Control method and control device for autonomous mobile device, and autonomous mobile device

Abstract

The invention provides a control method and device of an autonomous moving device.The autonomous moving device comprises a jacking mechanism, the jacking mechanism comprises a jacking plate, a driving part and a first position sensor, the driving part is used for driving the jacking plate to move, and the driving part is used for driving the jacking plate to move; the first position sensor is used for sending out a first detection signal when the jacking plate exceeds the original position in the process that the jacking plate descends to the original position, and the control method of the autonomous moving device comprises the steps that the first detection signal is obtained; the output torque of the driving part is obtained; and under the condition that the first detection signal is received and the output torque is not in the preset torque range, the driving part is controlled to operate, so that the jacking plate moves to the original position. According to the control method of the autonomous moving device provided by the invention, inaccurate position detection of the jacking plate caused by loose displacement of the first position sensor can be avoided, namely, the accuracy of position detection of the jacking plate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous mobile devices, and in particular to a control method, a control device and an autonomous mobile device. Background Art

[0002] In the related art, the lifting mechanism of the AGV detects the position of the lifting plate through a sensor, thereby controlling the position of the lifting plate. However, after a long period of operation, the installation of the sensor may become loose, resulting in the sensor not being able to accurately detect the position of the lifting plate, which in turn reduces the accuracy of the position detection of the lifting plate. Summary of the invention

[0003] The present invention aims to at least solve the technical problem in the prior art that the position of a lifting plate is poorly detected by a sensor.

[0004] To this end, a first aspect of the present invention provides a control method for an autonomous mobile device.

[0005] A second aspect of the present invention provides a control device for an autonomous mobile device.

[0006] A third aspect of the present invention provides an autonomous mobile device.

[0007] A fourth aspect of the present invention provides a readable storage medium.

[0008] A first aspect of the present invention provides a control method for an autonomous mobile device, the autonomous mobile device includes a lifting mechanism, the lifting mechanism includes a lifting plate, a driving member and a first position sensor, the driving member is used to drive the lifting plate to move, the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position, the control method includes: obtaining the first detection signal; obtaining the output torque of the driving member; when the first detection signal is received and the output torque is not within a preset torque range, controlling the driving member to operate so as to move the lifting plate to the original position.

[0009] The control method of the autonomous mobile device provided by the present invention can be used to control the operation of the lifting mechanism of the autonomous mobile device. Specifically, the lifting mechanism of the autonomous mobile device includes a lifting plate, a driver and a first position sensor, wherein the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. That is, the first sensor is used to detect whether the lifting plate has accurately descended to the original position. If the lifting plate continues to move after descending to the original position, the first position sensor will be triggered at this time, and the first position sensor will send a first detection signal.

[0010] Furthermore, in the control process of the autonomous mobile device, specifically in the process of the jacking plate descending to the original position, the first detection signal is first obtained, and the output torque of the driving member is obtained. Further, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the current jacking plate continues to move after descending to the original position. At this time, the driving member can be controlled to operate so that the jacking plate stops continuing to descend, and the driving member is continuously controlled to operate so that the jacking plate rises to the original position, so as to ensure that the jacking plate can stay at the original position and ensure the accuracy of the position of the jacking plate.

[0011] It is understandable that when the lifting mechanism of the autonomous mobile device runs for a long time, the first position sensor may become loose and displaced, resulting in inaccurate detection of whether the lifting plate exceeds the original position during the descent process. At this time, the first detection signal of the first position sensor is combined with the output torque of the driving member to determine whether the lifting plate exceeds the original position, thereby improving the accuracy of detection of the position of the lifting plate.

[0012] Specifically, after the jacking plate is lowered to the original position, the jacking mechanism will usually limit the jacking plate through the limiting mechanism. At this time, if the jacking plate continues to descend, the output torque of the driving member will change, that is, when the first position sensor sends a first detection signal, if the output torque of the driving member changes abnormally, it can be judged that the jacking plate exceeds the original position. At this time, the driving member can be controlled to operate so that the jacking plate rises to the original position. When the first position sensor sends a first detection signal, if the output torque of the driving member changes abnormally, it means that the first position sensor may be loose, resulting in inaccurate position detection, and the first position sensor can be checked at this time.

[0013] The control method of the autonomous mobile device provided by the present invention, in the process of the lifting plate of the autonomous mobile device moving to the original position, by obtaining the first detection signal of the first position sensor and the output torque of the driving member, the first detection signal and the output torque of the driving member are combined to determine whether the lifting plate exceeds the original position. That is, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the position of the lifting plate exceeds the original position. At this time, the driving member can be controlled to operate so that the lifting plate rises to the original position to ensure the accuracy of the position of the lifting plate. By combining the first detection signal and the output torque of the driving member to judge whether the lifting plate exceeds the original position, it is possible to avoid inaccurate position detection of the lifting plate due to loose displacement of the first position sensor, that is, to improve the accuracy of the detection of the position of the lifting plate.

