inlet C11, so that the logistics object can accurately input the logistics. Object entry C11.
  • the carrier member 81 includes: a loading platform 818, an ejection tray 819, an ejection slide 8191, and an ejection baffle 8192;
  • the stage 818 is connected to the lifting member 82;
  • the ejection tray 819 is disposed on the side of the stage 818 facing away from the lifting member 82, and the plane in which the ejection tray 819 is located forms a predetermined angle with the plane in which the stage 818 is located;
  • the ejection baffle 8192 is disposed on the ejection slide 8191 on the ejection slide 8191 for moving along the ejection slide 8191, and ejecting the logistics object carried by the ejection tray 819 into the object collection device C1.
  • Logistics object entrance C11 is disposed on the ejection slide 8191 on the ejection slide 8191 for moving along the ejection slide 8191, and ejecting the logistics object carried by the ejection tray 819 into the object collection
  • the transportation device can also put the logistics object into the logistics object inlet C11 of the object collection device C1 by means of ejection transportation.
  • the ejection tray 819 can carry the logistics object, and one end of the ejection tray 819 passes through the support rod. Connected to the stage 818 such that the height of one end of the ejection tray 819 is higher than the height of the other end of the ejection tray 819, and the ejection baffle 8192 can be moved along the ejection slide 8191 under electric driving, and the ejection baffle 8192 is ejected in the reset state.
  • the other end of the tray 819 has a lower height.
  • the lifting member 82 of the transporting device is at the highest position, and the ejecting baffle 8192 is in the reset state, and the single-piece logistics object is manned by the human or the machine.
  • the ejection baffle 8192 Placed on the surface of the ejection tray 819, the ejection baffle 8192 can be placed against the object of the flow to prevent it from falling.
  • the transport device has just moved to the corresponding object collecting device C1
  • the ejecting baffle 8192 is moved along the ejection slide 8191.
  • the logistics object placed on the ejection tray 819 is ejected into the logistics object inlet C11, and after the input is completed, the ejection baffle 8192 is restored. It should be noted that the height of the ejection tray 819 required for the high end of the inlet stream objects C11, so that the object can be accurately stream into the inlet stream objects C11.
  • the transportation device further includes: a processor, a memory, a wireless communication module; the lifting component 82 includes a lifting driver (not shown in FIG. 8); the vehicle body component 83 includes a traveling driver (not drawn in FIG. 8) And the processor is respectively connected to the wireless communication module, the memory, the lifting drive, and the traveling driver.
  • a processor, a memory, and a wireless communication module are mounted in the body member 83 or in the carrier member 81.
  • the wireless communication module can communicate with the server, receive a control command sent by the server or send data to the server, the memory can store the data, and the processor can process the control command sent by the server to drive the transportation device to operate.
  • the travel drive and the lift drive may be connected to a power source and driven by electric power, the travel drive for driving the body member 83 to move, and the lift drive for driving the lift member 82 to be raised or lowered.
  • the lifting component is an electric push rod or a scissor lift.
  • the transport device shown in FIG. 8 is applied with an electric pusher type lifting member.
  • the lifting member 82 may specifically include three telescopic tubes 821, a telescopic tube 822, a telescopic tube 823, and a telescopic tube. 821.
  • the telescopic tube 822 and the telescopic tube 823 are sleeve-connected in sequence, and the assembly of the lifting member 82 is completed, and the motor is driven to expand and contract.
  • FIG. 13 which is a schematic structural view of another transport apparatus according to an embodiment of the present application, the transport apparatus shown in FIG.
  • a side of the body member 83 remote from the lifting member 82 is provided with a graphic code scanning device 84; the graphic code scanning device 84 is connected to the processor.
  • the surface of the sorting system and the surface of the loading area may be covered with a two-dimensional code label coordinate grid, and each two-dimensional code label coordinate corresponds to a position parameter, such as latitude and longitude information, etc.
  • the side of the body member 83 remote from the lifting member 82 is provided with a graphic code scanning device 84 for scanning the coordinates of the two-dimensional code label of the position of the current transportation device by the graphic code scanning device 84, thereby obtaining the current position of the transportation device.
  • the location information is sent to the processor such that the processor obtains the real-time operational location of the transport device.
  • the body member 83 includes: a chassis 831 and a housing 832; the chassis 831 includes a body 85 as shown in FIGS. 14A, 14B, and 14C; two synchronous wheels 851 are mounted on the body 85, and the respective synchronous wheels 851
  • the connected drive wheel 852 is provided with a servo motor 853 corresponding to the drive wheel 852, and a synchronous belt 854 connecting the synchronous wheel 851 and the corresponding servo motor 852.
  • At least one pair of rollers 8321 are provided on the side of the housing 832 facing away from the lifting member 82 to ensure stability of the vehicle body.
  • the roller 8321 and the drive wheel 852 simultaneously contact the ground such that the body member is parallel to the ground.
  • the body 85 may be disposed inside the chassis 831 of the body member 83.
  • the servo motor 853 drives the timing belt 854 to rotate the synchronous wheel 851
  • the synchronous wheel 851 drives the driving wheel 852 to rotate.
  • an embodiment of the present application further provides a transportation system, including: a transportation device 910 and a server 920.
  • the transportation device 910 includes: a bearing component 9101, a lifting component 9102, a vehicle body component 9103, and an end of the lifting component 9102 and the vehicle.
  • the body member 9103 is connected, the other end of the lifting member 9102 is connected to the carrier member 9101, the lifting member 9102 is used to raise the carrier member 9101 or the landing carrier member 9101, and the transportation device 910 is connected to the server 920 by wire or wirelessly.
  • the server may be connected to the transportation device in real time to determine distance data between each transportation device and the target location, and control the operation of the transportation device, or control the lifting device of the transportation device to rise or fall, server and transportation.
  • the method for real-time connection of the device may be a wired connection or a wireless connection. This application does not limit this.
  • the server may also allocate a path for the transportation device, and at the same time, the server may also receive the logistics object characteristic information transmitted by the graphic code scanning device, thereby Determine the object collection device corresponding to the transportation device.
  • the basic operating process of the transportation system is:
  • the single-piece logistics object is placed on the transportation equipment by manpower or machine.
  • the transportation equipment will go to the scanning code area according to the preset path, and the logistics object carried by the scanning equipment to the transportation equipment Scanning code is performed to obtain the logistics object characteristic information of the logistics object, that is, the destination information.
  • the scanning code device sends the logistics object characteristic information to the server, and the server assigns a transportation to the corresponding object collection according to the logistics object characteristic information.
  • the path of the device, according to which the transport equipment moves to the object collection device in the work area path area and the logistics object is unloaded into the object collection device, thereby completing the sorting of the logistics object.
  • the present application provides a transportation device by providing a carrier member, a lifting member, a vehicle body member; one end of the lifting member is coupled to the vehicle body member, and the other end of the lifting member is coupled to the carrier member; the lifting member is used to raise the carrier member or Landing the load bearing components. Because the transportation equipment adopts lifting and lowering lifting device, the working height of the transportation equipment meets the ergonomic requirements, and the process of connecting the logistics package is realized without manual bending, which makes the labor intensity of the worker low and improves the sorting.
  • the sorting efficiency of the system; and the need to dump the logistics object to the object collection device by means of the steel structure platform reduces the installation cost of the sorting system and greatly improves the flexibility of the sorting system.
  • embodiments of the embodiments of the present application can be provided as a method, apparatus, or computer program product. Therefore, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, embodiments of the present application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal device to produce a machine such that instructions are executed by a processor of a computer or other programmable data processing terminal device
  • Means are provided for implementing the functions specified in one or more of the flow or in one or more blocks of the flow chart.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction device implements the functions specified in one or more blocks of the flowchart or in a flow or block of the flowchart.

