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EP-3722232-B1 - EQUIPMENT CONTROL METHOD AND DEVICE

EP3722232B1EP 3722232 B1EP3722232 B1EP 3722232B1EP-3722232-B1

Inventors

  • ZHOU, QIN
  • ZHONG, Xiang
  • LI, JIANJUN
  • Chen, Maolin
  • YU, XINHUA

Dates

Publication Date
20260513
Application Date
20190102

Claims (9)

  1. An equipment control method, comprising: acquiring (210, 320) distance data between an operation position and a target position of transportation equipment; and controlling (220) operation of a lifting device of the transportation equipment and the transportation equipment according to the distance data, characterized in that the controlling the operation of the lifting device and the transportation equipment comprises: obtaining a first preset distance, a second preset distance, and a third preset distance, wherein the third present distance is greater than the second preset distance, and the second preset distance is greater than the first preset distance; if the distance data is greater than or equal to the third preset distance: controlling (312) the lifting device to perform a lowering action at a first speed and then controlling the transportation equipment to travel at a second speed towards the target position; if the distance data is less than the third preset distance: controlling the transportation equipment to travel at a third speed towards the target position, wherein the third speed is lower than the second speed; and if the distance data is less than or equal to the second preset distance and greater than or equal to the first preset distance: controlling the lifting device to perform a rising action from a current position at the first speed, wherein the first preset distance s1 =L*v2/v1, and the second preset distance s2 = L*v2/v1 + Δs, wherein L is a total height of the lifting device, v2 is a maximum speed of the transportation equipment, v1 is a lifting speed of the lifting device, and Δs is a distance adjustment constant, and wherein the third preset distance s3 = 2L*v2/v1 + Δs, wherein L is a total height of the lifting device, v2 is a maximum speed of the transportation equipment, v1 is a lifting speed of the lifting device, and Δs is a distance adjustment constant.
  2. The equipment control method according to claim 1, wherein the target position comprises at least one of a position of a pickup node, a position of a code scanning node, and a position of a receiving node, the pickup node being a docking station, the code scanning node being code scanning equipment, and the receiving node being object collecting equipment.
  3. The equipment control method according to claim 1, wherein the lowering action lowers the lifting device of the transportation equipment from a highest position to a lowest position.
  4. The equipment control method according to claim 1, wherein the current position is a lowest position.
  5. The equipment control method according to claim 1, wherein 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 already a highest position, controlling the lifting device to remain at the highest position.
  6. The equipment control method according to claim 1, further comprising: if the lifting device is at a highest position and the distance data is greater than or equal to the third preset distance, controlling the transportation equipment to travel at the second speed and controlling the lifting device to be lowered from the highest position at the first speed.
  7. The equipment control method according to claim 1, further comprising: if the lifting device is at a highest position and the distance data is less than the third preset distance, controlling the transportation equipment to travel at the third speed.
  8. A device, comprising: one or more processors; and one or more machine-readable media storing an instruction, the instruction, when executed by the one or more processors, causing the device to perform the method according to one or more of claims 1 to 7.
  9. One or more machine-readable media storing an instruction, when the instruction is executed by one or more processors, the method according to one or more of claims 1 to 7 is performed.

Description

TECHNICAL FIELD The present application relates to the technical field of logistics information, and in particular, to an equipment control method and device. BACKGROUND With the development of e-commerce, more and more users purchase goods online, and as users purchase more goods, delivery is also increased, and pressure on the logistics industry is increased. In the logistics industry, sorting is one of core links. Based on dramatic increase in the delivery, a manner of manually sorting packages cannot meet the demand, and therefore an automated sorting scheme is generated. In a sorting scheme in the existing technologies, transportation equipment such as an automated guided vehicle (AGV) is used to realize automated transportation of logistics objects. The AGV is relatively short, and when the AGV goes to a workstation to receive the logistics objects, workers need to bend to place the logistics objects on the AGV. When the AGV needs to place the logistics objects in object collecting equipment, the AGV further needs to pour the logistics objects into the object collecting equipment through a steel framework platform that is suitable for a height of the object collecting equipment. In a process of applying the foregoing scheme, the inventor found that the existing technologies have the following disadvantages. Due to a short AGV, workers need to bend each time for placing packages, and therefore it is inconvenient for the workers to operate. In addition, logistics objects need to be poured into object collecting equipment through a steel framework platform, resulting in a considerable increase in costs. Document CN 106452903 discloses a cloud-aided intelligent warehouse management robot system and method. US publication US2016304281A1 discloses a system for fully autonomous order fulfilment and inventory management within a distribution site or warehouse, comprising fully autonomous order fulfilment robots directly pulling customer order items from distribution site shelves or pulling individual bins from distribution site shelves and dispensing appropriate quantities of items from the bins until all items of a customer order are retrieved without human involvement. SUMMARY The invention provides a method, an equipment control device, and a machine-readable medium as set out in the accompanying claims. The embodiments of the present application include the following advantages: According to the embodiments of the present application, by acquiring distance data between an operation position and a target position of transportation equipment and controlling operation of a lifting device of the transportation equipment according to the distance data, the lifting device is elevated to a highest position when the transportation equipment reaches the target position. Since the transportation equipment adopts the lifting device, ergonomic requirements are well met and there is no need for workers to bend for handling logistics packages in a docking process, so that the labor intensity of the workers is reduced, and the sorting efficiency of a sorting system is improved. Moreover, logistics objects do not need to be poured into object collecting equipment through a steer framework platform, so that the setting costs of the sorting system are reduced, and the flexibility of the sorting system is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A is a schematic plane diagram of a logistics system, according to an embodiment of the present application.FIG. 1B is a schematic structural diagram of transportation equipment, according to an embodiment of the present application.FIG. 1C is a schematic structural diagram of another transportation equipment, according to an embodiment of the present application.FIG. 1D is a schematic diagram of operation of a lifting device of transportation equipment, according to an embodiment of the present application.FIG. 1E is a schematic structural diagram of object collecting equipment, according to an embodiment of the present application.FIG. 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 interactions of an equipment control method, according to an embodiment of the present application.FIG. 2 is a flowchart of steps of an equipment control method on a server side, according to an embodiment of the present application.FIG. 3A is a flowchart of steps of an equipment control method on a server side, according to an embodiment of the present application.FIG. 3B is a flowchart of steps of another equipment control method on a server side, according to an embodiment of the present application.FIG. 4 is a flowchart of steps of an equipment control method at a system level, according to an embodiment of the present application.FIG. 5 is a structural diagram of an equipment control device, according to an embodiment of the present application.FIG. 6A is a specific structural diagram o