[0014] In addition, the control method of the autonomous mobile device in the above technical solution provided by the present invention may also have the following additional technical features:

[0015] In some technical solutions, optionally, before obtaining the output torque of the driving member, the control method further includes: obtaining the load mass of the jacking plate; and determining the torque range according to the load mass.

[0016] In this technical solution, the preset torque range can be determined according to the mass of the jacking plate. That is, in the process of the jacking plate descending to the original position, the load mass of the jacking plate can be obtained first, and the load mass of the jacking plate is the mass of the items placed on the jacking plate. Then, according to the load mass of the jacking plate, the preset torque range is determined, and then the first detection signal of the first position sensor is combined with the preset torque range to determine whether the jacking plate exceeds the original position.

[0017] It can be understood that for loads of different masses, the driving member will output a torque corresponding to the load mass to ensure that the driving member can drive the lifting plate to move stably. Therefore, for different load masses, the preset torque range for detecting whether the lifting plate exceeds the original position is also different. Therefore, before detecting whether the position of the lifting plate exceeds the original position, the load mass of the lifting plate is obtained, and then the preset torque range is determined according to the load mass, so as to ensure the accuracy of the detection of whether the position of the lifting plate exceeds the original position.

[0018] In some technical solutions, optionally, the lifting mechanism also includes a second position sensor, which is used to send a second detection signal when the lifting plate exceeds the highest position during the rising process of the lifting plate. The control method also includes: when the second detection signal is received, controlling the driving member to stop running.

[0019] In this technical solution, the lifting mechanism may also be provided with a second position sensor. Specifically, during the rising process of the lifting plate, if the position of the lifting plate exceeds the preset highest position, the second position sensor will send a second detection signal, thereby prompting that the position of the lifting plate exceeds the preset highest position, thereby ensuring the accuracy of the position of the lifting plate during the lifting process.

[0020] That is, the first position sensor is used in combination with the output torque of the driving member to determine whether the lifting plate exceeds the original position during the process of descending to the original position, and the second position sensor is used to determine whether the lifting plate exceeds the preset highest position during the process of ascending. The first position sensor and the second position sensor can detect the overall stroke of the lifting plate to ensure that the position of the lifting plate is within the preset stroke range, avoid the position of the lifting plate exceeding the preset stroke range, and thus avoid deviations in the lifting process of the lifting plate for objects.

[0021] Specifically, during the process of the lifting plate rising, the second detection signal of the second position sensor is obtained. If the second detection signal of the second position sensor is not received, it can be determined that the position of the lifting plate has not exceeded the preset highest position. At this time, the driving member can be controlled to continue to operate, so that the lifting plate continues to rise. If the second detection signal of the second position sensor is received, it can be determined that the lifting plate has risen to the preset highest position at this time. At this time, the driving member can be controlled to stop running, thereby preventing the lifting plate from continuing to rise, thereby ensuring the accuracy of the position of the lifting plate.

[0022] In some technical solutions, optionally, the lifting mechanism also includes an object detection component, which is used to send a third detection signal when there is an object on the lifting plate. Before obtaining the first detection signal, the control method also includes: when the third detection signal is received and the output torque is not within the preset torque range, controlling the driving component to stop running; or when the third detection signal is not received and the output torque is within the preset torque range, controlling the driving component to stop running.

[0023] In this technical solution, the lifting mechanism may further include an object detection component, which is used to detect whether there is an object on the lifting plate. Specifically, when there is an object on the lifting plate, the object detection component can emit a third detection signal. On the contrary, when there is no object on the lifting plate, the object detection component does not emit the third detection signal.

[0024] Furthermore, the third detection signal can be combined with the output torque of the driver to determine whether the lifting mechanism is operating normally. It is understandable that for loads of different masses, the driver will output a torque corresponding to the load mass to ensure that the driver can drive the lifting plate to move stably, that is, when there is an object on the lifting plate and when there is no object on the lifting plate, the output torque of the driver is different. Therefore, by combining the third detection signal with the output torque of the driver, it is possible to accurately determine whether the lifting mechanism is operating normally.

[0025] Specifically, when the third detection signal is received, that is, when it is determined that there is an object on the jacking plate, if the output torque of the driving member is not within the preset torque range, it indicates that the current operation of the jacking mechanism is in an abnormal state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism. Correspondingly, when the third detection signal is not received, that is, when it is determined that there is no object on the jacking plate, if the output torque of the driving member is within the preset torque range, it also indicates that the current operation of the jacking mechanism is in a bathing state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism.

[0026] It is understandable that the preset torque range is determined according to the mass of the object on the jacking plate. If there is an object on the jacking plate, but the output torque of the driving member is not within the preset torque range, it indicates that the jacking mechanism is operating abnormally. On the contrary, if there is no object on the jacking plate, but the output torque of the driving member is within the preset torque range, it also indicates that the jacking mechanism is operating abnormally.

[0027] In some technical solutions, optionally, the lifting mechanism further includes a brake mechanism, and after controlling the driving member to stop running, the control method further includes: controlling the brake mechanism to operate to fix the lifting plate to maintain the current position.

[0028] In this technical solution, a brake mechanism may also be provided on the jacking mechanism. Through the operation of the brake mechanism, the jacking plate can be fixed at the current position to prevent the jacking plate from moving, thereby preventing the jacking mechanism from being damaged.

