Control method, control system, control node and control end for conveying device

Abstract

The invention provides a control method for a conveying device, which is applied to a control system comprising a control end and one or more control nodes, and each of the control nodes is in communication connection with the control end. The method comprises the steps that in response to an operation signal sent by a control end, a control node receiving the operation signal controls a movable device associated with the control node to reach a to-be-controlled conveying device; and whether the to-be-controlled conveying device is controlled or not according to the indication of the operation signal according to sensing data about the condition of a conveying object on the to-be-controlled conveying device from the sensing device. The invention further provides a control system, a control node and a control end.

Description

Technical Field

[0001] The present application relates to controlling a conveying device, and more specifically, to controlling the conveying device through a distributed control node. Background Art

[0002] The stopping and starting of escalators usually require manual operation, that is, maintenance personnel arrive at the escalator and control the opening and closing of the escalator according to the escalator situation, which is time-consuming and relatively difficult to manage. The remote control of escalators through video surveillance is difficult because it is difficult to prevent passengers from taking the escalator. Summary of the invention

[0003] The present application provides a control method for a conveying device, which can be applied to a control system including a control terminal and one or more control nodes, wherein the one or more control nodes are respectively connected to the control terminal in communication. The method may include: in response to an operation signal sent by the control terminal, the control node receiving the operation signal controls a movable device associated with it to reach the conveying device to be controlled; based on sensing data from a sensing device about the condition of a conveying object on the conveying device to be controlled, the control node may determine whether to control the conveying device to be controlled according to the instruction of the operation signal.

[0004] According to the control method, optionally, based on the sensing data from the sensing device, the control node determines whether to control the conveying device to be controlled according to the instructions of the operation signal, which may further include: judging whether there is a conveying object on the conveying device to be controlled; if there is no conveying object on the conveying device to be controlled, controlling the conveying device to be controlled according to the instructions of the operation signal.

[0005] According to the control method, optionally, the method may also include: in the case where there is a conveying object on the conveying device to be controlled, continuously judging whether there is a conveying object on the conveying device to be controlled based on the sensing data of the sensing device within a preset time period; if there is always a conveying object on the conveying device within the preset time period, generating a feedback signal and sending the feedback signal to the control end; if there is no conveying object on the conveying device within the preset time period, controlling the conveying device to be controlled according to the instruction of the operation signal.

[0006] According to the control method, optionally, the method may also include: when the conveying device to be controlled is an upward conveying device, the control end sends an operation signal to a control node associated with a movable device that manages the conveying device to be controlled and is located on the building floor where the lower station of the conveying device to be controlled is located; when the conveying device to be controlled is a downward conveying device, the control end sends an operation signal to a control node associated with a movable device that manages the conveying device to be controlled and is located on the building floor where the upper station of the conveying device to be controlled is located.

[0007] According to the control method, optionally, the method may also include: the control node determines whether the conveying device to be controlled by the operation signal is going up or down according to the sensing data of the sensing device about the operation status of the conveying device to be controlled; in the case of going up, the movable device is controlled to reach the lower station of the conveying device to be controlled; in the case of going down, the movable device is controlled to reach the upper station of the conveying device to be controlled. The sensing device can be set on the movable device, in other words, the sensing device can be set on each movable device associated with the control node.

[0008] According to the control method, optionally, the method may also include: controlling a voice device to output a voice to prompt the transport object to leave or not enter the transport device to be controlled. The voice device may be provided on a movable device. In other words, a voice device may be provided on each movable device associated with the control node. According to an example of the present application, when the control node controls the mobile device associated with it to arrive at the transport device to be controlled, the control node may control the voice device provided on the mobile device to output a voice prompting the transport object to leave or not enter the transport device to be controlled.

[0009] According to another aspect of the present application, a control system for a conveying device is also provided, the control system comprising: a control end; one or more control nodes, a sensing device and a voice device. Each of the control nodes is communicatively connected to the control end, and each of the control nodes is configured to be associated with a mobile device, and the associated mobile device manages more than one conveying device under the control of the control node. The sensing device can be used to sense the conveying object on the conveying device and the operating conditions of the conveying device, and the control node can obtain the sensing data of the sensing device. The voice device can output voice under the control of the control node. The control system is configured to execute any one of the control methods described herein. As an example, the sensing device and the voice device can be set on the mobile device.

[0010] In the control system, for example, the movable device is a robot, the control node is arranged in the robot associated therewith, and the sensing device and the voice device are respectively implemented by the sensing system and the voice system of the robot.

[0011] According to another aspect of the present application, a control node for controlling a conveying device is also provided. The control node includes: a communication unit configured to receive an operation signal for controlling the conveying device and to send a signal; a control unit configured to confirm the conveying device to be controlled according to the operation signal; control a movable device associated with the control node to reach the conveying device to be controlled; determine whether to control the conveying device to be controlled according to the instruction of the operation signal according to the sensing data from the sensing device; wherein the sensing data includes data that can represent the condition of the conveying object on the conveying device to be controlled sensed by the sensing device.

[0012] According to another aspect of the present application, a control terminal is also provided. The control terminal is communicatively connected with a plurality of control nodes, each of which is implemented by the control node described above, and the control terminal includes: a memory storing the correspondence between each control node and the conveying device it manages; a controller configured to generate an operation signal for controlling the conveying device according to control requirements; and a communication unit configured to send the operation signal to the control node and receive feedback signals sent by each control node. The control terminal can implement the control terminal in any one of the examples described above.

