A control method and device for a delivery device, and a delivery device

Abstract

The present application belongs to the technical field of smart home appliances, and relates to a control method for a delivery device, including: obtaining user instructions and a target location; obtaining the location information of the delivery device, and calculating the distance between the delivery device and the target location according to the target location and the location information of the delivery device; controlling the delivery device to move toward the target location according to the distance between the delivery device and the target location; the location information of the delivery device and the target location are obtained through Wi-Fi positioning based on FTM, so that the delivery device can be moved to the corresponding location more accurately, giving the user a more comfortable experience. The present application also discloses a control device for a delivery device and a delivery device.

Description

Technical Field

[0001] The present application relates to the field of smart home appliance technology, for example, to a control method and device for a delivery device, and a delivery device. Background Art

[0002] With the rapid development of Internet of Things technology, smart home has become an important part of family informatization and social informatization. More and more traditional home appliances have joined the ranks of smart home, and through the Internet of Things, home appliance control and home appliance smart scenes have been realized. The refrigerator is a common household appliance. When users need cold drinks or other food in the refrigerator, they usually can only move to the location of the refrigerator by themselves. However, if the user is inconvenient to move, or the user is very tired and does not want to go, they cannot get the food in the refrigerator anytime and anywhere.

[0003] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art: Since refrigerators are usually large in size, directly moving these large refrigerators, such as double-door refrigerators or multi-door refrigerators, to the vicinity of users can easily cause space congestion. Current refrigerators lack a delivery device that can deliver food in the refrigerator to a user-specified location. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical elements or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] The embodiments of the present disclosure provide a control method and device for a delivery device, and a delivery device, so as to realize the delivery of items to a target location through the delivery device.

[0006] In some embodiments, the control method for a delivery device comprises:

[0007] Get user instructions and target location;

[0008] Acquire the location information of the delivery device, and calculate the distance between the delivery device and the target location according to the target location and the location information of the delivery device;

[0009] controlling the delivery device to move toward the target location according to the distance between the delivery device and the target location;

[0010] The location information of the delivery device and the target location are obtained through Wi-Fi positioning based on FTM.

[0011] In some embodiments, the window control device includes: a processor and a memory storing program instructions, and the processor is configured to perform the above-mentioned control method for the delivery device when executing the program instructions.

[0012] In some embodiments, the delivery device comprises the control device described above.

[0013] The control method, device and delivery device for a delivery device provided in the embodiments of the present disclosure can achieve the following technical effects: it can deliver items to a target location after receiving a user instruction, and compared with traditional Bluetooth positioning, ZigBee positioning, and positioning methods based on signal strength, it can obtain higher positioning accuracy, and can move to the corresponding location more accurately, giving users a more comfortable experience.

[0014] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0016] Figure 1 is a schematic diagram of a control method for a delivery device provided by a disclosed embodiment;

[0017] Figure 2 is a schematic diagram of the cooperation between a refrigerator and a delivery device provided by a disclosed embodiment;

[0018] Figure 3 is a front view schematic diagram of a refrigerator and a delivery device in cooperation with each other in an open door state provided by a disclosed embodiment;

[0019] Figure 4 is a side view of a refrigerator and a delivery device provided by a disclosed embodiment;

[0020] Figure 5 is a cross-sectional schematic diagram of a delivery device provided by a disclosed embodiment with its cover opened;

[0021] Figure 6 is a cross-sectional schematic diagram of a delivery device provided by a disclosed embodiment with its lid in a closed state;

[0022] Figure 7 It is a schematic diagram of a control device for a delivery device provided by a disclosed embodiment. DETAILED DESCRIPTION

[0023] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0024] The present disclosure provides a control method for a delivery device, such as Figure 1 As shown, including:

[0025] S101, obtaining user instructions and target location;

[0026] S102, obtaining location information of the delivery device, and calculating the distance between the delivery device and the target location according to the target location and the location information of the delivery device;

[0027] S103, controlling the delivery device to move toward the target location according to the distance between the delivery device and the target location;

[0028] The location information of the delivery device and the target location are obtained through Wi-Fi (Wireless Fidelity) positioning based on FTM (Fine Timing Measurement).

[0029] Optionally, the target location is the location of the user. Of course, the target location can also be a set coordinate value. In some embodiments, the location of the user is the location of the user terminal that sends the user instruction. Optionally, the user terminal is a smart phone or a smart watch. Of course, the user terminal can also be other devices that support FTM. The delivery device needs to perform indoor positioning of the delivery device and the user's location when delivering goods indoors. Compared with traditional Bluetooth positioning, ZigBee positioning, and positioning methods based on signal strength, this application can obtain higher positioning accuracy, so that the delivery device can be controlled to move to the target location more accurately, giving users a more comfortable experience.