[0029] Specifically, during the operation of the lifting mechanism, that is, during the rising or falling of the lifting plate, if an abnormal operation of the lifting mechanism is detected, the brake device can be controlled to lock the position of the lifting plate to prevent the lifting plate from continuing to move.

[0030] Specifically, the driving member may include a driving motor, and the brake mechanism may lock the output shaft of the driving motor to ensure that the output shaft of the driving motor stops rotating. The brake mechanism is controlled by a brake coil. When there is an abnormality in the operation of the lifting mechanism, the power supply of the brake coil may be controlled to be disconnected, so that the brake mechanism locks the output shaft of the driving motor.

[0031] According to a second aspect of the present invention, a control device for an autonomous mobile device is proposed. The autonomous mobile device includes a lifting mechanism, the lifting mechanism includes a lifting plate, a driving member and a position sensor, the driving member is used to drive the lifting plate to move, and the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. The control device of the autonomous mobile device includes: an acquisition unit, used to acquire the first detection signal; and acquire the output torque of the driving member; a control unit, used to control the operation of the driving member to move the lifting plate to the original position when the first detection signal is received and the output torque is not within a preset torque range.

[0032] The control device of the autonomous mobile device provided by the present invention, in the process of the lifting plate of the autonomous mobile device moving to the original position, obtains the first detection signal of the first position sensor and the output torque of the driving member, combines the first detection signal and the output torque of the driving member, and judges whether the lifting plate exceeds the original position. That is, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the position of the lifting plate exceeds the original position. At this time, the driving member can be controlled to operate so that the lifting plate rises to the original position to ensure the accuracy of the position of the lifting plate. By combining the first detection signal and the output torque of the driving member to judge whether the lifting plate exceeds the original position, it is possible to avoid inaccurate position detection of the lifting plate due to loose displacement of the first position sensor, that is, to improve the accuracy of the detection of the position of the lifting plate.

[0033] Furthermore, the acquisition unit is also used to acquire the load mass of the jacking plate; the control device also includes a determination unit, which is used to determine the torque range according to the load mass.

[0034] Furthermore, the lifting mechanism also includes a second position sensor, which is used to send a second detection signal when the lifting plate exceeds the highest position during the lifting process. The control unit is also used to control the driving member to stop running when the second detection signal is received.

[0035] Furthermore, the lifting mechanism also includes an object detection component, which is used to send a third detection signal when there is an object on the lifting plate. The control unit is also used to: when the third detection signal is received and the output torque is not within a preset torque range, control the driving component to stop running; or when the third detection signal is not received and the output torque is within the preset torque range, control the driving component to stop running.

[0036] Furthermore, the autonomous mobile device also includes a brake mechanism, and the control unit is further used to: after controlling the driving member to stop running, control the brake mechanism to operate so as to fix the lifting plate to maintain the current position.

[0037] According to a third aspect of the present invention, an autonomous mobile device is proposed, comprising: a processor and a memory, the memory storing programs or instructions that can be run on the processor, and the programs or instructions, when executed by the processor, implement the steps of the control method of the autonomous mobile device provided in the first aspect.

[0038] The autonomous mobile device provided by the present invention includes a memory and a processor, and also includes a program or instruction stored in the memory. When the program or instruction is executed by the processor, it can implement the steps of the control method of the autonomous mobile device of the first aspect mentioned above. Therefore, the autonomous mobile device has all the beneficial effects of the control method of the autonomous mobile device mentioned above, which will not be repeated here.

[0039] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the control method of the autonomous mobile device as described in any one of the first aspects above is implemented.

[0040] The readable storage medium provided by the present invention stores a program or instruction thereon. When the program or instruction is executed by the processor, it can implement a control method for an autonomous mobile device such as any one of the above-mentioned technical solutions. Therefore, the storage medium has all the beneficial effects of the above-mentioned control method for an autonomous mobile device, which will not be repeated here.

[0041] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1 One of the flow charts of the control method of the autonomous mobile device provided by the embodiment of the present invention is shown;

[0044] Figure 2 A second flow chart of a control method for an autonomous mobile device provided in an embodiment of the present invention is shown;

[0045] Figure 3 A structural block diagram of a control device for an autonomous mobile device provided by an embodiment of the present invention is shown;

[0046] Figure 4 A structural block diagram of an autonomous mobile device provided by an embodiment of the present invention is shown;

[0047] Figure 5 A schematic structural diagram of a lifting mechanism of an autonomous mobile device provided by an embodiment of the present invention is shown;

[0048] Figure 6 A schematic diagram showing the structure of a processor of an autonomous mobile device provided by an embodiment of the present invention is shown.

[0049] in, Figures 3 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0050] 300 control device of the autonomous mobile device, 302 acquisition unit, 304 control unit, 400 autonomous mobile device, 402 processor, 404 memory, 406 control chip, 408 driver, 410 data transmission interface, 412 detection interface, 414 safety control port, 416 power supply interface, 500 lifting mechanism, 502 drive motor, 504 lifting guide rod, 506 lifting plate, 508 detection plate, 510 first position, 512 second position, 514 first position sensor, 516 second position sensor, 518 object detection part. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0053] Refer to the following Figures 1 to 6 The control method, control device and autonomous mobile device provided by some embodiments of the present invention are described.