[0013] In the above examples, the movable device is a robot, and the control node can be set in the robot. The sensing device and the voice device can be implemented by the sensing system and the voice system of the robot.

[0014] In the above examples, the conveying device is an escalator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application will be more fully understood by referring to the following detailed description of specific embodiments in conjunction with the accompanying drawings, wherein:

[0016] Figure 1 An exemplary structure of an escalator 10 is illustrated;

[0017] Figure 2 is a schematic structural diagram of a control system of an exemplary application of a control method for a conveying device according to the present application;

[0018] Figure 3 is a flow chart of a control method for a conveying device according to an example of the present application;

[0019] Figure 4 is a flow chart of a control method for a conveying device according to some examples of the present application;

[0020] Figure 5 is a flow chart of a control method for a conveying device according to some other examples of the present application;

[0021] Figure 6 A structural diagram of a control node according to an example of the present application is illustrated;

[0022] Figure 7 is a schematic diagram of the structure of the control terminal according to an example of the present application;

[0023] Figure 8 It is a schematic diagram of the structure of a control system according to some examples of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to clearly and completely describe the implementation methods of the present application. It should be noted that the described implementation methods are only partial implementation methods of the technical solutions of the present application, not all. All other implementation methods obtained by ordinary technicians in this field based on the implementation methods recorded in the application documents without paying creative work are covered by the protection scope of the present application.

[0025] The terms "first", "second", etc. in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than the embodiments illustrated or described herein. In addition, "first" and "second" are used for descriptive purposes only and are not to be understood as expressly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise stated, "multiple" means two or more.

[0026] As used hereinafter, the words “example” or “exemplarily” or “exemplarily” mean “serving as an example, embodiment, or illustration.” Any embodiment described as “example” or “exemplarily” or “exemplarily” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0027] Figure 1An exemplary structure of an escalator 10 is illustrated. In the ensuing description, it should become apparent that the present invention is applicable to other passenger conveyor systems, such as moving walkways. The escalator 10 generally includes a truss 12 extending between a lower landing 14 and an upper landing 16. A plurality of sequentially connected steps or pallets 18 are connected to a step chain 20 and travel through a closed loop path within the truss 12. Pairs of handrails 22 include moving handrails 24. A drive machine 26 or drive system is typically positioned in a machine space 28 below the upper landing 16; however, an additional machine space 28' may be positioned below the lower landing 14. The drive machine 26 is configured to drive the steps 18 and / or handrails 24 via the step chain 20. The drive machine 26 operates to move the steps 18 in a selected direction at a desired speed under normal operating conditions.

[0028] The steps 18 make a 180 degree change of direction in a turning area 19 located below the lower landing 14 and the upper landing 16. The steps 18 are pivotally attached to a step chain 20 and follow the closed loop path of the step chain 20, running from one landing to another and back again.

[0029] The drive machine 26 includes a first drive component 32, such as a motor output sheave, connected to a drive motor 34 via a belt reduction assembly 36, which includes a second drive component 38, such as an output sheave, driven by a tensioning component 39, such as an output belt. In some embodiments, the first drive component 32 is a driving component and the second drive component 38 is a driven component.

[0030] As used herein, in various embodiments, the first drive member 32 and / or the second drive member 38 can be any type of rotating device, such as a rope, pulley, gear, wheel, sprocket, cog, pinion, etc. In various embodiments, the tension member 39 can be configured as a chain, belt, cable, belt, band, strip, or any other similar device that operatively connects two elements to provide a driving force from one element to another. For example, the tension member 39 can be any type of interconnecting member that extends between the first drive member 32 and the second drive member 38 and operatively connects the first drive member 32 and the second drive member 38. In some embodiments, as Figure 1 As shown in FIG. 1 , the first drive member 32 and the second drive member 38 may provide belt reduction. For example, the diameter of the first drive member 32 may be approximately 75 mm (2.95 inches), while the diameter of the second drive member 38 may be approximately 750 mm (29.53 inches). For example, the belt reduction allows the sheaves to be replaced to change the speed for 50 or 60 Hz mains power applications or different step speeds. However, in other embodiments, the second drive member 38 may be substantially similar to the first drive member 32.

[0031] As noted, the first drive member 32 is driven by the drive motor 34 and is therefore configured to drive the tensioning member 39 and the second drive member 38. In some embodiments, the second drive member 38 may be an idler gear or similar device that is driven by the operative connection between the first drive member 32 and the second drive member 38 by means of the tensioning member 39. The tensioning member 39 travels around a loop set by the first drive member 32 and the second drive member 38, which loop may be referred to as a small loop hereinafter. The small loop is provided for driving a larger loop, which is composed of the ladder chain 20 and is driven by, for example, the output sheave 40. Under normal operating conditions, based on the movement speed of the first drive member 32 as driven by the drive motor 34, the tensioning member 39 and the ladder chain 20 move in unison.

[0032] The escalator 10 also includes a controller 115 in electronic communication with the drive motor 34. As shown, the controller 115 can be positioned in the machine space 28 of the escalator 10 and is configured to control the operation of the escalator 10. For example, the controller 115 can provide a drive signal to the drive motor 34 to control the acceleration, deceleration, stop, etc. of the step pallet 18 through the step chain 20. The controller 115 can be an electronic controller including a processor and an associated memory, the memory including computer executable instructions, which, when executed by the processor, cause the processor to perform a variety of operations. The processor can be, but is not limited to, a single processor or multi-processor system of any architecture in a variety of possible architectures, including field programmable gate arrays (FPGAs), central processing units (CPUs), application specific integrated circuits (ASICs), digital signal processors (DSPs), or graphics processing units (GPUs) hardware arranged in a homogeneous or heterogeneous manner. The memory can be, but is not limited to, random access memory (RAM), read-only memory (ROM), or other electronic, optical, magnetic, or any other computer-readable medium.