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Abstract

一种设备控制方法及装置，涉及物流信息技术领域，通过获取运输设备（B1）运行位置与目标位置之间的距离数据（210），并根据距离数据，控制运输设备（B1）的升降装置（B11）的运行（220），使得运输设备（B1）在抵达目标位置时升降装置（B11）升起至最高位，由于运输设备（B1）采用了升降装置（B11），高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备（C1），降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。

Description

一种设备控制方法及装置
本申请要求2018年01月05日递交的申请号为201810011976.7、发明名称为“一种设备控制方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流信息技术领域，特别是涉及一种设备控制方法及装置。
背景技术
随着电子商务的发展，越来越多用户在网上购买商品，而由于用户购买的商品增多，快递量也越来越大，物流行业的压力也越来越大。在物流行业中，分拣是核心环节之一，基于上述快递量的剧烈增长，人工分拣快递的方式也越来越满足不了需求，因而产生了自动化分拣方案。
在先技术中，其分拣方案中，使用AGV(自动导引车)等运输设备实现对物流对象的自动化运输，其中AGV比较矮小，AGV去工作站接收物流对象时，需要工人弯腰将物流对象放置在AGV上。该AGV要将物流对象放到对象收集设备中时，还需要通过与对象收集设备的高度相适应的钢架构平台供其倾倒物流对象至对象收集设备。
发明人在应用上述方案的过程中，发现在先技术存在如下缺点：
由于AGV矮小，导致工人每次放包裹都需要弯腰，不方便工人操作；并且需要借助钢架构平台将物流对象倾倒至对象收集设备，导致成本大大增加。
发明内容
鉴于上述问题，本申请实施例提供一种设备控制方法，通过获取运输设备运行位置与目标位置之间的距离数据，并根据所述距离数据，控制所述运输设备的升降装置的运行，解决在先技术中不方便人工操作，成本高的问题。
相应的，本申请实施例还提供了一种设备控制装置，用以保证上述方法的实现及应用。
为了解决上述问题，本申请实施例公开了一种设备控制方法，包括：
获取运输设备运行位置与目标位置之间的距离数据；
根据所述距离数据，控制所述运输设备的升降装置的运行。
相应的，本申请实施例还公开了一种设备控制装置，包括：
获取模块，用于获取运输设备运行位置与目标位置之间的距离数据；
控制模块，用于根据所述距离数据，控制所述运输设备的升降装置的运行。
相应的，本申请实施例还公开了一种装置，包括：
一个或多个处理器；和
其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行所述指令时，使得所述装置执行一种设备控制方法。
相应的，本申请实施例还公开了一个或多个机器可读介质，其上存储有指令，当由一个或多个处理器执行所述指令时，执行一种设备控制方法。
本申请实施例包括以下优点：
本申请实施例通过获取运输设备运行位置与目标位置之间的距离数据，并根据所述距离数据，控制所述运输设备的升降装置的运行，使得运输设备在抵达目标位置时升降装置升起至最高位，由于运输设备采用了升降装置，高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。
附图说明
图1A是本申请一实施例提供的一种物流系统平面示意图；
图1B是本申请一实施例提供的一种运输设备的结构示意图；
图1C是本申请一实施例提供的另一种运输设备的结构示意图；
图1D是本申请一实施例提供的一种运输设备的升降装置运行示意图；
图1E是本申请一实施例提供的一种对象收集设备的结构示意图；
图1F是本申请一实施例提供的一种服务器的通信示意图；
图1G是本申请一实施例提供的一种设备控制方法交互示意图；
图2是本申请一实施例提供服务器侧的一种设备控制方法的步骤流程图；
图3A是本申请一实施例提供服务器侧的一种设备控制方法的步骤流程图；
图3B是本申请一实施例提供服务器侧的另一种设备控制方法的步骤流程图；
图4是本申请一实施例提供系统级的一种设备控制方法的步骤流程图；
图5是本申请一实施例提供的一种设备控制装置的结构图；
图6A是本申请一实施例提供的另一种设备控制装置的具体结构图；
图6B是本申请一实施例提供的另一种设备控制装置的具体结构图；
图7是本申请另一实施例提供的一种装置的硬件结构示意图；
图8是本申请一实施例提供的一种运输设备的具体结构示意图；
图9是本申请一实施例提供的一种运输设备和对象收集设备的配合示意图；
图10是本申请一实施例提供的另一种运输设备和对象收集设备的配合示意图；
图11是本申请一实施例提供的另一种运输设备的结构示意图；
图12是本申请一实施例提供的另一种运输设备的结构示意图；
图13是本申请一实施例提供的另一种运输设备的结构示意图；
图14A是本申请一实施例提供的一种底盘的结构示意图；
图14B是本申请一实施例提供的一种底盘的俯视图；
图14C是本申请一实施例提供的一种底盘的侧视图；
图14D是本申请一实施例提供的一种壳体的示意图；
图14E是本申请一实施例提供的一种壳体侧视图；
图14F是本申请一实施例提供的一种壳体正视图；
图15是本申请一实施例提供的一种运输系统的结构图。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本申请作进一步详细的说明。
本申请提供的一种设备控制方法中常见的术语有：
上料区：指将卡车上的待分拣的物流对象暂存到接驳站附近的集散区域；
接驳站：指工人进行放包操作的区域，可以由工人或机器将物流对象放在AGV上。
扫码区：物流对象上粘贴有条码单，条码单记录了物流对象的物流对象特征信息，工人将物流对象放在AGV后，AGV需行驶至扫码区，通过扫码区设置的扫码设备来自动识别物流对象的物流对象特征信息，以进行后续任务的计算。
路径区：指AGV行走时可能会占用的区域，一般是一块平地。
其中物流对象可以理解为物流包裹等对象。
在快递物流行业中，快递包裹的分拣是指将混合在一起的物流包裹，按照目的地等规则进行分类，随着物流技术的大力发展，已经摆脱了对于物流包裹的人工分拣，目前， 可以通过机器人自动分拣作业平台对物流包裹进行自动分拣，大大节省了人力资源，提高了分拣效率。
本申请在实施例中，分拣系统包括：服务器、多个运输设备、多个根据目的地划分的对象收集设备、扫码设备。结合图1A、图1B、图1C、图1D、图1E、图1F、图1G，对本申请实施例进行系统介绍。
参照图1A，其为本申请实施例一种物流系统平面示意图。在图中分拣的场地可以为平面场地，本申请实施例对功能区域进行划分。如图1A，将场地整体切分为工作场地路径区A1、上料区A2、扫码区A3。基于上料区A2设置了接驳站A21，扫码区A3设置了扫码设备A31。
当然，A3还可以是其他类型的信息获取区，比如近场通信类型的信息获取区，A3为近场通信采集区，A31为标签扫描设备。物流包裹里可以设置标签，标签中可以携带物流对象特征信息。
多个运输设备B1(AGV)、对象收集设备C1在工作场地路径区A1中工作。
分拣系统的基本分拣流程为：
在接驳站A21中，通过人力或机器将单件的物流对象放置在运输设备B1上，运输设备B1在承载物流对象后会按照预设路径前往扫码区A3，通过扫码设备A31对运输设备B1承载的物流对象进行扫码，获取物流对象的物流对象特征信息，即目的地信息，此时扫码设备A31会将物流对象特征信息发送至服务器，由服务器根据物流对象特征信息为运输设备B1分配一个行驶至对应对象收集设备C1的路径，根据该路径，运输设备B1在工作场地路径区A1中移动至对象收集设备C1并将物流对象卸下投入对象收集设备C1，从而完成物流对象的分拣。