[0054] like Figure 1 According to an embodiment of the present invention, a control method of an autonomous mobile device is provided, wherein the autonomous mobile device includes a lifting mechanism, the lifting mechanism includes a lifting plate, a driving member and a first position sensor, the driving member is used to drive the lifting plate to move, and the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. The control method of the autonomous mobile device includes:

[0055] S102, obtaining a first detection signal;

[0056] S104, obtaining the output torque of the driving member;

[0057] S106, when the first detection signal is received and the output torque is not within the preset torque range, control the driving member to operate so as to move the lifting plate to the original position.

[0058] The control method of the autonomous mobile device provided by the present invention can be used to control the operation of the lifting mechanism of the autonomous mobile device. Specifically, the lifting mechanism of the autonomous mobile device includes a lifting plate, a driver and a first position sensor, wherein the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. That is, the first sensor is used to detect whether the lifting plate has accurately descended to the original position. If the lifting plate continues to move after descending to the original position, the first position sensor will be triggered at this time, and the first position sensor will send a first detection signal.

[0059] Furthermore, in the control process of the autonomous mobile device, specifically in the process of the jacking plate descending to the original position, the first detection signal is first obtained, and the output torque of the driving member is obtained. Further, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the current jacking plate continues to move after descending to the original position. At this time, the driving member can be controlled to operate so that the jacking plate stops continuing to descend, and the driving member is continuously controlled to operate so that the jacking plate rises to the original position, so as to ensure that the jacking plate can stay at the original position and ensure the accuracy of the position of the jacking plate.

[0060] It is understandable that when the lifting mechanism of the autonomous mobile device runs for a long time, the first position sensor may become loose and displaced, resulting in inaccurate detection of whether the lifting plate exceeds the original position during the descent process. At this time, the first detection signal of the first position sensor is combined with the output torque of the driving member to determine whether the lifting plate exceeds the original position, thereby improving the accuracy of detection of the position of the lifting plate.

[0061] Specifically, after the jacking plate is lowered to the original position, the jacking mechanism will usually limit the jacking plate through the limiting mechanism. At this time, if the jacking plate continues to descend, the output torque of the driving member will change, that is, when the first position sensor sends a first detection signal, if the output torque of the driving member changes abnormally, it can be judged that the jacking plate exceeds the original position. At this time, the driving member can be controlled to operate so that the jacking plate rises to the original position. When the first position sensor sends a first detection signal, if the output torque of the driving member changes abnormally, it means that the first position sensor may be loose, resulting in inaccurate position detection, and the first position sensor can be checked at this time.

[0062] The control method of the autonomous mobile device provided by the present invention, in the process of the lifting plate of the autonomous mobile device moving to the original position, by obtaining the first detection signal of the first position sensor and the output torque of the driving member, the first detection signal and the output torque of the driving member are combined to determine whether the lifting plate exceeds the original position. That is, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the position of the lifting plate exceeds the original position. At this time, the driving member can be controlled to operate so that the lifting plate rises to the original position to ensure the accuracy of the position of the lifting plate. By combining the first detection signal and the output torque of the driving member to judge whether the lifting plate exceeds the original position, it is possible to avoid inaccurate position detection of the lifting plate due to loose displacement of the first position sensor, that is, to improve the accuracy of the detection of the position of the lifting plate.

[0063] Specifically, the driving member of the lifting mechanism may include a driving motor and a corresponding transmission assembly. During the operation of the driving motor, the torque output by the driving motor may be converted into the movement of the lifting plate through the transmission member. During the process of the lifting plate descending to the original position, if the first detection signal of the first position sensor is received and the output torque of the driving motor is not within the preset torque range, the driving motor may be controlled to reverse so that the lifting plate can rise to the original position, thereby ensuring the accuracy of the position of the lifting plate.

[0064] According to one embodiment of the present invention, Figure 2 As shown, a control method for an autonomous mobile device is proposed, wherein the autonomous mobile device includes a lifting mechanism, the lifting mechanism includes a lifting plate, a driving member and a first position sensor, the driving member is used to drive the lifting plate to move, and the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. The control method of the autonomous mobile device includes:

[0065] S202, obtaining the load mass of the jacking plate;

[0066] S204, determining a torque range according to the load mass;

[0067] S206, obtaining a first detection signal;

[0068] S208, obtaining the output torque of the driving member;

[0069] S210, when the first detection signal is received and the output torque is not within the preset torque range, control the driving member to operate so as to move the lifting plate to the original position.

[0070] In this embodiment, the preset torque range can be determined according to the mass of the jacking plate. That is, in the process of the jacking plate descending to the original position, the load mass of the jacking plate can be obtained first, and the load mass of the jacking plate is the mass of the objects placed on the jacking plate. Then, according to the load mass of the jacking plate, the preset torque range is determined, and then the first detection signal of the first position sensor is combined with the preset torque range to determine whether the jacking plate exceeds the original position.