[0033] A control system using the control method for a conveying device according to the present application may include a control terminal and one or more control nodes, wherein the one or more control nodes are respectively connected to the control terminal for communication, and the specific number of control nodes is set according to needs.

[0034] The conveying device described herein may be arranged in a building, and the building may be a shopping mall, an airport, a large supermarket, or other building that uses multiple conveying devices to transport conveyed objects. The conveying device of each embodiment of the present application may include an escalator, a moving walkway, or other conveying device for conveying passengers and / or articles, wherein the moving walkway may also be referred to as a moving walkway, and the conveying device may also be referred to as a conveying device, a transmission system, a conveying system, a passenger conveyor, a passenger conveyor system, or the like. The conveyed object here may include objects such as people, pets, and objects that can be transported by a conveying device. In the examples below in this application, multiple conveying devices arranged in a building will be used as examples. However, this application does not exclude application scenarios with only one conveying device.

[0035] The control end can be a separate device such as a computer, an intelligent terminal, a control cabinet, etc.; it can also be a system including multiple devices and / or modules; it can also be a cloud device. The specific implementation of the control end depends on the actual application, as long as it can realize the control of a conveying device such as an escalator.

[0036] The control node here refers to a control endpoint for controlling a transmission device such as an escalator. As an example, it can be a module, device, or device that can communicate with other devices (such as the control terminal in this application). For example, it can be a software module implemented by program instructions, or a controller or control device implemented by a combination of hardware and program instructions. In some cases, the control node can be set in a device such as a robot. In other cases, the control node can be implemented in the cloud. Compared with the control terminal, the control node controls, for example, the conveying device in certain areas of a building, while the control terminal, for example, controls all the conveying devices in the building.

[0037] Combination of the above Figure 1 The following embodiments will illustrate the present application using an escalator as an example of a conveying device, but it should be understood that the embodiments described herein in conjunction with an escalator can also be applied to a moving walkway.

[0038] Figure 21 is a schematic diagram of the structure of a control system that can be applied according to the control method for a conveying device of the present application, wherein the conveying device is exemplified as an escalator. In the structure of this example, the control system includes three control nodes, namely control nodes 50, 51 and 52. The control nodes 50, 51 and 52 are respectively connected to the control terminal 60 for communication. In the structure of the example, the control nodes 50, 51 and 52 are respectively associated with the movable devices 70, 71 and 72 so that the movable device 70 is under the control of the control node 50, the movable device 71 is under the control of the control node 51, and the movable device 72 is under the control of the control node 52 to manage the conveying device assigned to the control node. The conveying device to be controlled indicated in the operation signal is referred to as the conveying device to be controlled herein.

[0039] The control node may be associated with the mobile device by communication connection or electrical connection. For example, the control node is an independent control device or a cloud controller, which is connected to the mobile device by communication to control the operation of the mobile device. In this case, the control node may be set on the mobile device or may not be set on the mobile device. In other examples, the control node may be set in the mobile device, for example, the control node is set as part of the control system of the mobile device. In this case, the mobile device may also be regarded as a control node composed of the mobile device.

[0040] In the various embodiments of the present application below, by way of example and not limitation, each control node is disposed in a mobile device associated therewith. Figure 2 , the control nodes 50, 51 and 52 are respectively arranged in the mobile devices 70, 71 and 72.

[0041] In some examples, the escalators controlled by the control nodes 50, 51 and 52 may include the same escalator; in other examples, the escalators controlled by the control nodes 50, 51 and 52 are different from each other; in addition, in some cases, not all control nodes are put into use at the same time. The following will be described in detail in conjunction with different embodiments.

[0042] Figure 3 1 is a flow chart of a control method for a conveying device according to an example of the present application. The method is implemented in a control system including a control terminal and one or more control nodes, each of which is in communication connection with the control terminal, and each of which is associated with a mobile device. In the examples listed here, each control node is exemplarily set in the mobile device associated therewith.

[0043] like Figure 3 As shown, in step S310, the control node confirms the conveying device to be controlled according to the operation signal sent by the control terminal. When the control terminal wants to control a certain conveying device or some conveying devices to stop or start, it sends the operation signal to the control node.

[0044] In some examples, the control end sends the operation signal to the control node that manages the conveying device to be controlled. In these examples, the correspondence between the control node and the conveying device has been set in advance in the control end, so that when the control end wants to control a certain conveying device, it can determine the control node that manages the conveying device to be controlled according to the correspondence. Further, in these examples, each control node can be configured with relevant information of the conveying device it manages, such as the identification and location information of the conveying device. In some cases, only the location information may be configured.

[0045] In some other possible examples, the control end sends an operation signal by broadcasting, for example, and each control node determines whether the transport device to be controlled is the transport device managed by itself based on the identifier of the transport device in the broadcast signal. If so, the control node can respond to the operation signal.

[0046] In step S312, in response to the operation signal sent by the control end, the control node that receives the operation signal controls the movable device associated with it to reach the transport device to be controlled.