图1B示出了本申请实施例提供的一种运输设备的结构示意图，其中运输设备B1可以包括升降装置B11和托盘B12，其中升降装置B11可以伸缩升降，托盘B12用于承载物流对象，托盘B12还可以做顺逆时针翻转动作，用于接收包裹或倾倒包裹。图1B示出的是运输设备升高至最高位置时的状态图，另外，图1C示出了本申请实施例提供的另一种运输设备的结构示意图，图1C示出的是运输设备降低至最低位置时的状态图。另外参照图1D，示出了本申请实施例提供的一种运输设备的升降装置运行示意图，运输设备B1可以将升降装置B11由图1D中的最左边工位逐渐升起至最右边工位，也可以将升降装置B11由图1D中的最右边工位逐渐升起至最左边工位。
具体的，为了达到最优的物流效率，一般希望运输设备B1以较快速度运行，但是 当运输设备B1的托盘B12承载的物流对象重量较大，且升降装置B11伸起至高位时，会导致运输设备B1因重心不稳而倾倒，造成事故的发生，因此需要根据运输设备B1的运行位置与目标位置之间的距离数据，控制升降装置B11的升起或降落，从而避免运输设备B1在行驶时因重心不稳而倾倒。
需要说明的是，运输设备B1既可以在工作场地路径区A1中运行，也可以根据需求跨越工作场地路径区A1，在上料区A2和扫码区A3中运行。
图1E示出了本申请实施例提供的一种对象收集设备的结构示意图，对象收集设备C1按照目的地进行划分，例如，可以针对目的地北京、上海、西安分别设置对应的对象收集设备1、对象收集设备2和对象收集设备3，对象收集设备1专门承载目的地为北京的物流包裹，对象收集设备2专门承载目的地为上海的物流包裹，对象收集设备3专门承载目的地为西安的物流包裹，这样的划分可以方便后续派送流程的进行，提高物流效率。另外，运输设备B1的升降装置B11在升起至最高位时的高度和对象收集设备C1的高度可以保持一致，以方便倾倒物流包裹。另外，对象收集设备C1可以被移动，例如：当对象收集设备C1承载容量满了之后，可以通过移动对象收集设备C1至缝袋区进行缝袋操作。
参照图1A，扫码区A3设置了一组或多组扫码设备A31，扫码设备A31可以为条码扫码枪，具有一定的扫描范围，因此，工人或机器在将物流对象放在运输设备B1的托盘B12上时，需要将物流对象贴有条形码的一面向上放置，使得能够匹配扫码设备A31的扫描范围，当扫描完成后，扫码设备A31可以将扫描得到的物流对象特征信息发送至服务器，以便服务器根据物流对象特征信息为运输设备B1分配对应的路径。
图1F示出了本申请实施例提供的一种服务器的通信示意图，服务器可以与所有的扫码设备、运输设备和对象收集设备实时连接，以确定各个运输设备和对象收集设备的位置，确定运输设备的运行位置与目标位置之间的距离数据，并控制运输设备运行、或控制运输设备的升降装置升起或降落，进一步的，服务器还可以为运输设备分配路径，同时，服务器还可以接受扫码设备传输的物流对象特征信息，从而确定运输设备对应的对象收集设备。
其中，所述目标位置包括取货节点所在位置、扫码节点所在位置、收货节点所在位置其中至少一个；其中，所述取货节点是指接驳站，所述扫码节点是指扫码设备，所述收货节点是指对象收集设备。
参照图1G，其示出了本申请实施例的一种设备控制方法交互示意图。
S1，服务器获取运输设备的运行位置与接驳站所在位置之间的第一距离数据。
在本申请中，路径区A1和上料区A2的表面可以覆盖设置有二维码标签坐标网格，每个二维码标签坐标都对应了一个位置参数，如经纬度信息等，同时在运输设备B1底部可以设置对应的扫描装置，通过扫描当前运输设备B1所处位置的二维码标签坐标，从而获取运输设备B1当前所处位置的位置信息，并将该位置信息发送至服务器，使得服务器得到了运输设备B1的实时运行位置。另外，还可以在运输设备B1上设置精度较高的定位模块，通过定位模块获取运输设备B1当前所处位置的信息，本申请实施例不对其加以限制。
进一步的，服务器的数据库中储存有各个接驳站A21所在位置的实时位置信息，服务器根据运输设备B1的运行位置与接驳站A21的所在位置确定了运输设备B1与接驳站A21所在位置之间的第一距离数据。
S2，服务器根据第一距离数据，向运输设备发送第一控制指令。
在本申请中，为了解决在先技术中工人需要弯腰操作的问题，且避免设置钢架构平台，可以通过服务器通过第一控制指令控制运输设备B1的升降装置B11在到达接驳站A21时升起至最高位，该升起动作需满足一定条件，即第一距离数据大于或等于第一预设距离且小于或等于第二预设距离。
另外，当第一距离数据大于或等于第三预设距离时(即运输设备B1距离接驳站A21较远)，为了保证运输设备B1的重心稳定，先控制升降装置B11进行降落动作，且使得运输设备B1以较快速度前行，当第一距离数据小于第三预设距离时，可以使得运输设备B1以较慢速度前行，而不需对升降装置B11进行操作，另外，在第一距离数据大于或等于第一预设距离且小于或等于第二预设距离时，再控制升降装置B11进行升起动作，直至到达驳站A21时升起至最高位。
S3，运输设备根据第一控制指令，前往接驳站接收物流对象，并控制升降装置的运行。
结合前述说明，在第一控制指令的控制下，运输设备B1到达上料区A2中的接驳站A21，此时升降装置B1升起至最高位，通过人力或机器将单件的物流对象放置在运输设备B1上，且保证物流对象贴有条形码的一面向上放置。
S4，服务器获取运输设备的运行位置与扫码区之间的第二距离数据。
在该步骤中，通过与步骤S1中相同的方法确定运输设备B1当前所处的实时位置信息，并依据服务器中储存的扫码区A3中扫码设备A31的位置信息，计算得到第二距离 数据。
可以理解，扫码区A3的位置为扫码设备所在位置。
S5，服务器根据第二距离数据，向运输设备发送第二控制指令。
在该步骤中，第二控制指令基于的逻辑与步骤S2中的一致。其目的是保证运输设备B1在运行过程中重心稳定，另外还可以在运输设备B1抵达扫码区域时升降装置B1升起至最高位。
S6，运输设备根据第二控制指令，前往扫码区扫码，并控制升降装置的运行。
S7，扫码区中的扫码设备对运输设备承载的物流对象进行扫码，并将扫码结果发送至服务器。
扫码设备A31可以将扫描得到的物流对象特征信息发送至服务器，以便服务器根据物流对象特征信息为运输设备B1分配对应的路径。
扫码得到的物流对象特征信息通常是目的地信息，如：北京、上海等。
S8，根据扫码结果，服务器确定运输设备行驶至对应的对象收集设备的路径。
当确定了物流对象对应的目的地后，服务器为运输设备B1分配行驶至对应的对象收集设备C1的路径，如目的地为北京的物流对象，为其对应的运输设备B1分配一条行驶至北京的对象收集设备C1的路径。
S9，服务器获取运输设备的运行位置与对象收集设备所在位置之间的第三距离数据。
进一步的，服务器通过与各个对象收集设备C1的实时通信，可以获取对象收集设备C1的实时位置信息，服务器根据运输设备B1的运行位置与对象收集设备C1的运行位置确定了运输设备B1与对象收集设备C1所在位置之间的第三距离数据。
S10，服务器根据第三距离数据，向运输设备发送第三控制指令。
在该步骤中，第三控制指令基于的逻辑与步骤S2中的一致。其目的是保证运输设备B1在运行过程中重心稳定，另外还可以在运输设备B1抵达对象收集设备时升降装置B1升起至最高位。
S11，运输设备根据第三控制指令，前往对象收集设备，并控制升降装置的运行。
运输设备B1在到达对象收集设备时，升降装置B1升起至最高位，此时通过倾倒货物操作可以将运输设备B1的托盘B12承载的物流对象倾倒入对象收集设备进行收集。
现有技术中分拣运输存在以下缺点：(1)由于AGV矮小，导致工人每次放包裹都需要弯腰，不方便工人操作。(2)需要借助钢架构平台将物流对象倾倒至对象收集设备，导致成本大大增加。本申请实施例提供的分拣系统很好地克服了上述缺点：
第一方面，本申请实施例的分拣系统不依赖于固定的分拣设备(例如钢结构分拣平台)，所有的运输设备均在同一层场地运动，且所有的对象分拣设备和对象收集设备也处在同一层。由于取消了钢结构分拣平台和滑道，带来了以下好处：
1、对场地形状无要求，可适应于任意外形的场地；对场地净空也无要求，正常建筑都可满足需求。从而获得极强的扩展性以应对业务在未来的增长。
2、降低了系统的建造成本和安装周期。现有技术中基建占用了大部分的系统安装时间，也是系统成本的主要组成部分之一。采用本申请实施例能大大缩减系统的安装周期和基建成本。