[0030] In some embodiments, first time information of a delivery device is obtained, the first time information includes the sending time when the delivery device sends a fine timing measurement frame and the first receiving time when the delivery device receives a fine timing measurement response frame; second time information of a user terminal is obtained, the second time information includes the second receiving time when the user terminal receives the fine timing measurement frame and the sending time when the user terminal sends the fine timing measurement response frame; respective position information of at least three collaborative nodes with known positions and third time information of at least three collaborative nodes with known positions are obtained, wherein the third time information includes: the receiving time when at least three collaborative nodes respectively receive the fine timing measurement frame and the receiving time when at least three collaborative nodes respectively receive the fine timing measurement response frame; based on the first time information, the second time information, the third time information and the respective position information of at least three collaborative nodes with known positions, the position information of the delivery device and the position information of the user terminal are determined, that is, the target position is determined.

[0031] In some embodiments, after determining the location information of the delivery device and the target location, calculating The distance between the delivery device and the target location is obtained, J is the distance between the delivery device and the target location, (x1, x2) is the coordinate of the delivery device, and (y1, y2) is the coordinate of the target location.

[0032] In some embodiments, the delivery device performs wireless data exchange with the refrigerator via a wireless communication module.

[0033] In some embodiments, the shipping device is controlled to move the goods to the transmission device according to user instructions, and the transmission device is controlled to move the goods to the delivery device.

[0034] In some embodiments, the control method for a delivery device further includes: controlling the delivery device to shut down after detecting that an object has entered the delivery device.

[0035] In some embodiments, the control method for a delivery device further includes: when the delivery device reaches a target location, controlling the delivery device to turn on.

[0036] In some embodiments, the control method for a delivery device further includes: controlling the delivery device to shut down after detecting that an item has left the delivery device.

[0037] In some embodiments, after detecting that an item has left the delivery device and controlling the delivery device to shut down, the method further includes: controlling the delivery device to return to an initial position, thereby saving power consumption of the delivery device.

[0038] Optionally, after the delivery device reaches the target location, the delivery device is controlled to be turned off after a set time and is controlled to return to the initial position, so that the power consumption of the delivery device can be saved.

[0039] In some embodiments, controlling the delivery device to shut down comprises:

[0040] The delivery device is closed by controlling the cargo hold of the delivery device to descend.

[0041] In some embodiments, controlling the delivery device to open comprises:

[0042] The delivery device is opened by controlling the cargo hold of the delivery device to rise.

[0043] In practical applications, the delivery device is optionally arranged at the bottom of the refrigerator, such as Figure 2 , which is a schematic diagram of the cooperation between a refrigerator and a delivery device, includes a delivery device 4, a refrigerator 1, a refrigerator display screen 2, and a refrigerator handle 3.

[0044] like Figure 3 As shown, it is a front view schematic diagram of the refrigerator and the delivery device in the open state. A plurality of delivery devices are arranged inside the refrigerator 1, and the delivery devices include a first motor 16, a support plate 1a, a partition plate 1b and a coil spring 1c. The plurality of delivery devices are divided into two groups, which are fixed in parallel from bottom to top in the refrigerator, with a channel in the middle as the delivery channel, and the partition plate 1b is arranged on the support plate 1a to form a cargo lane. The goods are classified and placed on the cargo lane, and the coil spring 1c is arranged on the cargo lane. A coil spring 1c is arranged on each cargo lane, and the pitch of the coil spring 1c is used to accommodate the goods.

[0045] like Figure 4 As shown, it is a side view of the refrigerator and the delivery device, the first motor 16 of the delivery device, and multiple transmission devices are also arranged inside the refrigerator 1, and the transmission device includes a second motor 17 and a transmission belt 18. Each first motor 16 drives the corresponding coil spring 1c to rotate and push the goods to move away from the first motor 16, so that the goods on the cargo channel fall on the transmission belt 18 of the corresponding transmission device, and the second motor 17 drives the corresponding transmission belt 18 to rotate, and the second motor 17 drives the corresponding transmission belt 18 to transport the goods to the delivery channel between the two groups of delivery devices, and the goods fall from the delivery channel to the cargo warehouse 10 raised by the delivery device 4.