[0071] It can be understood that for loads of different masses, the driving member will output a torque corresponding to the load mass to ensure that the driving member can drive the lifting plate to move stably. Therefore, for different load masses, the preset torque range for detecting whether the lifting plate exceeds the original position is also different. Therefore, before detecting whether the position of the lifting plate exceeds the original position, the load mass of the lifting plate is obtained, and then the preset torque range is determined according to the load mass, so as to ensure the accuracy of the detection of whether the position of the lifting plate exceeds the original position.

[0072] In some embodiments, optionally, the lifting mechanism also includes a second position sensor, which is used to send a second detection signal when the lifting plate exceeds the highest position during the lifting process of the lifting plate. The control method also includes: when the second detection signal is received, controlling the driving member to stop running.

[0073] In this embodiment, the lifting mechanism may also be provided with a second position sensor. Specifically, during the rising process of the lifting plate, if the position of the lifting plate exceeds the preset highest position, the second position sensor will send a second detection signal, thereby prompting that the position of the lifting plate exceeds the preset highest position, thereby ensuring the accuracy of the position of the lifting plate during the lifting process.

[0074] That is, the first position sensor is used in combination with the output torque of the driving member to determine whether the lifting plate exceeds the original position during the process of descending to the original position, and the second position sensor is used to determine whether the lifting plate exceeds the preset highest position during the process of ascending. The first position sensor and the second position sensor can detect the overall stroke of the lifting plate to ensure that the position of the lifting plate is within the preset stroke range, avoid the position of the lifting plate exceeding the preset stroke range, and thus avoid deviations in the lifting process of the lifting plate for objects.

[0075] Specifically, during the process of the lifting plate rising, the second detection signal of the second position sensor is obtained. If the second detection signal of the second position sensor is not received, it can be determined that the position of the lifting plate has not exceeded the preset highest position. At this time, the driving member can be controlled to continue to operate, so that the lifting plate continues to rise. If the second detection signal of the second position sensor is received, it can be determined that the lifting plate has risen to the preset highest position at this time. At this time, the driving member can be controlled to stop running, thereby preventing the lifting plate from continuing to rise, thereby ensuring the accuracy of the position of the lifting plate.

[0076] For example, Figure 5 As shown, the driving member of the lifting mechanism 500 may include a driving motor 502 and a corresponding transmission assembly, the transmission assembly includes a lifting guide rod 504, one end of the lifting guide rod 504 is connected to the lifting plate 506, and the other end of the lifting guide rod 504 is connected to the driving motor 502, and the driving motor 502 is used to drive the lifting guide rod 504 to move, so as to drive the lifting plate 506 to move. At the same time, the lifting guide rod 504 is connected to the detection plate 508, and the detection plate 508 is used to contact the first position sensor 514 and the second position sensor 516 to trigger the first position sensor 514 and the second position sensor 516. During the process of the lifting plate 506 descending, when the end of the lifting guide rod 504 connected to the lifting plate 506 moves to the first position 510 where the first position sensor 514 is located, the detection plate 508 contacts the first position sensor 514, and the first position sensor 514 sends a first detection signal. If the first detection signal of the first position sensor 514 is received and the output torque of the drive motor 502 is not within the preset torque range, the drive motor 502 can be controlled to reverse, so that the lifting plate 506 can rise to the original position, ensuring the accuracy of the position of the lifting plate 506. During the process of the lifting plate 506 rising, when the end of the lifting guide rod 504 connected to the drive motor 502 moves to the second position 512 where the second position sensor 516 is located, the detection plate 508 contacts the second position sensor 516, and the second position sensor 516 sends a second detection signal. At this time, the drive motor 502 can be controlled to stop running, so that the lifting plate 506 no longer rises, ensuring the position of the lifting plate 506.

[0077] In some embodiments, the lifting mechanism also includes an object detection component, which is used to send a third detection signal when there is an object on the lifting plate. Before obtaining the first detection signal, the control method also includes: when the third detection signal is received and the output torque is not within a preset torque range, controlling the driving component to stop running; or when the third detection signal is not received and the output torque is within the preset torque range, controlling the driving component to stop running.

[0078] In this embodiment, the lifting mechanism may further include an object detection component, which is used to detect whether there is an object on the lifting plate. Specifically, when there is an object on the lifting plate, the object detection component can emit a third detection signal. On the contrary, when there is no object on the lifting plate, the object detection component does not emit the third detection signal.

[0079] Furthermore, the third detection signal can be combined with the output torque of the driver to determine whether the lifting mechanism is operating normally. It is understandable that for loads of different masses, the driver will output a torque corresponding to the load mass to ensure that the driver can drive the lifting plate to move stably, that is, when there is an object on the lifting plate and when there is no object on the lifting plate, the output torque of the driver is different. Therefore, by combining the third detection signal with the output torque of the driver, it is possible to accurately determine whether the lifting mechanism is operating normally.