3、可以灵活对布局进行动态调整从而提升系统效率。现有技术中分拣设备一旦建成，无法对其中对象收集设备的位置、大小、数量进行修改，然而采用本申请实施例能够随时根据对象流向的分布情况动态调整对象收集设备的位置、大小、数量，例如如果预计去向某地的对象数量大幅度增加，则可以通过增加去向该地的对象收集设备的数量、去向该地的对象收集设备的大小、调整去向该地的对象收集设备的位置离对象入口更近，从而提升系统效率。
4、大幅减少场地迁移的成本。在先技术中分拣系统是为某一场地定制，一旦建成很难迁移到另一个场地使用，增加了场地迁移的成本。然而采用本申请实施例只需要对运输设备、对象收集设备、对象分拣设备、信息获取设备等活动装置进行搬运，且新场地安装周期短，场地可灵活扩展，不受场地差异影响，从而大幅减少场地迁移的成本。
第二方面：本申请实施例通过集成了升降装置的AGV来实现自动化分拣，利用运输设备运行位置与目标位置之间的距离数据，控制所述运输设备的升降装置的运行，以满足运输设备在运行至接驳站、扫码区和对象收集设备时，升降装置升起至最高位，方便了工人操作和包裹的倾倒，避免工人每次放包裹都需要弯腰，降低了劳动强度。
参照图2，从服务器侧示出了本申请的一种设备控制方法实施例的步骤流程图，具体可以包括如下步骤：
步骤210，获取运输设备运行位置与目标位置之间的距离数据。
本申请实施例中在物流系统设置了控制各个设备运行的服务器、多个运输设备、多个根据目的地划分的对象收集设备、扫码设备。
优选的，所述目标位置包括取货节点所在位置、扫码节点所在位置、收货节点所在位置其中至少一个；其中，所述取货节点是指接驳站，所述扫码节点是指扫码设备，所 述收货节点是指对象收集设备。
在本申请实施例中，物流系统中设置了取货节点、扫码节点和收货节点。取货节点运输设备接收物流对象的地点；扫码节点是扫描物流对象的特征信息的地点；收货节点是运输设备转移其承载的物流对象的目的地。如前述实施例描述，取货节点可以是接驳站A21，取货节点所在位置就是接驳站A21所在位置。扫码节点是扫码设备A31，扫码节点所在位置就是扫码设备A31所在位置，在实际中是扫码设备A31所在的扫码区A3的位置。收货节点是前述对象收集设备C1，收货节点所在位置是前述对象收集设备C1当前所在位置。
在本申请实施例中，目标位置可以是取货节点所在位置、扫码节点所在位置、收货节点所在位置其中至少一个。在不同的运输流程中目标位置会变化。
本申请实施例还可以将多个运输设备、多个根据目的地划分的对象收集设备、扫码设备设置在同一层级，比如同一楼层。
需要说明的是，物流对象可以为物流包裹等对象。
具体的，参照图1A，在本申请实施例中，路径区A1和上料区A2的表面可以覆盖设置有二维码标签坐标网格，每个二维码标签坐标都对应了一个位置参数，如经纬度信息等，同时在运输设备B1上可以设置对应的扫描装置，通过扫描当前运输设备B1所处位置的二维码标签坐标，从而获取运输设备B1当前所处位置的信息，并将该信息发送至服务器，使得服务器得到了运输设备B1的实时运行位置。另外，还可以在运输设备B1上设置精度较高的定位模块，通过定位模块获取运输设备B1当前所处位置的信息。
另外，服务器的数据库中储存有各个接驳站A21、各个扫码区A3中扫码设备A31的实时位置信息，服务器还可以与对象收集设备C1实时通信，从而获得对象收集设备C1的实时位置信息，服务器根据运输设备B1的运行位置与目标位置(目标位置可以为接驳站A21所在位置、各个扫码区A3中扫码设备A31所在位置和对象收集设备C1所在位置)的运行位置，确定运输设备B1的运行位置与目标位置之间的距离数据。
步骤220，根据所述距离数据，控制所述运输设备的升降装置的运行。
在实际应用中，运输设备可以有三个对应的目标位置：接驳站、扫码设备和对象收集设备。
当运输设备的目标位置为接驳站所在位置时，运输设备与接驳站所在位置之间的距离可以为第一距离数据。
当运输设备的目标位置为扫码设备所在位置时，运输设备与扫码设备所在位置之间 的距离可以为第二距离数据。
当运输设备的目标位置为对象收集设备所在位置时，运输设备与对象收集设备所在位置之间的距离可以为第三距离数据。
以上的第一距离数据、第二距离数据和第三距离数据，都需要满足一定条件下，才能触发服务器对运输设备发送的针对运输设备运行速度和/或升降装置的控制指令，以满足运输设备在抵达接驳站、扫码设备和对象收集设备时升降装置升起至最高位，同时保证运输设备以合理的速度运行，在运行过程中重心稳定。
本申请实施例中，通过获取运输设备运行位置与目标位置之间的距离数据，并根据所述距离数据，控制所述运输设备的升降装置的运行，使得运输设备在抵达目标位置时升降装置升起至最高位，由于运输设备采用了升降装置，高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。
参照图3A，从服务器侧示出了本申请的一种设备控制方法实施例的步骤流程图，具体可以包括如下步骤：
步骤310，获取运输设备运行位置与目标位置之间的距离数据。
该步骤可以参照上述步骤210，此处不再赘述。
需要说明的是，运输设备还可以向服务器发送已承载物流对象的信息。
步骤312，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
在本申请实施例中，服务器可以控制运输设备做一些特殊动作，如：控制运输设备的升降装置升起或降落，控制运输设备以预设速度运行在分拣系统中，运输设备对应的目标位置可以为接驳站、扫码设备和对象收集设备，当运输设备与目标位置的距离数据大于或等于第一预设距离且小于或等于第二预设距离时，若此时运输设备的升降装置处于最低位置或未处于最高位置，则控制所述升降装置从当前位置以第一速度升起，以满足运输设备在抵达目标位置时升降装置升起至最高位。第一速度为升降装置伸缩运行的速度，通常为定值。
优选的，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；其中，所述L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述 升降装置的升降速度；所述Δs为距离调整常数。
那么，第一预设距离可以根据s1＝L*v2/v1的公式计算得出，第二预设距离可以根据s2＝L*v2/v1+Δs的公式计算得出，L为所述升降装置总长度，通常可以为1.2米，该高度为人体放置物流对象的适宜高度，v2为运输设备最大速度，v1为升降装置的升降速度，v2和v1都根据运输设备和运输设备包括的升降装置的性能参数得出，Δs为距离调整常数，可以根据需求自行设置或者根据实验得出，使运输设备在所述距离数据进入s1和s2之间的范围之后，控制运输设备的升起升降装置，可以保证升降装置在到达目标位置时已经升到最高点。
优选的，所述当前位置为最低位置。
上述运输设备在所述距离数据进入s1～s2的范围之后，控制运输设备的升起升降装置，保证升降装置在到达目标位置时已经升到最高点。
当然，升降设备的当前位置也可以不在最低位置，那么只要其不在最高位置，则可以控制其升起。
在实际应用中，升降设备升起时，可以降低运输设备的行进速度，比如从第二速度降低至第三速度，其中第二速度大于第三速度。
步骤314，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且所述当前位置已位于最高位置，则控制所述升降装置保持在最高位置。
在该步骤所述的情况下，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且升降装置的当前位置已位于最高位置，则保持升降装置的最高位直至行驶至目标位置。
当然在保持升降装置的最高位直至行驶至目标位置，可以第三速度行驶，第三速度小于第二速度。
本申请实施例中，通过获取运输设备运行位置与目标位置之间的距离数据，并根据所述距离数据，控制所述运输设备的升降装置的运行，使得运输设备在抵达目标位置时升降装置升起至最高位，由于运输设备采用了升降装置，高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性；并且，在到达某个目标位置时，都保证了升降装置升至最高点，方便作业，比如在到达接驳站所在位置时，升降装置升至最高点，方便工人放置物流对象，又比如在到达对象收集设备所在位置时，升降装置 升至最高点，方便转移物流对象至对象收集设备，不用钢架平台即可完成货物的分拣。