[0046] like Figure 54 is a cross-sectional schematic diagram of the delivery device with the lid open. The delivery device 4 includes a running drive wheel 5, a box body 6 and a box lid 7. The running drive wheel 5 is arranged on the lower surface of the bottom of the box body 6, and each running drive wheel 5 is driven by a motor; the box lid 7 is rotatably connected to the box body 6 through a rotating shaft 8, and the box lid 7 is a double-door type. A first limit card 7a is arranged on the box lid 7 to limit the rising height of the cargo bin 10; a lifting device is arranged inside the box body 6, and the lifting device includes a screw rod 11, a fixing rod 12. A movable frame 13. One end of the screw rod 11 is fixed to the bottom of the box body 6 through a bearing 14. The stepping motor 15 drives the screw rod 11 to rotate. The screw rod 11 is passed through the movable frame 13 through a nut 13a. The fixed rod 12 is passed through the movable frame 13. One end of the fixed rod 12 is fixedly connected to the bottom of the box body 6, and the other end is provided with a second limit card 12a for limiting the rising height of the movable frame 13. One end of the cargo hold rod 10a is fixedly connected to the cargo hold 10, and the other end is fixed to the movable frame 13.

[0047] like Figure 6 , which is a cross-sectional schematic diagram of the delivery device in a closed state of the box cover, an electronic lock 9 is provided on the box cover 7, and the top of the cargo compartment 10 is lowered into the box body 6. When the box cover 7 is closed, the electronic lock 9 is locked.

[0048] Optionally, according to the user's instruction, the first motor 16 corresponding to the delivery device is controlled to drive the corresponding coil spring 1c to rotate while pushing the goods, such as mineral water, to the corresponding conveyor belt 18. At the same time, the electronic lock 9 is opened, and the stepper motor 15 reverses to drive the movable frame 13 and the cargo warehouse rod 10a to move upward, driving the cargo warehouse 10 to rise. When the movable frame 13 rises to the second limit card 12a on the fixed rod 12, the top of the cargo warehouse 10 at this time presses against the first limit card 7a of the box cover 7, and the stepper motor 15 stops reversing, and the cargo warehouse 10 stops rising. When the mineral water falls onto the corresponding conveyor belt 18, the corresponding second motor 17 drives the conveyor belt 18 to rotate, so that the mineral water is transported to the delivery channel between the two groups of delivery devices, and the mineral water falls from the delivery channel into the cargo warehouse 10 raised by the delivery device 4.

[0049] Optionally, according to multiple tests, the time taken for the cargo hold rising process is 2 seconds, and the time taken for transferring cargo to the cargo hold is 5 seconds.

[0050] Optionally, after the cargo warehouse 10 receives the mineral water, the stepper motor 15 is controlled to operate to drive the movable frame 13 and the cargo warehouse rod 10a to move and make the cargo warehouse 10 descend. When the movable frame 13 descends to the bottom of the box body 6, the stepper motor 15 stops running. At this time, the cargo warehouse 10 is lowered into the box body 6, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed.

[0051] Optionally, after the delivery device 4 receives the mineral water and is closed, the delivery device is controlled to move to a set target position, such as a sofa. When the delivery device 4 reaches the target position, the electronic lock 9 is opened, and the stepper motor 15 reverses to drive the movable frame 13 and the cargo compartment rod 10a to make the cargo compartment 10 rise. When the movable frame 13 rises to the second limit card 12a on the fixed rod 12, the top of the cargo compartment 10 at this time presses against the first limit card 7a on the box cover 7, and the cargo compartment 10 stops rising, and the mineral water is displayed in front of the user. When the mineral water is taken away, or after a set time, such as 10 minutes, the stepper motor 15 is controlled to operate to drive the movable frame 13 and the cargo compartment rod 10a to move so that the cargo compartment 10 descends. When the movable frame 13 descends to the bottom of the box body 6, the cargo compartment 10 at this time descends into the box body 6, the stepper motor 15 stops running, the box cover 7 is closed, the electronic lock 9 is locked, and the delivery device is closed. Then, the delivery device is controlled to return to the initial position, that is, the bottom of the refrigerator. In this way, the refrigerator can control the shipping device according to user instructions to move the goods to the delivery device and transport them to the set target location. There is no need for the user to issue control instructions. The goods can be automatically delivered to the user, increasing the function of the refrigerator, making the refrigerator more intelligent, and improving the user experience.

[0052] Optionally, a photoelectric switch is provided in the cargo hold 10 to detect whether cargo has been received or taken away from the cargo hold.

[0053] In some embodiments, a pressure sensor is provided in the cargo hold 10, and the pressure sensor detects changes in pressure values ​​to determine whether the cargo is received or taken away. When the pressure value increases, it is determined that the cargo is received, and when the pressure value decreases, it is determined that the cargo is taken away.

[0054] Optionally, the delivery device is provided with a running drive wheel and a drive motor, which can enable the delivery device to move on a plane. Camera devices are also provided at the front end and sides of the delivery device. By collecting graphics and identifying them, road information can be obtained in real time. When encountering obstacles such as steps, the controller controls the delivery device to turn or stop running to prevent collision or falling. At the same time, a radar ultrasonic sensor is also provided to detect the distance between the delivery device and surrounding objects when it moves. A photoelectric encoder disk is provided on the running drive wheel of the delivery device, which can detect and control the wheel speed to achieve positioning and path planning.