[0080] Specifically, when the third detection signal is received, that is, when it is determined that there is an object on the jacking plate, if the output torque of the driving member is not within the preset torque range, it indicates that the current operation of the jacking mechanism is in an abnormal state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism. Correspondingly, when the third detection signal is not received, that is, when it is determined that there is no object on the jacking plate, if the output torque of the driving member is within the preset torque range, it also indicates that the current operation of the jacking mechanism is in a bathing state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism.

[0081] It is understandable that the preset torque range is determined according to the mass of the object on the jacking plate. If there is an object on the jacking plate, but the output torque of the driving member is not within the preset torque range, it indicates that the jacking mechanism is operating abnormally. On the contrary, if there is no object on the jacking plate, but the output torque of the driving member is within the preset torque range, it also indicates that the jacking mechanism is operating abnormally.

[0082] In some embodiments, the lifting mechanism further includes a brake mechanism, and after controlling the driving member to stop running, the control method further includes: controlling the brake mechanism to run to fix the lifting plate to maintain the current position.

[0083] In this embodiment, a brake mechanism may also be provided on the jacking mechanism. Through the operation of the brake mechanism, the jacking plate can be fixed at the current position to prevent the jacking plate from moving, thereby preventing the jacking mechanism from being damaged.

[0084] Specifically, during the operation of the lifting mechanism, that is, during the rising or falling of the lifting plate, if an abnormal operation of the lifting mechanism is detected, the brake device can be controlled to lock the position of the lifting plate to prevent the lifting plate from continuing to move.

[0085] Specifically, the driving member may include a driving motor, and the brake mechanism may lock the output shaft of the driving motor to ensure that the output shaft of the driving motor stops rotating. The brake mechanism is controlled by a brake coil. When there is an abnormality in the operation of the lifting mechanism, the power supply of the brake coil may be controlled to be disconnected, so that the brake mechanism locks the output shaft of the driving motor.

[0086] Exemplarily, during the process of the lifting plate rising or falling, when the third detection signal is received, that is, when it is determined that there is an object on the lifting plate, if the output torque of the driving member is not within the preset torque range, it means that the current operation of the lifting mechanism is in an abnormal state. At this time, the driving member can be controlled to stop running, and the brake mechanism can be controlled to operate at the same time to lock the position of the lifting plate. On the contrary, when the third detection signal is not received, that is, when it is determined that there is no object on the lifting plate, if the output torque of the driving member is within the preset torque range, it also means that the current operation of the lifting mechanism is in a bathing state. At this time, the driving member can be controlled to stop running, and the brake mechanism can be controlled to operate at the same time to lock the position of the lifting plate.

[0087] In some embodiments of the present invention, Figure 3 As shown, a control device 300 for an autonomous mobile device is provided, wherein the autonomous mobile device includes a lifting mechanism, the lifting mechanism includes a lifting plate, a driving member and a position sensor, the driving member is used to drive the lifting plate to move, and the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position. The control device 300 of the autonomous mobile device includes: an acquisition unit 302, used to acquire the first detection signal; and acquire the output torque of the driving member; a control unit 304, used to control the operation of the driving member to move the lifting plate to the original position when the first detection signal is received and the output torque is not within a preset torque range.

[0088] The control device 300 of the autonomous mobile device provided by the present invention, in the process of the lifting plate of the autonomous mobile device moving to the original position, obtains the first detection signal of the first position sensor and the output torque of the driving member, combines the first detection signal and the output torque of the driving member, and determines whether the lifting plate exceeds the original position. That is, when the first detection signal is received and the output torque of the driving member is not within the preset torque range, it can be determined that the position of the lifting plate exceeds the original position. At this time, the driving member can be controlled to operate so that the lifting plate rises to the original position to ensure the accuracy of the position of the lifting plate. By combining the first detection signal and the output torque of the driving member to judge whether the lifting plate exceeds the original position, it is possible to avoid inaccurate position detection of the lifting plate due to loose displacement of the first position sensor, that is, to improve the accuracy of the detection of the position of the lifting plate.

[0089] Furthermore, the preset torque range can be determined according to the mass of the jacking plate. That is, when the jacking plate is lowered to the original position, the load mass of the jacking plate can be obtained first, and the load mass of the jacking plate is the mass of the items placed on the jacking plate. Then, according to the load mass of the jacking plate, the preset torque range is determined, and then the first detection signal of the first position sensor is combined with the preset torque range to determine whether the jacking plate exceeds the original position.

[0090] It can be understood that for loads of different masses, the driving member will output a torque corresponding to the load mass to ensure that the driving member can drive the lifting plate to move stably. Therefore, for different load masses, the preset torque range for detecting whether the lifting plate exceeds the original position is also different. Therefore, before detecting whether the position of the lifting plate exceeds the original position, the load mass of the lifting plate is obtained, and then the preset torque range is determined according to the load mass, so as to ensure the accuracy of the detection of whether the position of the lifting plate exceeds the original position.

[0091] Furthermore, the jacking mechanism can also be provided with a second position sensor. Specifically, during the rising process of the jacking plate, if the position of the jacking plate exceeds the preset highest position, the second position sensor will send a second detection signal, thereby prompting that the position of the jacking plate exceeds the preset highest position, thereby ensuring the accuracy of the position of the jacking plate during the jacking process.