参照图3B，从服务器侧示出了本申请的一种设备控制方法实施例的步骤流程图，具体可以包括如下步骤：
步骤320，获取运输设备运行位置与目标位置之间的距离数据。
该步骤可以参照上述步骤210，此处不再赘述。
步骤322，若所述升降装置位于最高位置且所述距离数据大于或等于第三预设距离，则控制所述运输设备以第二速度行驶且控制所述升降装置从最高位置以第一速度降落；
在实际应用中，为了达到最优的物流效率，一般希望运输设备以较快速度运行，但是当运输设备的托盘承载的物流对象重量较大，且升降装置伸起至高位时，会导致运输设备因重心不稳而倾倒，造成事故的发生，因此需要根据运输设备的运行位置与目标位置之间的距离数据，控制升降装置的升起或降落，从而避免运输设备因重心不稳而倾倒。
优选的，所述第三预设距离s3＝2L*v2/v1+Δs；其中，所述L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
在本申请实施例中，第三预设距离通常由s3＝2L*v2/v1+Δs计算得出，第三预设距离通常大于第一预设距离和第二预设距离，因此，步骤322示出了在运输设备距离目标位置较远的情况下，此时若所述升降装置位于最高位置且所述距离数据大于或等于第三预设距离，则以较快的第二速度行驶，同时将所述升降装置从最高位置以第一速度降落至最低位置，以保证运输设备在以较快的第二速度行驶时，重心稳定，不发生包裹翻倒的现象。
需要说明的是，在实际应用中，升降装置下降过程中，可以使运输设备以第三速度行驶，在升降装置下降至最低点后，使运输设备以第二速度行驶，其中第二速度大于第三速度。进一步避免由于运输设备行驶速度过快，而装载了物流对象的运输设备重心不稳导致的翻到现象。
步骤324，若所述升降装置位于最高位置且所述距离数据小于第三预设距离，则控制所述运输设备以第三速度行驶，其中，所述第三速度小于所述第二速度。
在该步骤中，若所述升降装置位于最高位置且所述距离数据小于第三预设距离，则控制所述运输设备以较慢的第三速度行驶，此时距离目标位置相对较近，不需要加速行驶，按照较慢的第三速度行驶即可，同时也不需要对升降装置继续操作，使其保持最高 位置。
步骤326，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
步骤326参照前述步骤312的描述，在此不再详述。
下面以从扫描区到对象收集设备之间的运输过程为例进行描述：
对于步骤310，比如前述运输设备在扫描区停止后，其升降装置上承载了物流对象，且升降装置处于最高点。扫码设备扫描物流对象的特征信息发送至服务器，同时扫码设备还可以将承载该物流对象的运输设备的身份信息发送至服务器。服务器则根据该特征信息确定一个对象收集设备，然后根据该对象收集设备所在的目标位置，和该运输设备的运行位置，为该运输设备规划一个行驶路径。在规划完毕后，服务器即可确定该运输设备和对象收集设备之间的距离数据。
然后服务器会判断该距离数据是否大于或等于前述第三预设距离，如果该距离数据大于或等于第三预设距离则进入步骤322，说明运行位置与目标位置两个位置距离较远，AGV需要以较高速度行驶以提高分拣效率，能够完成先降落后升起升降装置的过程，那么为了避免重心过高导致AGV倾倒，则要降落升降装置至最低点，同时以较高的第二速度行驶；如果该距离数据小于第三预设距离则进入步骤324，说明运行位置与目标位置两个位置距离较近，完成不了先降落后升起升降装置的过程，因此则控制所述运输设备以小于所述第二速度的第三速度行驶，并保持升降装置处于最高位。
在运输设备行驶过程中，会通过前述方式不断将其运行位置发送给服务器，服务器会实时监控其距离目标位置的距离数据，此时会判断所述距离数据是否大于或等于第一预设距离且小于或等于第二预设距离，以及升降设备的当前位置。如果所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且升降设备的当前位置不处于最高位置，那么此时会进入步骤326，控制所述升降装置从当前位置以第一速度升起。
可以理解，本申请实施例提供的设备控制方法不依赖于固定的分拣设备(例如钢结构分拣平台)，所有的运输设备均在同一层场地运动，且所有的对象分拣设备和对象收集设备也处在同一层。由于取消了钢结构分拣平台和滑道，带来了以下好处：
1、对场地形状无要求，可适应于任意外形的场地；对场地净空也无要求，正常建筑都可满足需求。从而获得极强的扩展性以应对业务在未来的增长。
2、降低了系统的建造成本和安装周期。现有技术中基建占用了大部分的系统安装时间，也是系统成本的主要组成部分之一。采用本申请实施例能大大缩减系统的安装周期 和基建成本。
3、可以灵活对布局进行动态调整从而提升系统效率。现有技术中分拣设备一旦建成，无法对其中对象收集设备的位置、大小、数量进行修改，然而采用本申请实施例能够随时根据对象流向的分布情况动态调整对象收集设备的位置、大小、数量，例如如果预计去向某地的对象数量大幅度增加，则可以通过增加去向该地的对象收集设备的数量、去向该地的对象收集设备的大小、调整去向该地的对象收集设备的位置离对象入口更近，从而提升系统效率。
4、大幅减少场地迁移的成本。在先技术中分拣系统是为某一场地定制，一旦建成很难迁移到另一个场地使用，增加了场地迁移的成本。然而采用本申请实施例只需要对运输设备、对象收集设备、对象分拣设备、信息获取设备等活动装置进行搬运，且新场地安装周期短，场地可灵活扩展，不受场地差异影响，从而大幅减少场地迁移的成本。
第二方面：本申请实施例通过集成了升降装置的AGV来实现自动化分拣，利用运输设备运行位置与目标位置之间的距离数据，控制所述运输设备的升降装置的运行，以满足运输设备在运行至接驳站、扫码设备和对象收集设备各自所在位置时，升降装置升起至最高位，方便了工人操作和包裹的倾倒，避免工人每次放包裹都需要弯腰，降低了劳动强度。
参照图4，从系统层示出了本申请的另一种设备控制方法实施例的步骤流程图，系统层包括了：服务器、多个运输设备、等多个根据目的地划分的对象收集设备、接驳站和扫码区。
图4具体可以包括如下步骤：
401，服务器获取运输设备的运行位置与接驳站所在位置之间的第一距离数据。
402，服务器根据第一距离数据，向运输设备发送第一控制指令。
403，运输设备根据第一控制指令，前往接驳站接收物流对象，并控制升降装置的运行。
404，服务器获取运输设备的运行位置与扫码设备所在位置之间的第二距离数据。
扫码设备所在位置可以理解为扫码区的位置。
405，服务器根据第二距离数据，向运输设备发送第二控制指令。
406，运输设备根据第二控制指令，前往扫码设备所在位置扫码，并控制升降装置的运行。
407，扫码设备对运输设备承载的物流对象进行扫码，并将扫码结果发送至服务器。
408，根据扫码结果，服务器确定运输设备行驶至对应的对象收集设备的路径。
409，服务器获取运输设备的运行位置与对象收集设备所在位置之间的第三距离数据。
410，服务器根据第三距离数据，向运输设备发送第三控制指令。
411，运输设备根据第三控制指令，前往对象收集设备，并控制升降装置的运行。
本申请实施例可参照前述实施例类似描述的原理，在此不再详述。
本申请实施例对场地形状和空间要求低，易于维修，建设难度小，周期短，成本低，灵活性、扩展性强，同时降低了工人的劳动强度，提高了分拣效率。
需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请实施例并不受所描述的动作顺序的限制，因为依据本申请实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本申请实施例所必须的。
参照图5，示出了本申请的一种设备控制装置(例如：服务器500)的结构图，具体可以包括如下模块：
获取模块510，用于获取运输设备运行位置与目标位置之间的距离数据.