[0047] For example, the control node sends location information to the processor or mobile controller of the mobile device and instructs the mobile device to go to the location, wherein the location information is the transport device to be controlled indicated by the operation signal. The control node may be provided with information such as the transport device identification and the location of the transport device in the building, so that after receiving the operation signal, it can determine the location of the transport device based on the transport device identification included in the operation signal. For example, the transport device identification and the location information of the transport device in the building are stored in the memory of the control node or the mobile device in a manner that can index each other, so that the control node can index to the location based on the identification.

[0048] According to the example of the present application, the control operation of stopping or starting the conveyor should be implemented at the entrance of the object to be conveyed by the conveyor to be controlled. Therefore, after receiving the operation signal, each control node controls the movable device where it is located to reach the entrance of the object to be conveyed by the conveyor to be controlled. For an upward escalator, the entrance is located at its lower station; for a downward escalator, the entrance is located at its upper station.

[0049] In step S314, based on the sensing data from the sensing device regarding the condition of the object being transported on the transport device to be controlled, the control node determines whether to control the transport device to be controlled according to the instruction of the operation signal.

[0050] Here, the transport objects mentioned include objects that are already on the transport device, as well as transport objects that are about to board the transport device to be controlled, such as the case of transport objects located at the upper station or lower station of the transport device. The sensing device includes one or more devices that can be used to sense the transport object, such as a camera, a 2D sensor, a 3D sensor, an infrared sensor, a lidar sensor, etc. In some embodiments, the sensing device is arranged on a movable device. In other words, the movable device is provided with one or more devices that can be used to sense the transport object, such as a camera, a 2D sensor, a 3D sensor, an infrared sensor, a lidar sensor, etc. In some other possible embodiments, the sensing device is arranged around the transport device to be controlled and communicates with the control node to transmit sensing data to it. In this case, the sensing device can use an existing camera for monitoring the operation of the transport device to be controlled.

[0051] The result determined based on the sensing data may be that the conveying device to be controlled can be controlled according to the instruction of the operation signal, in which case the control operation indicated by the operation signal may be implemented. The result determined may be that the conveying device to be controlled cannot be controlled according to the instruction of the operation signal, in which case the control operation indicated by the operation signal may not be implemented.

[0052] If the sensing data indicates that there is no object to be transported on the elevator, the elevator stop operation is implemented. If the sensing data indicates that there is an object to be transported on the elevator, other measures are taken according to the actual situation. For the implementation of the elevator stop or start operation, a corresponding signal can be sent to the conveying device to be controlled, so that it stops or starts its operation according to the instruction of the operation signal. In this case, the control node can send a feedback signal indicating that the operation signal instruction has been completed to the control end after the controlled conveying device implements the operation instruction of the control signal. In other examples, for the implementation of the elevator stop or start operation, when the control node determines that the on-site situation is an operation signal that can implement the operation signal instruction, it can send a signal indicating that it can be implemented to the control end, and the control end implements the elevator stop or start operation.

[0053] Figure 3 The example method may also include step S313, where the control node may control the voice device to output voice to prompt the transport object to leave or not enter the transport device to be controlled. This step may be executed before the control node determines whether to control the transport device to be controlled according to the instruction of the operation signal based on the sensing data of the sensing device. In some examples, the voice output may continue until the control method is completed. For example, the voice device outputs a voice to express the meaning of "about to be shut down, please do not ride". Of course, the voice device can continue to output until the control method is completed.

[0054] The control method for the conveying device according to the present application can be Figure 2 The control system shown implements, i.e., Figure 3The method shown can be Figure 2 The control system shown is executed. Specifically, for example, the node receiving the operation signal among the control nodes 50, 51, and 52 responds to the operation signal sent (step S310) by the operating terminal 60, thereby controlling (step S312) the movable device where it is located to reach the conveying device to be controlled. The control node that subsequently receives the operation signal can, for example, obtain real-time sensing data from the monitoring camera at the conveying device to be controlled to determine (step S314) whether the operation indicated by the operation signal can be performed. In a more likely case, the control node that receives the operation signal obtains sensing data from a sensing device set on the movable device. In the example below with a robot as a movable device, the sensing device can be implemented by the sensing system of the robot. In addition, the control node that receives the operation signal can, for example, send a signal to a broadcast (if any) in a building so that it broadcasts (S313) a voice prompt not to enter or leave the conveying device to be controlled. In more possible examples, the control node that receives the operation signal can also issue a voice prompt not to enter or leave the conveying device to be controlled through a voice device set on the movable device. In the example below with a robot as a movable device, the voice device can be implemented by the voice system of the robot.

[0055] Figure 4 is a flow chart of a control method for a conveying device according to some examples of the present application, which will be described below. Figure 4 The control method for the conveying device shown is composed of Figure 2 The system implementation shown is illustrated, wherein the conveying device is an escalator. In this example, the escalator is constructed as a building conveying facility, escalators A1 and A2 run between the first and second floors of the building, and escalators B1 and B2 run between the second and third floors of the building. In these examples, a movable device 70 is placed on the first floor of a building, and a control node 50 is configured to manage escalators A1 and A2. A movable device 71 is located on the second floor of a building, and a control node 51 is configured to manage escalators A1, A2, and B1 and B2. A movable device 72 is located on the third floor of a building, and a control node 52 is configured to manage escalators B1 and B2. More specifically, movable devices 70, 71, and 72 are all robots, and therefore, movable devices 70, 71, and 72 are also referred to as robots 70, 71, and 72 hereinafter.

[0056] In combination Figure 4 In the examples described, each control node is configured to control the escalator it manages only on the floor where its robot is located.