[0055] The present disclosure provides a control device for a delivery device, the structure of which is as follows: Figure 7As shown, the device includes a processor 100 and a memory 101 storing program instructions, and may also include a communication interface 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other through the bus 103. The communication interface 102 may be used for information transmission. The processor 100 may call the logic instructions in the memory 101, and the processor is configured to execute the control method for the delivery device of the above embodiment when executing the program instructions.

[0056] In addition, the logic instructions in the memory 101 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0057] The memory 101 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 100 executes functional applications and data processing by running the software programs, instructions and modules stored in the memory 101, that is, implementing the control method for the delivery device in the above method embodiment.

[0058] The memory 101 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the mobile terminal, etc. In addition, the memory 101 may include a high-speed random access memory and may also include a non-volatile memory.

[0059] According to the control device for the delivery device in the above embodiment, it can be known that the control device for the delivery device provided in the embodiment of the present disclosure can perform indoor positioning more accurately, so as to control the delivery device to move to the corresponding position more accurately, bringing a more comfortable smart home experience to the user.

[0060] The embodiment of the present disclosure provides a delivery device, including the above-mentioned control device. After receiving a user instruction, the delivery device can obtain items from a refrigerator and deliver them to the user or a location specified by the user. Since indoor positioning can be performed more accurately, the delivery device can be moved to the corresponding location more accurately, bringing a more comfortable smart home experience to the user.

[0061] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the control method for the delivery device.

[0062] An embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the above-mentioned control method for a delivery device.

[0063] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0064] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0065] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, individual components and functions are optional, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of the present disclosure includes the entire scope of the claims, and all available equivalents of the claims. When used in this application, although the terms "first", "second", etc. may be used in this application to describe each element, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without changing the meaning of the description, the first element can be called the second element, and similarly, the second element can be called the first element, as long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first element and the second element are both elements, but may not be the same element. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms "a", "an" and "the" are intended to include the plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0066] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0067] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0068] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a delivery device, characterized in that: The delivery device comprises a running drive wheel, a box body and a box cover; the running drive wheel is arranged on the lower surface of the bottom of the box body, and each running drive wheel is driven by a motor; the box cover is rotatably connected to the box body through a rotating shaft; a first limit card is arranged on the box cover, and the first limit card is used to limit the rising height of the cargo bin; a lifting device is arranged inside the box body, and the lifting device comprises a screw rod, a fixed rod and a movable frame; one end of the screw rod is fixed to the bottom of the box body through a bearing, and the stepper motor drives the screw rod to rotate, and the screw rod is passed through the movable frame through a nut; the fixed rod is passed through the movable frame, one end of the fixed rod is fixedly connected to the bottom of the box body, and the other end is provided with a second limit card, and the second limit card is used to limit the rising height of the movable frame; one end of the cargo bin rod is fixedly connected to the cargo bin, and the other end is fixed to the movable frame; the delivery device is arranged at the bottom of the refrigerator; the delivery device and the refrigerator body together form a smart refrigerator; The refrigerator is provided with a shipping channel, and the cargo bin is used to receive the goods dropped from the shipping channel; The control method comprises: Get user instructions and target location; Acquire the location information of the delivery device, and calculate the distance between the delivery device and the target location according to the target location and the location information of the delivery device; controlling the delivery device to move toward the target location according to the distance between the delivery device and the target location; The location information of the delivery device and the target location are obtained through Wi-Fi positioning based on FTM; The control method for the delivery device further includes: when the delivery device reaches the target location, controlling the delivery device to turn on; after detecting that an object has left the delivery device, controlling the delivery device to turn off; Controlling the delivery device to open includes: controlling the stepper motor to reverse and drive the movable frame and the cargo bin rod to raise the cargo bin; when the movable frame rises to the second limit card on the fixed rod, the top of the cargo bin presses against the first limit card on the box cover, controlling the stepper motor to stop running, and the delivery device to open; controlling the delivery device to close includes: controlling the stepper motor to run and drive the movable frame and the cargo bin rod to lower the cargo bin; when the movable frame descends to the bottom of the box body, the cargo bin descends into the box body, the stepper motor stops running, and the delivery device is closed.

2. The method according to claim 1, characterized in that After detecting that an object has left the delivery device and controlling the delivery device to close, the method further includes: Control the delivery device to return to the initial position.

3. A control device for a delivery device, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to perform the control method for a delivery device according to any one of claims 1 to 2 when executing the program instructions.

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