控制模块520，用于根据所述距离数据，控制所述运输设备的升降装置的运行。
优选的，所述目标位置包括取货节点所在位置、扫码节点所在位置、收货节点所在位置其中至少一个；其中，所述取货节点是指接驳站，所述扫码节点是指扫码设备，所述收货节点是指对象收集设备。
优选的，参照图6A，控制模块520包括：
第一升起子模块521，用于若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
优选的，所述当前位置为最低位置。
优选的，所述控制模块520包括：
悬停子模块522，用于所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且所述当前位置已位于最高位置，则控制所述升降装置保持在最高位置。
优选的，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
其中，所述L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
优选的，参照图6B，控制模块520包括：
降落子模块531，用于若所述升降装置位于最高位置且所述距离数据大于或等于第三预设距离，则控制所述运输设备以第二速度行驶且控制所述升降装置从最高位置以第一速度降落。
优选的，所述控制模块520包括：
限速子模块532，用于若所述升降装置位于最高位置且所述距离数据小于第三预设距离，则控制所述运输设备以第三速度行驶，其中，所述第三速度小于所述第二速度。
优选的，所述第三预设距离s3＝2L*v2/v1+Δs；其中，所述L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
优选的，所述控制模块520包括：
第二升起子模块533，用于若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
优选的，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
其中，所述L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
本申请实施例中，通过获取运输设备运行位置与目标位置之间的距离数据，并根据所述距离数据，控制所述运输设备的升降装置的运行，使得运输设备在抵达目标位置时升降装置升起至最高位，由于运输设备采用了升降装置，高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。
另外，对于本申请提供的一种设备控制方法及装置，具体可以分为以下几个优点：
1、对场地形状无要求，可适应于任意外形的场地；对场地净空也无要求，正常建筑都可满足需求。从而获得极强的扩展性以应对业务在未来的增长。
2、降低了系统的建造成本和安装周期。现有技术中基建占用了大部分的系统安装时间，也是系统成本的主要组成部分之一。采用本申请实施例能大大缩减系统的安装周期 和基建成本。
3、可以灵活对布局进行动态调整从而提升系统效率。现有技术中分拣设备一旦建成，无法对其中对象收集设备的位置、大小、数量进行修改，然而采用本申请实施例能够随时根据对象流向的分布情况动态调整对象收集设备的位置、大小、数量，例如如果预计去向某地的对象数量大幅度增加，则可以通过增加去向该地的对象收集设备的数量、去向该地的对象收集设备的大小、调整去向该地的对象收集设备的位置离对象入口更近，从而提升系统效率。
4、大幅减少场地迁移的成本。在先技术中分拣系统是为某一场地定制，一旦建成很难迁移到另一个场地使用，增加了场地迁移的成本。然而采用本申请实施例只需要对运输设备、对象收集设备、对象分拣设备、信息获取设备等活动装置进行搬运，且新场地安装周期短，场地可灵活扩展，不受场地差异影响，从而大幅减少场地迁移的成本。
第二方面：本申请实施例通过集成了升降装置的AGV来实现自动化分拣，利用运输设备运行位置与目标位置之间的距离数据，控制所述运输设备的升降装置的运行，以满足运输设备在运行至接驳站、扫码设备和对象收集设备各自的位置时，升降装置升起至最高位，方便了工人操作和包裹的倾倒，避免工人每次放包裹都需要弯腰，降低了劳动强度。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
图7是本申请实施例提供的一种服务器的结构示意图。参见图7，服务器700可以用于实施上述实施例中提供的设备控制方法。该服务器700可因配置或性能不同而产生比较大的差异，可以包括一个或一个以上中央处理器(central processing units，CPU)722(例如，一个或一个以上处理器)和存储器732，一个或一个以上存储应用程序742或数据744的存储介质730(例如一个或一个以上海量存储设备)。其中，存储器732和存储介质730可以是短暂存储的或持久存储的。存储在存储介质730的程序可以包括一个或一个以上模块(图示没标出)，每个模块可以包括对服务器中的一系列指令操作。更进一步地，中央处理器722可以设置为与存储介质730通信，在服务器700上执行存储介质730中的一系列指令操作。
服务器700还可以包括一个或一个以上电源726，一个或一个以上有线或无线网络接口750，一个或一个以上输入输出接口758，一个或一个以上键盘756，和/或，一个或 一个以上操作系统741，例如Windows ServerTM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTM等等。其中，中央处理器722可以在服务器700上执行以下操作的指令：
获取运输设备运行位置与目标位置之间的距离数据；
根据所述距离数据，控制所述运输设备的升降装置的运行。
优选的，中央处理器722可以在服务器700上执行前述在服务器侧执行的指令。
当然，对于其他装置，也可以具有如图7的结构，执行对应装置的方法的指令。
本申请实施例提供一种装置，其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行所述指令时，使得所述装置执行一种设备控制方法。
本申请实施例还提供一个或多个机器可读介质，其上存储有指令，当由一个或多个处理器执行所述指令时，执行一种设备控制方法。
参照图8，其示出了本申请实施例的一种运输设备的结构示意图，具体可以包括：
承载部件81、升降部件82、车体部件83；升降部件82的一端与车体部件83连接，升降部件82的另一端与承载部件81连接；升降部件82用于升起承载部件81或降落承载部件81。
在本申请实施例中，在物流分拣系统的接驳站中，运输设备的升降部件82处于最高位置，此时通过人力或机器将单件的物流对象放置在运输设备的承载部件81上，运输设备在承载物流对象后会按照预设路径前往扫码区进行扫码，并根据扫码结果移动至对象收集设备，在运输设备位于对象收集设备时，升降部件82同样处于最高位置，并通过承载部件81将物流对象卸下投入对象收集设备，从而完成物流对象的分拣。
根据图8所示，其中升降部件82可以伸缩升降，升降部件82具体可以包括三根直径依次递减的伸缩管821、伸缩管822、伸缩管823，并将伸缩管821、伸缩管822、伸缩管823依次套接连接，完成升降部件82的装配，并在电动驱动下伸缩，图8示出了升降部件82伸长至最高位置时的运输设备示意图，另外参照图1C，其示出的是升降部件降低至最低位置时的状态图。进一步参照图1D，示出了本申请实施例提供的一种运输设备的升降装置运行示意图，运输设备可以将升降部件由图1D中的最左边工位逐渐升起至最右边工位，也可以将升降部件由图1D中的最右边工位逐渐升起至最左边工位。
承载部件81用于承载物流对象，承载部件81还可以倾倒物流对象至对象收集设备。图1C示出的是运输设备降低至最低位置时的状态图。另外参照图1D，示出了本申请实施例提供的一种运输设备的升降装置运行示意图，运输设备B1可以将升降装置B11由图1D中的最左边工位逐渐升起至最右边工位，也可以将升降装置B11由图1D中的最右 边工位逐渐升起至最左边工位。
车体部件83可以附带有移动装置(车轮，履带等)，用于驱动运输设备进行移动。