[0057] Step S400 is a starting step, and the control nodes 50, 51 and 52 can complete operations such as power-on and initialization to enter a normal operating state. Step S402, each control node 50, 51 and 52 determines whether an operation signal is received.

[0058] The operation signal is sent from the control terminal 60 to the control node that manages the escalator to be controlled. The control terminal 60 is configured with a correspondence between each control node and the escalator it controls, so when one or more escalators are to be controlled, the operation signal can be directly sent to the corresponding control node. According to the example of the present application, the escalators that can be managed by each control node can be configured as needed, that is, they can be changed, increased or reduced as needed.

[0059] By way of example and not limitation, in this embodiment, each control node manages an escalator whose transport object entrance is located on the floor where the robot is located. For example, when escalator A1 goes up, the transport object entrance is on the first floor, and when escalator A2 goes down, the transport object entrance is on the second floor. According to this embodiment, robot 70 is located on the first floor, and control node 50 therefore manages the transport object entrance on the first floor, and robot 71 is located on the second floor, and control node 51 therefore manages the transport object entrance on the second floor, and down escalator A2.

[0060] In the case of receiving an operation signal, proceed to step S404, otherwise, continue to step S402 to determine whether an operation signal is received. In step S404, the control node (one or more of 50, 51 and 52) that receives the operation signal controls the robot to reach the entrance of the escalator to be controlled. In step S406, the control node controls the sensing device implemented by the robot's sensing system to sense the situation of the transported object on the escalator. In addition, in this process, when the robot moves to the entrance of the escalator, the control node can also control the voice device implemented by the robot's voice system to issue a reminder voice so that people around can understand that the escalator A1 is about to be shut down and can avoid riding.

[0061] The control node determines whether there is a transport object on the escalator based on the sensing data of the sensing device, as shown in step S407. In the case where it is determined that there is no transport object on the escalator, the control node implements the operation indicated by the operation signal, as shown in step S408, and then enters step S410. The operation indicated by the operation signal is, for example, sending a stop or start signal to the escalator so that the escalator can be shut down or start running accordingly. In the case where it is determined that there is a transport object on the escalator, return to step S406, and at the same time, start timing for a preset time length. If there is always a transport object on the escalator during the preset time length, enter step S410.

[0062] In step S410, the control node sends a feedback signal to the control terminal 60. When the operation indicated by the operation signal is implemented, the feedback signal is used to indicate that the operation indicated by the operation signal has been completed. When the operation indicated by the operation signal is not implemented, the feedback signal is used to indicate that the operation indicated by the operation signal is not implemented. The feedback signal may include more information as needed, which is not limited here.

[0063] For example, the control terminal 60 controls the upward escalator A1 to stop. After the control node 50 determines (step S402) that it has received the operation signal sent by the control terminal 60 to shut down the escalator A1, it controls (step S402) the robot 70 where it is located to run to the entrance of the escalator A1. The control node 50 controls (step S406) the robot to sense whether there is a transport object on the escalator A1, and in this process, the control node 50 also controls (step S406) the robot to send a reminder voice so that people around know that the escalator A1 is about to be shut down. The control node 50 determines (step S407) whether there is a transport object on the escalator A1 based on the sensing data. In the case of no transport object, the control node 50 implements (step S408) the stop operation indicated by the operation signal to control the escalator A1 to stop running. On the contrary, the control node 50 continues to determine the situation of the object being transported on the escalator A1 in step S407 according to the sensing data sensed in step S406. During this process, if the escalator A1 does not have a situation where there is no object being transported within the preset time, the control node 50 executes step S410 and sends a feedback signal indicating that the operation has not been performed to the control terminal 60. Figure 2 and Figure 4 In the specific example described, only the case where escalator A1 is controlled is listed. In actual applications, there may be multiple escalators to be controlled to stop or start in parallel. For example, escalator A1, escalator B2 (downward) and escalator B1 (upward) may be controlled to start at the same time. When executing the control method described in the present application, an operation signal may be sent to control node 50, control node 52 and control node 51 at the same time, and the three control nodes each work according to the process described above to implement the operation.

[0064] Figure 5 is a flow chart of a control method for a conveying device according to some other examples of the present application, which will be described below. Figure 5 The control method for the conveying device shown is composed of Figure 21 and 2. The system implementation shown in FIG. 1 is used for illustration, wherein the conveying device is an escalator and the movable device is a robot. In this example, the escalator is constructed as a building conveying facility, escalators A1 and A2 run between the first and second floors of the building, and escalators B1 and B2 run between the second and third floors of the building. In these examples, robot 70 is placed on the first floor of the building, and control node 50 is configured to manage escalators A1 and A2. Robot 71 is located on the second floor of the building, and control node 51 is configured to manage escalators B1 and B2.

[0065] Combined with Figure 4 The example of the control method differs in that, in combination with Figure 5 In the example of FIG. 5 , control node 50 manages escalators A1 and A2, whether they are going up or down. Control node 51 manages escalators B1 and B2, whether they are going up or down. Control node 52 is not used yet, and in some cases, it can be used as a backup.