[0092] That is, the first position sensor is used in combination with the output torque of the driving member to determine whether the lifting plate exceeds the original position during the process of descending to the original position, and the second position sensor is used to determine whether the lifting plate exceeds the preset highest position during the process of ascending. The first position sensor and the second position sensor can detect the overall stroke of the lifting plate to ensure that the position of the lifting plate is within the preset stroke range, avoid the position of the lifting plate exceeding the preset stroke range, and thus avoid deviations in the lifting process of the lifting plate for objects.

[0093] Specifically, during the process of the lifting plate rising, the second detection signal of the second position sensor is obtained. If the second detection signal of the second position sensor is not received, it can be determined that the position of the lifting plate has not exceeded the preset highest position. At this time, the driving member can be controlled to continue to operate, so that the lifting plate continues to rise. If the second detection signal of the second position sensor is received, it can be determined that the lifting plate has risen to the preset highest position at this time. At this time, the driving member can be controlled to stop running, thereby preventing the lifting plate from continuing to rise, thereby ensuring the accuracy of the position of the lifting plate.

[0094] Furthermore, the lifting mechanism may also include an object detection component, which is used to detect whether there is an object on the lifting plate. Specifically, when there is an object on the lifting plate, the object detection component can emit a third detection signal. On the contrary, when there is no object on the lifting plate, the object detection component does not emit the third detection signal.

[0095] Furthermore, the third detection signal can be combined with the output torque of the driver to determine whether the lifting mechanism is operating normally. It is understandable that for loads of different masses, the driver will output a torque corresponding to the load mass to ensure that the driver can drive the lifting plate to move stably, that is, when there is an object on the lifting plate and when there is no object on the lifting plate, the output torque of the driver is different. Therefore, by combining the third detection signal with the output torque of the driver, it is possible to accurately determine whether the lifting mechanism is operating normally.

[0096] Specifically, when the third detection signal is received, that is, when it is determined that there is an object on the jacking plate, if the output torque of the driving member is not within the preset torque range, it indicates that the current operation of the jacking mechanism is in an abnormal state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism. Correspondingly, when the third detection signal is not received, that is, when it is determined that there is no object on the jacking plate, if the output torque of the driving member is within the preset torque range, it also indicates that the current operation of the jacking mechanism is in a bathing state. At this time, the driving member can be controlled to stop running to avoid damage caused by long-term abnormal operation of the jacking mechanism.

[0097] It is understandable that the preset torque range is determined according to the mass of the object on the jacking plate. If there is an object on the jacking plate, but the output torque of the driving member is not within the preset torque range, it indicates that the jacking mechanism is operating abnormally. On the contrary, if there is no object on the jacking plate, but the output torque of the driving member is within the preset torque range, it also indicates that the jacking mechanism is operating abnormally.

[0098] Furthermore, a brake mechanism may be provided on the jacking mechanism, and the operation of the brake mechanism can fix the jacking plate at the current position to prevent the jacking plate from moving, thereby preventing the jacking mechanism from being damaged.

[0099] Specifically, during the operation of the lifting mechanism, that is, during the rising or falling of the lifting plate, if an abnormal operation of the lifting mechanism is detected, the brake device can be controlled to lock the position of the lifting plate to prevent the lifting plate from continuing to move.

[0100] Specifically, the driving member may include a driving motor, and the brake mechanism may lock the output shaft of the driving motor to ensure that the output shaft of the driving motor stops rotating. The brake mechanism is controlled by a brake coil. When there is an abnormality in the operation of the lifting mechanism, the power supply of the brake coil may be controlled to be disconnected, so that the brake mechanism locks the output shaft of the driving motor.

[0101] In some embodiments of the present invention, Figure 4 As shown, an autonomous mobile device 400 is proposed, including: a processor 402 and a memory 404, the memory 404 stores programs or instructions that can be run on the processor 402, and when the programs or instructions are executed by the processor 402, the steps of the control method of the autonomous mobile device 400 provided in any of the above embodiments are implemented.

[0102] The autonomous mobile device 400 provided by the present invention includes a memory 404 and a processor 402, and also includes a program or instruction stored in the memory 404. When the program or instruction is executed by the processor 402, it can implement the steps of the control method of the autonomous mobile device 400 as in any one of the above-mentioned embodiments. Therefore, the autonomous mobile device 400 has all the beneficial effects of the control method of the autonomous mobile device 400, which will not be repeated here.

[0103] For example, Figure 6As shown, the processor 402 may include a control chip 406 and a driver 408, the driver 408 is connected to the control chip 406, and the driver 408 is also connected to the driving motor 502 of the lifting mechanism 500, for driving the driving motor 502. Specifically, the driver 408 may include a data transmission interface 410, and the driver 408 may be connected to the control chip 406 through the data transmission interface 410. Specifically, the driver 408 may be connected to the control chip 406 via a CAN bus (controller area network) or RS485 (recommended standard 485) transmission protocol. Further, the driver 408 may also include a detection interface 412, and the detection interface 412 is used to connect to the first position sensor 514, the second position sensor 516 and the object detection member 518, for receiving a detection signal. Furthermore, the driver 408 further includes a safety control port 414, which is connected to a power source. When the lifting mechanism is detected to be operating abnormally, the safety control port 414 can be used to control the driving motor 502 of the lifting mechanism to stop operating, and control the brake mechanism to lock the output end of the driving motor 502. Furthermore, the driver 408 further includes a power supply interface 416, which is used to connect to a power source (VDD) to provide power for the operation of the driver 408.