本申请提供了一种运输设备，通过设置承载部件、升降部件、车体部件；升降部件的一端与车体部件连接，升降部件的另一端与承载部件连接；升降部件用于升起承载部件或降落承载部件。由于运输设备采用了可升降的升降装置，使得运输设备的工作高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。
可选的，参照图8，承载部件81包括：托盘811和倾倒控制部件812；倾倒控制部件812的一侧与升降部件82连接，倾倒控制部件812背离升降部件82的一侧与托盘811连接；倾倒控制部件812控制托盘811以托盘811的一端为轴升起或降落。
可选的，参照图9，在升降部件82升起至最高位置之后，所述托盘811的高度高于对象收集设备C1的物流对象入口C11的高度。
在本申请实施例中，当运输设备移动至对应对象收集设备C1时，此时运输设备的升降部件82升起至最高位置，且升降部件82的最大升起行程长度需大于对象收集设备C1的物流对象入口C11的高度，使得此时托盘811的高度能够高于对象收集设备C1的物流对象入口C11的高度，若托盘811的高度低于对象收集设备C1的物流对象入口C11的高度，则不方便倾倒物流对象，并且会产生倾倒失败的问题。
具体的，在运输设备刚移动至对应对象收集设备C1时，托盘811承载物流对象并处于水平放置的位置，参照图10，为了方便物流对象进入物流对象入口C11，可以将倾倒控制部件811的一侧与升降部件82连接，倾倒控制部件811背离升降部件82的一侧通过转轴支撑架813与托盘812连接，倾倒控制部件811可以驱动转轴支撑架813以图10中的顺时针或逆时针进行旋转，以带动托盘812以托盘812的一端为轴升起或降落，需要说明的是，在运输设备刚移动至对应对象收集设备C1时，需要调整姿态，使得托盘812升起时物流对象能够滑入对象收集设备C1的物流对象入口C11。
可选的，参照图11，其示出了本申请实施例的另一种运输设备的结构示意图，承载部件81包括：传送带安装台814、传送带固定轴815、传送带816和传送带轮817；传送带安装台814与升降部件82连接，传送带固定轴815设置于传送带轮817的内圈，且传送带固定轴815的两端与传送带安装台814固定连接；传送带轮817的外圈与传送带816的内侧连接，在升降部件82升起至最高位置之后，传送带816所在的平面至少高于 对象收集设备C1的物流对象入口C11的高度。
在本申请实施例中，运输设备还可以通过传送带运输的方式将物流对象投入对象收集设备C1的物流对象入口C11，具体的，传送带轮817通过传送带固定轴815固定在传送带安装台814上，可以通过电机驱动传送带轮817顺时针或逆时针旋转，使得与传送带轮817的外圈连接的传送带816做顺时针或逆时针旋转运动，在物流分拣系统的接驳站中，运输设备的升降部件82处于最高位置，此时传送带轮817不作运动，传送带816静止，通过人力或机器将单件的物流对象放置在传送带816的表面上，当运输设备刚移动至对应对象收集设备C1时，通过驱动传送带轮817旋转运动，带动传送带816动作，将置于传送带816上的物流对象投入物流对象入口C11，需要说明的是，传送带816的移动方向需要面向物流对象入口C11，使得物流对象能够准确投入物流对象入口C11。
可选的，参照图12，其示出了本申请实施例的另一种运输设备的结构示意图，承载部件81包括：载台818、弹射托盘819、弹射滑轨8191和弹射挡板8192；载台818与升降部件82连接；弹射托盘819设置在载台818背离升降部件82的一侧，且弹射托盘819所处的平面与载台818所处的平面形成预设夹角；弹射滑轨8191设置在弹射托盘819背离载台818的一侧，弹射挡板8192设置在弹射滑轨8191上，用于沿弹射滑轨8191移动，将弹射托盘819承载的物流对象弹射至对象收集设备C1中的物流对象入口C11。
在本申请实施例中，运输设备还可以通过弹射运输的方式将物流对象投入对象收集设备C1的物流对象入口C11，具体的，弹射托盘819可以承载物流对象，且弹射托盘819的一端通过支撑杆与载台818连接，使得弹射托盘819一端的高度高于弹射托盘819另一端的高度，并且弹射挡板8192可以在电力驱动下沿弹射滑轨8191移动，弹射挡板8192在复位状态下处于弹射托盘819高度较低的另一端，在物流分拣系统的接驳站中，运输设备的升降部件82处于最高位置，此时弹射挡板8192处于复位状态，通过人力或机器将单件的物流对象放置在弹射托盘819的表面上，弹射挡板8192可以抵住物流对象，避免其掉落，当运输设备刚移动至对应对象收集设备C1时，通过驱弹射挡板8192沿弹射滑轨8191移动，将置于弹射托盘819上的物流对象弹射投入物流对象入口C11，投入完成后，弹射挡板8192复位，需要说明的是，弹射托盘819高度较高的一端需要面向物流对象入口C11，使得物流对象能够准确投入物流对象入口C11。
可选的，参照图8，运输设备还包括：处理器、存储器、无线通信模块；升降部件82包括升降驱动器(图8中未绘出)；车体部件83包括行进驱动器(图8中未绘出)；处理器分别和所述无线通信模块、存储器、升降驱动器、行进驱动器连接。
可选的，处理器、存储器、无线通信模块安装于所述车体部件83中或者所述承载部件81中。
在本申请实施例中，无线通信模块可以与服务器进行通信，接收服务器发来的控制指令或向服务器发送数据，存储器可以存储数据，处理器可以处理服务器发来的控制指令，驱动运输设备运作。另外，行进驱动器和升降驱动器可以与电源连接，并通过电力驱动，行进驱动器用于驱动车体部件83移动，升降驱动器用于驱动升降部件82升起或降落。
可选的，升降部件为电动推杆或剪叉式升降装置。
在本申请实施例中，图8示出的运输设备应用了电动推杆式升降部件，升降部件82具体可以包括三根直径依次递减的伸缩管821、伸缩管822、伸缩管823，并将伸缩管821、伸缩管822、伸缩管823依次套接连接，完成升降部件82的装配，并在电动驱动下伸缩。另外，参照图13，其示出了本申请实施例的另一种运输设备的结构示意图，图13示出的运输设备应用了剪叉式升降部件，通过驱动剪叉支架824展开或收起，使得与剪叉支架824连接的承载部件81升起或降落。当然本申请实施例还可以采用其他类型的升降部件，本申请实施例不对其加以限制。
可选的，参照图8，车体部件83的远离升降部件82的一侧设置有图形编码扫描装置84；图形编码扫描装置84与处理器连接。
在本申请实施例中，分拣系统的路径区和上料区的表面可以覆盖设置有二维码标签坐标网格，每个二维码标签坐标都对应了一个位置参数，如经纬度信息等，同时车体部件83的远离升降部件82的一侧设置有图形编码扫描装置84，通过图形编码扫描装置84扫描当前运输设备所处位置的二维码标签坐标，从而获取运输设备当前所处位置的位置信息，并将该位置信息发送至处理器，使得处理器得到了运输设备的实时运行位置。
可选的，车体部件83包括：底盘831和壳体832；底盘831包括如图14A、图14B和图14C所示的本体85；本体85上安装两个同步轮851，与各个同步轮851连接的驱动轮852，对应驱动轮852设置伺服电机853，连接同步轮851与对应的伺服电机852的同步带854。
参照图14D、图14E和图14F，壳体832上背离升降部件82的一侧设置有至少一对滚轮8321，以保证车体的稳定。滚轮8321和驱动轮852同时接触地面，使车体部件与地面平行。
在本申请实施例中，本体85可以设置在车体部件83的底盘831内部，具体的，伺 服电机853驱动同步带854带动同步轮851旋转，同步轮851带动驱动轮852旋转。
参照图15，本申请实施例还提供了一种运输系统，包括：运输设备910、服务器920；运输设备910包括：承载部件9101、升降部件9102、车体部件9103；升降部件9102的一端与车体部件9103连接，升降部件9102的另一端与承载部件9101连接；升降部件9102用于升起承载部件9101或降落承载部件9101；运输设备910与服务器920有线或者无线连接。