[0066] Step S500 is a starting step, and each control node 50 and 51 can complete operations such as power-on and initialization to enter a normal operating state. Step S502, each control node 50 and 51 determines whether an operation signal is received. In the case of receiving an operation signal, enter step S504, otherwise, continue in step S502. In step S504, the control node that receives the operation signal determines whether the escalator to be controlled is going up or down. According to the determined up or down situation, the control node that receives the operation signal controls the robot to which it is located to reach the escalator to be controlled, as shown in step S505. Here, if the control terminal 60 has indicated in the operation signal whether the escalator to be controlled is going up or down, the judgment in step S504 can be performed according to the operation signal. If the control terminal 60 does not indicate in the operation signal whether the escalator to be controlled is going up or down, the control node can send a signal confirmation to the control terminal 60, or as an alternative, the control node determines whether the escalator is going up or down according to the escalator operation data sensed by the robot in which it is located. According to this embodiment, the control node is set to perform control at the entrance of the escalator's transport object. Therefore, the control node that receives the operation signal will determine whether to go up one floor or down one floor to reach the entrance of the escalator's transport object based on its own position and the determined result of the elevator going up or down.

[0067] When possible, the control node can control the robot to go up and down the stairs by means of an elevator (if available in the building), or alternatively, by taking an escalator.

[0068] In step S506, the control node controls the robot to sense whether there is a transport object on the escalator to be controlled. Optionally, in this process, the control node can also control the robot to issue a reminder voice when the robot moves to the escalator, so that people around can understand that the escalator A1 is about to be shut down and avoid riding.

[0069] Determine whether there is a transport object on the escalator according to the sensing data of the sensing device, as shown in step S507. If it is determined that there is no transport object on the escalator, the control node implements the operation indicated by the operation signal, as shown in step S508, and then enters step S510. If it is determined that there is a transport object on the escalator, return to step S507, and at the same time, start timing of a preset time length. If there is always a transport object on the escalator during the preset time length, enter step S510.

[0070] In step S510, a feedback signal is sent to the control terminal 60. When the operation indicated by the operation signal is implemented, the feedback signal is used to indicate that the operation indicated by the operation signal has been completed. When the operation indicated by the operation signal is not implemented, the feedback signal is used to indicate that the operation indicated by the operation signal is not implemented. The feedback signal may include more information as needed, which is not limited here.

[0071] The control method according to the example of the present application can be implemented by program instructions, and the application module implemented by the program instructions is set to, for example, Figure 2 In each control node and control terminal of the control system shown, the control system implements the control process as described above. Where possible, the control method according to the example of the present application may also be implemented as a separate hardware, such as a controller, and the implemented controller is set in a movable device such as a robot to implement the above control process.

[0072] Figure 6 The structure diagram of the control node according to the example of the present application is illustrated. The control node is communicatively connected to the control end for controlling the conveying device, the control node can be associated with a movable device such as a robot to control the movable device, and the control node can be implemented as a cloud device or implemented on a movable device such as a robot. Among them, when the control node is implemented on a movable device such as a robot, on the one hand, it can be implemented as a part of the control system of the movable device such as a robot, or be removably provided on the movable device such as a robot, or be fixed to the mobile device.

[0073] The control node includes a communication unit 500 and a control unit 502. The communication unit is configured to receive an operation signal for controlling the conveying device and to send a signal. When the control node is combined with a movable device such as a robot, the communication unit 500 may adopt the communication unit of the movable device. The control unit 502 is configured to confirm the conveying device to be controlled according to the operation signal; control the movable device to reach the conveying device to be controlled; and determine whether to control the conveying device to be controlled according to the instruction of the operation signal according to the sensing data from the sensing device.

[0074] According to some examples, the sensing device and the voice device are respectively arranged on the mobile device associated with the control node. However, in some cases, for example, the sensing device can be arranged outside the mobile device, such as a camera arranged around the conveying device to be controlled to monitor its operation.

[0075] In the example of the present application, the sensing device and the voice device are respectively arranged on the movable device associated with the control node. The sensing device includes one of a camera, a 2D sensor, a 3D sensor, an infrared sensor, and a lidar sensor, or a combination thereof. The voice device is, for example, a component that can output voice, such as a microphone. In a further example, the movable device is a robot, and therefore, the sensing device can be one of a camera, a 2D sensor, a 3D sensor, an infrared sensor, and a lidar sensor, or a combination thereof, arranged on the robot, or the sensing device is implemented by the robot's own sensing system. The voice device is a voice device arranged on the robot, or the voice device is implemented by the robot's own voice system.

[0076] Back to Figure 6 , the control node shown can realize the above combination Figure 3 , Figure 4 as well as Figure 5 The steps performed by the control node in any of the examples described above will not be described in detail. Figure 6 The control node shown may be implemented as the control node described above in conjunction with any of the examples, such as the control nodes 50 , 51 , 52 .

[0077] Figure 7 1 is a schematic diagram of the structure of the control terminal according to the example of the present application. As described above, the control terminal can be a system or a separate controller. The control terminal is connected to multiple control nodes for communication. Each control node can be Figure 6 The control node shown is implemented, and the control end is used to send operating signals for controlling the conveying device.

[0078] According to an example of the present application, the control end may include a memory 600, a communication unit 602, and a controller 604. The memory 600 stores the correspondence between each control node and the conveying device it manages, and may also store other information that may need to be stored, such as program instructions. The controller 604 generates an operation signal for controlling the conveying device according to control needs. The communication unit 602 is configured to send the operation signal to the control node and receive feedback signals sent by each control node.

[0079] According to the example of the present application, when the conveying device to be controlled is an up-conveying device, an operation signal is sent to a control node associated with a movable device located at the building floor where the lower station of the conveying device to be controlled is located, which manages the conveying device to be controlled; and when the conveying device to be controlled is a down-conveying device, an operation signal is sent to a control node associated with a movable device located at the building floor where the upper station of the conveying device to be controlled is located, which manages the conveying device to be controlled.