[0104] In some embodiments of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method of the autonomous mobile device as described in any one of the above embodiments is implemented.

[0105] The readable storage medium provided by the present invention stores a program or instruction thereon. When the program or instruction is executed by the processor, it can implement the control method of an autonomous mobile device such as any one of the above-mentioned embodiments. Therefore, the storage medium has all the beneficial effects of the above-mentioned control method of an autonomous mobile device, which will not be repeated here.

[0106] The methods may be implemented in various ways according to specific features and / or example applications. For example, the methods may be implemented by a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other equipment units for performing the above functions, and / or combinations thereof.

[0107] A readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The readable storage medium may be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of readable storage media includes: a portable computer floppy disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory card, a floppy disk, an encoding mechanical device (such as a punched card or a groove with a raised structure having instructions recorded thereon), and any suitable combination of the above devices. The readable storage medium used herein should not be understood as a transmission signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through a wire, etc.

[0108] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0110] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for an autonomous mobile device, It is characterized in that The autonomous moving device comprises a lifting mechanism, the lifting mechanism comprises a lifting plate, a driving member and a first position sensor, the driving member is used to drive the lifting plate to move, the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position, and the control method comprises: Acquire the first detection signal; Obtaining the output torque of the driving member; When the first detection signal is received and the output torque is not within the preset torque range, the driving member is controlled to operate so as to move the lifting plate to the original position.

2. The control method according to claim 1, It is characterized in that Before obtaining the output torque of the driving member, the control method further includes: Obtaining the load mass of the jacking plate; The torque range is determined according to the load mass.

3. The control method according to claim 1 or 2, It is characterized in that The lifting mechanism further includes a second position sensor, which is used to send a second detection signal when the lifting plate exceeds the highest position during the lifting process of the lifting plate. The control method further includes: When the second detection signal is received, the driving member is controlled to stop running.

4. The control method according to claim 1 or 2, It is characterized in that The lifting mechanism further includes an object detection component, which is used to send a third detection signal when there is an object on the lifting plate. Before obtaining the first detection signal, the control method further includes: When the third detection signal is received and the output torque is not within the preset torque range, controlling the driving member to stop running; or When the third detection signal is not received and the output torque is within the preset torque range, the driving member is controlled to stop running.

5. The control method according to claim 4, It is characterized in that The lifting mechanism further includes a brake mechanism. After the driving member is controlled to stop running, the control method further includes: The brake mechanism is controlled to operate so as to fix the lifting plate at a current position.

6. A control device for an autonomous mobile device, It is characterized in that The autonomous moving device comprises a lifting mechanism, the lifting mechanism comprises a lifting plate, a driving member and a first position sensor, the driving member is used to drive the lifting plate to move, the first position sensor is used to send a first detection signal when the lifting plate exceeds the original position during the process of the lifting plate descending to the original position, and the control device comprises: an acquiring unit, configured to acquire the first detection signal; and Obtaining the output torque of the driving member; The control unit is used to control the driving member to operate so that the lifting plate moves to the original position when the first detection signal is received and the output torque is not within a preset torque range.

7. The control device according to claim 6, It is characterized in that The acquisition unit is also used to acquire the load mass of the jacking plate; The control device further includes a determination unit configured to determine the torque range according to the load mass.

8. The control device according to claim 6 or 7, It is characterized in that The lifting mechanism further includes a second position sensor, which is used to send a second detection signal when the lifting plate exceeds the highest position during the lifting process of the lifting plate. The control unit is also used to: When the second detection signal is received, the driving member is controlled to stop running.

9. The control device according to claim 6 or 7, It is characterized in that The lifting mechanism further includes an object detection member, which is used to send a third detection signal when there is an object on the lifting plate, and the control unit is further used to: When the third detection signal is received and the output torque is not within the preset torque range, controlling the driving member to stop running; or When the third detection signal is not received and the output torque is within the preset torque range, the driving member is controlled to stop running.

10. The control device according to claim 9, It is characterized in that The autonomous mobile device further includes a brake mechanism, and the control unit is further used for: After the driving member is controlled to stop running, the brake mechanism is controlled to run to fix the lifting plate to maintain the current position.

11. An autonomous mobile device, It is characterized in that include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the autonomous mobile device according to any one of claims 1 to 5 are implemented.

12. The autonomous mobile device according to claim 11, It is characterized in that The autonomous mobile device includes an automatic guided vehicle.

13. A readable storage medium, It is characterized in that The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the control method of the autonomous mobile device according to any one of claims 1 to 5 are implemented.

Images