在本申请实施例中，服务器可以与运输设备实时连接，以确定各个运输设备与目标位置之间的距离数据，并控制运输设备运行、或控制运输设备的升降装置升起或降落，服务器与运输设备实时连接的方式可以为有线连接或者无线连接，本申请对此不作限定，进一步的，服务器还可以为运输设备分配路径，同时，服务器还可以接受图形编码扫描装置传输的物流对象特征信息，从而确定运输设备对应的对象收集设备。
运输系统的基本运行流程为：
在接驳站中，通过人力或机器将单件的物流对象放置在运输设备上，运输设备在承载物流对象后会按照预设路径前往扫码区，通过扫码设备对运输设备承载的物流对象进行扫码，获取物流对象的物流对象特征信息，即目的地信息，此时扫码设备会将物流对象特征信息发送至服务器，由服务器根据物流对象特征信息为运输设备分配一个行驶至对应对象收集设备的路径，根据该路径，运输设备在工作场地路径区中移动至对象收集设备并将物流对象卸下投入对象收集设备，从而完成物流对象的分拣。
本申请提供了一种运输设备，通过设置承载部件、升降部件、车体部件；升降部件的一端与车体部件连接，升降部件的另一端与承载部件连接；升降部件用于升起承载部件或降落承载部件。由于运输设备采用了可升降的升降装置，使得运输设备的工作高度符合人体工程学要求，实现了物流包裹的接驳过程中，不用人工弯腰进行处理，使得工人劳动强度低，提高了分拣系统的分拣效率；并且不需要借助钢架构平台将物流对象倾倒至对象收集设备，降低了分拣系统的设置成本，大大提高了分拣系统的灵活性。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存 储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本申请所提供的一种设备控制方法及装置，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想， 在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (24)

  1. 一种设备控制方法，其特征在于，
    获取运输设备运行位置与目标位置之间的距离数据；
    根据所述距离数据，控制所述运输设备的升降装置的运行。
  2. 根据权利要求1所述的设备控制方法，其特征在于，所述目标位置包括取货节点所在位置、扫码节点所在位置、收货节点所在位置其中至少一个；其中，所述取货节点是指接驳站，所述扫码节点是指扫码设备，所述收货节点是指对象收集设备。
  3. 根据权利要求2所述的设备控制方法，其特征在于，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
  4. 根据权利要求3所述的设备控制方法，其特征在于，所述当前位置为最低位置。
  5. 根据权利要求1所述的设备控制方法，其特征在于，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且当前位置已位于最高位置，则控制所述升降装置保持在最高位置。
  6. 根据权利要求3或5所述的设备控制方法，其特征在于，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
    其中，L为所述升降装置总长度，v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  7. 根据权利要求1所述的设备控制方法，其特征在于，若所述升降装置位于最高位置且所述距离数据大于或等于第三预设距离，则控制所述运输设备以第二速度行驶且控制所述升降装置从最高位置以第一速度降落。
  8. 根据权利要求7所述的设备控制方法，其特征在于，若所述升降装置位于最高位置且所述距离数据小于第三预设距离，则控制所述运输设备以第三速度行驶，其中，所述第三速度小于所述第二速度。
  9. 根据权利要求7或8所述的设备控制方法，其特征在于，所述第三预设距离s3＝2L*v2/v1+Δs；其中，L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  10. 根据权利要求7或8所述的设备控制方法，其特征在于，若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
  11. 根据权利要求10所述的设备控制方法，其特征在于，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
    其中，L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  12. 一种设备控制装置，其特征在于，
    获取模块，用于获取运输设备运行位置与目标位置之间的距离数据；
    控制模块，用于根据所述距离数据，控制所述运输设备的升降装置的运行。
  13. 根据权利要求12所述的设备控制装置，其特征在于，所述目标位置包括取货节点所在位置、扫码节点所在位置、收货节点所在位置；其中，所述取货节点是指接驳站，所述扫码节点是指扫码设备，所述收货节点是指对象收集设备。
  14. 根据权利要求12所述的设备控制装置，其特征在于，所述控制模块包括：
    第一升起子模块，用于若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
  15. 根据权利要求14所述的设备控制装置，其特征在于，所述当前位置为最低位置。
  16. 根据权利要求12所述的设备控制装置，其特征在于，所述控制模块包括：
    悬停子模块，用于所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，且当前位置已位于最高位置，则控制所述升降装置保持在最高位置。
  17. 根据权利要求14或16所述的设备控制装置，其特征在于，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
    其中，L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  18. 根据权利要求12所述的设备控制装置，其特征在于，所述控制模块包括：
    降落子模块，用于若所述升降装置位于最高位置且所述距离数据大于或等于第三预设距离，则控制所述运输设备以第二速度行驶且控制所述升降装置从最高位置以第一速度降落。
  19. 根据权利要求18所述的设备控制装置，其特征在于，所述控制模块包括：
    限速子模块，用于若所述升降装置位于最高位置且所述距离数据小于第三预设距离，则控制所述运输设备以第三速度行驶，其中，所述第三速度小于所述第二速度。
  20. 根据权利要求18或19所述的设备控制装置，其特征在于，所述第三预设距离 s3＝2L*v2/v1+Δs；其中，L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  21. 根据权利要求18或19所述的设备控制装置，其特征在于，所述控制模块包括：
    第二升起子模块，用于若所述距离数据大于或等于第一预设距离且小于或等于第二预设距离，则控制所述升降装置从当前位置以第一速度升起。
  22. 根据权利要求21所述的设备控制装置，其特征在于，所述第一预设距离s1＝L*v2/v1，所述第二预设距离s2＝L*v2/v1+Δs；
    其中，L为所述升降装置总长度，所述v2为所述运输设备最大速度，所述v1为所述升降装置的升降速度；所述Δs为距离调整常数。
  23. 一种装置，其特征在于，包括：
    一个或多个处理器；和
    其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行所述指令时，使得所述装置执行如权利要求1-11一个或多个的方法。
  24. 一个或多个机器可读介质，其上存储有指令，当由一个或多个处理器执行所述指令时，执行如权利要求1-11一个或多个的方法。
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