[0080] By way of example and not limitation, Figure 7 The control terminal shown can be configured to perform the above combined Figure 3 , Figure 4 as well as Figure 5 The steps performed by the control terminal in any of the examples of the described methods will not be described in detail. Figure 7 The control terminal shown can be implemented as the control terminal described above in conjunction with any example, for example, in conjunction with Figure 2 The control terminal 60 described may be used Figure 7 The control terminal shown.

[0081] The present application also provides a control system for a conveying device, which includes a control terminal, one or more control nodes, a sensing device and a voice device. Each control node is connected to the control terminal in communication, and each of the control nodes is configured to be associated with a mobile device, and the associated mobile device manages more than one conveying device under the control of the control node. The sensing device is used to sense the conveying object on the conveying device and the operation of the conveying device, and the control node can obtain the sensing data of the sensing device. The voice device outputs voice under the control of the control node. Both the sensing device and the voice device can be set on the mobile device. In some examples, the control node can also be set on the mobile device. In the case where the mobile device is a robot, the sensing device and the voice device can be implemented by the robot's sensing system and voice system respectively, and the control node can be set on the robot as part of the robot's control system or controller, or can be set on the robot in a manner that can interact with the robot's control system or controller.

[0082] Figure 8is a schematic diagram of the structure of the control system, which exemplarily includes three control nodes, three sensing devices and a voice output device. Figure 8 As shown, control nodes 90, 91 and 92 are respectively connected to the control terminal 80 for communication, wherein control node 90 is connected to the sensing device 1000 and the voice device 1100; control node 91 is connected to the sensing device 1001 and the voice device 1101; control node 92 is connected to the sensing device 1002 and the voice device 1102. In this example, control nodes 90, 91 and 92 are respectively arranged in mobile devices 190, 191 and 192. According to the example of the present application, the sensing device and the voice device connected to control nodes 90, 91 and 92 are also arranged in the corresponding mobile devices.

[0083] Figure 8 The control system shown can be used to implement the above combination Figure 3 , Figure 4 and Figure 5 Any of the control methods described in . For example, Figure 8 The control terminal 80 shown in the figure implements the functions implemented by the control terminal in any of the above examples, and can be, for example, Figure 2 The control nodes 90, 91 and 92 partially implement the functions implemented by the control nodes in any of the above examples, which can be, for example, Figure 2 The steps performed by the control nodes 50, 51 and 52 shown. The sensing devices 1000, 1001, 1002 can be used to implement the sensing device functions in any of the above examples, and the voice devices 1100, 1101, 1102 can be used to implement the voice device functions in any of the above examples. In the case where the movable device is a robot, the control nodes 90, 91 and 92 can be respectively set in the robots 190, 191 and 192, the sensing devices 1000, 1001, 1002 can be implemented by the sensing systems of the robots 190, 191 and 192, and the voice devices 1100, 1101, 1102 can be implemented by the voice systems of the robots 190, 191 and 192.

[0084] In summary, by executing the method according to the example of the present application, or by using the control terminal, control node and control system according to the example of the present application, the control of each conveying device is distributed to different control nodes, and each control node controls the conveying device it manages (such as opening or stopping the elevator) according to the operation signal sent by the control terminal, without the need for manpower to control the conveying device one by one. Furthermore, the distributed setting of each control node can simultaneously control and complete the opening or stopping of multiple conveying devices without the participation of multiple human workers. In general, the conveying device control strategy according to the present application can greatly save labor costs and simplify management due to distributed automated control.

[0085] It should be noted that in the above embodiments, the distributed control nodes all control the mobile device to reach the entrance of the conveying device for control, but this application does not exclude the application scenario where the control node controls the conveying device on the same floor of the building without considering its entrance. Figure 2 The control node 50 shown in the figure can only control the upward escalator A1 from the first floor to the second floor and the downward escalator A2 from the second floor to the first floor on the first floor of a building (such as a shopping mall), without considering the entrance position of the escalator A2. Such control operation can be performed when the shopping mall is not open for business in the morning or closed at night; it may also be performed in other situations, for example, when the control node 50 can assist in determining the entrance of the escalator A2 through the sensing data of the sensing device set around the upper station of the escalator A2.

[0086] Furthermore, in the examples described above, when the control node is provided on a movable device, such as a robot, the entire movable device may be regarded as a control node, which is a control node that communicates with a control end and is controllable and movable.

[0087] Although specific embodiments of the present application have been shown and described in detail to illustrate the principles of the present application, it should be understood that the present application may be implemented in other ways without departing from such principles, such as new embodiments obtained by combining the features of the various embodiments described herein.

Claims

1. A control method for a conveying device, characterized in that: The method is performed by a control system including a control terminal and one or more control nodes, wherein the one or more control nodes are respectively connected to the control terminal in communication, and the method includes: In response to the operation signal sent by the control terminal, the control node receiving the operation signal controls the movable device associated with it to reach the conveying device to be controlled; According to the sensing data from the sensing device about the condition of the object being transported on the transport device to be controlled, the control node determines whether to control the transport device to be controlled according to the instruction of the operation signal.

2. The method according to claim 1, characterized in that According to the sensing data from the sensing device, the control node determines whether to control the conveying device to be controlled according to the instruction of the operation signal, including: Determining whether there is a conveying object on the conveying device to be controlled; When there is no conveying object on the conveying device to be controlled, the conveying device to be controlled is controlled according to the instruction of the operation signal.

3. The method according to claim 2, characterized in that The method further comprises: In the case where there is a conveying object on the conveying device to be controlled, continuously judging whether there is a conveying object on the conveying device to be controlled according to the sensing data of the sensing device within a preset time period; If there is a conveying object continuously on the conveying device to be conveyed within the preset time period, a feedback signal is generated and sent, wherein the feedback signal indicates that the conveying device to be controlled is not controlled according to the instruction of the operation signal; If there is no conveying object on the conveying device within the preset time period, the conveying device to be controlled is controlled according to the instruction of the operation signal.

4. The method according to claim 1, characterized in that: The method further comprises: The voice device is controlled to output voice to prompt the transport object to leave or not enter the transport device to be controlled.

5. The method according to claim 1, characterized in that The method further comprises: When the conveying device to be controlled is an upward conveying device, the control end sends an operation signal to a control node associated with a movable device that manages the conveying device to be controlled and is located at a building floor where the lower station of the conveying device to be controlled is located; When the conveying device to be controlled is a downlink conveying device, the control end sends an operation signal to a control node associated with a movable device that manages the conveying device to be controlled and is located at the building floor where the upper station of the conveying device to be controlled is located.

6. The method according to claim 1, characterized in that The method further comprises: The control node determines whether the device to be transported controlled by the operation signal is going up or down according to the sensing data of the sensing device about the operation status of the transport device to be controlled; In the case of upward movement, controlling the movable device to reach the lower station of the conveying device to be controlled; In the case of descending, the movable device is controlled to reach the upper station of the conveying device to be controlled.

7. The method according to any one of claims 1 to 6, characterized in that The movable device is a robot.

8. The method according to claim 7, characterized in that Each of the control nodes is implemented in the robot associated therewith.

9. A control system for a conveying device, characterized in that: The control system comprises: Control terminal; One or more control nodes, each of which is in communication connection with the control end, and each of which is configured to be associated with a mobile device, wherein the associated mobile device manages more than one transport device under the control of the control node; A sensing device, used to sense the conveying object on the conveying device and the operation status of the conveying device, and the control node can obtain sensing data of the sensing device; A voice device, which outputs voice under the control of the control node; The control system is configured to execute the control method according to any one of claims 1 to 6.

10. The control system according to claim 9, characterized in that: The movable device is a robot, and the sensing device and the voice device are respectively implemented by the sensing system and the voice system of the robot.

11. The control system according to claim 9 or 10, characterized in that: The control node is arranged on a mobile device associated with the control node.

12. A control node for controlling a conveying device, characterized in that: The control node comprises: A communication unit configured to receive operation signals for controlling the conveying device and to send signals; The control unit is configured to confirm the conveying device to be controlled according to the operation signal; control the movable device associated with the control node to reach the conveying device to be controlled; and determine whether to control the conveying device to be controlled according to the instruction of the operation signal based on the sensing data from the sensing device indicating the situation of the conveying object on the conveying device to be controlled sensed by the sensing device.

13. The control node according to claim 12, characterized in that: The control unit is configured to determine whether to control the conveying device to be controlled according to the instruction of the operation signal through the following process: Determining whether there is a conveying object on the conveying device to be controlled according to the sensing data; When there is no conveying object on the conveying device to be controlled, the conveying device to be controlled is controlled according to the instruction of the operation signal.

14. The control node according to claim 13, characterized in that: The control unit is further configured to: When there is a conveying object on the conveying device to be controlled, continuously judging whether there is a conveying object on the conveying device to be controlled according to the sensing data within a preset time period; If there is a conveying object continuously on the conveying device to be conveyed within the preset time period, a feedback signal is generated and sent, wherein the feedback signal indicates that the conveying device to be controlled is not controlled according to the instruction of the operation signal; If there is no conveying object on the conveying device within the preset time period, the conveying device to be controlled is controlled according to the instruction of the operation signal.

15. The control node according to claim 12, characterized in that: The control unit is further configured to: Before determining whether to control the transport device to be controlled according to the instruction of the operation signal based on the sensing data, the voice device is controlled to output voice to prompt the transport object to leave or not enter the transport device.

16. The control node according to any one of claims 12 to 15, characterized in that: The movable device is a robot.

17. The control node according to any one of claims 12 to 16, characterized in that: The control node is arranged on the mobile device associated with the control node, and the sensing device and the voice device are arranged on the mobile device.

18. A control terminal, characterized in that: The control end is configured to be in communication connection with one or more control nodes, each of which is a control node according to any one of claims 12 to 17, and the control end comprises: A memory for storing a correspondence between each control node and the transport device it manages; A controller, configured to generate an operation signal for controlling the conveying device according to control requirements; The communication unit is configured to send the operation signal to the control node and receive feedback signals sent by each control node.

19. The control terminal according to claim 18, characterized in that: The control node is further configured as: When the conveying device to be controlled is an upward conveying device, an operation signal is sent to a control node associated with a movable device that manages the conveying device to be controlled and is located at the building floor where the lower station of the conveying device to be controlled is located; When the conveying device to be controlled is a downlink conveying device, an operation signal is sent to a control node associated with a movable device that manages the conveying device to be controlled and is located at the building floor where the upper station of the conveying device to be controlled is located.

20. The control method according to any one of claims 1 to 8, the control system according to any one of claims 9 to 11, the control node according to any one of claims 12 to 17, the control terminal according to claim 18 or 19, wherein: The conveying device is an escalator or a moving walkway.

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