阅读说明：本技术 搬运系统的控制方法、电子设备和搬运系统 (Control method of conveying system, electronic equipment and conveying system ) 是由 高俊杰 刘涛 李志军 崔海舰 史伟华 于 2021-08-30 设计创作，主要内容包括：本公开涉及一种搬运系统的控制方法、电子设备和搬运系统,搬运系统包括搬运设备,该方法包括：获取用户终端的第一位置信息；若第一位置信息表征用户终端位于搬运设备的工作区域内,则根据第一位置信息确定用户终端与搬运设备的第一距离；根据第一距离控制搬运设备工作。如此,在携带用户终端的工作人员进入搬运设备的工作区域的情况下,可以在保证工作人员安全的前提下使搬运设备工作。(The present disclosure relates to a control method of a handling system, an electronic device, and a handling system, the handling system including a handling device, the method including: acquiring first position information of a user terminal; if the first position information represents that the user terminal is located in the working area of the carrying equipment, determining a first distance between the user terminal and the carrying equipment according to the first position information; and controlling the carrying equipment to work according to the first distance. Therefore, under the condition that the working personnel carrying the user terminal enters the working area of the carrying equipment, the carrying equipment can work on the premise of ensuring the safety of the working personnel.)

1. A method of controlling a handling system, the handling system comprising a handling apparatus, the method comprising:

acquiring first position information of a user terminal;

if the first position information represents that the user terminal is located in a working area of the carrying equipment, determining a first distance between the user terminal and the carrying equipment according to the first position information;

and controlling the carrying equipment to work according to the first distance.

2. The method of claim 1, wherein said controlling said handling apparatus to operate in accordance with said first distance comprises:

and when the first distance is larger than or equal to a first preset distance threshold value, responding to a motion instruction indicating the movement of the carrying equipment, and controlling the carrying equipment to move according to the motion instruction.

3. The method according to claim 2, wherein a detection device for detecting a user is provided on the handling apparatus, and the controlling of the handling apparatus to move according to the motion command comprises:

if the detection device does not detect the user corresponding to the user terminal or the detection device works abnormally, controlling the carrying equipment to move at a first preset speed according to the action instruction;

and if the detection device detects the user corresponding to the user terminal, controlling the carrying equipment to move at a second preset speed according to the action command, wherein the first preset speed is less than the second preset speed.

4. The method of claim 2, wherein said controlling said handling apparatus to operate based on said first distance further comprises:

and if the first distance is smaller than the first preset distance threshold value, controlling the carrying equipment to stop moving.

5. The method according to any one of claims 1 to 4, wherein the operation mode of the handling device comprises an automatic operation mode, and wherein the controlling the handling device to operate according to the first distance comprises:

and controlling the carrying equipment to stop moving according to the first distance under the condition that the carrying equipment is in an automatic operation mode at present and moves.

6. The method of claim 5, wherein said controlling the handling apparatus to stop moving according to the first distance comprises:

if the first distance is larger than or equal to a second preset distance threshold value, controlling the carrying equipment to decelerate at a first acceleration so as to stop the carrying equipment;

and if the first distance is smaller than a second preset distance threshold value, controlling the carrying equipment to decelerate at a second acceleration so as to stop the carrying equipment from moving, wherein the absolute value of the second acceleration is larger than that of the first acceleration.

7. The method of any one of claims 1 to 4, wherein the handling system comprises a first positioning system and a second positioning system, the method further comprising:

determining a first real-time position of the handling equipment according to the first positioning system;

determining a second real-time position of the handling device according to the second positioning system;

and if the second distance between the first real-time position and the second real-time position exceeds a third preset distance threshold value, controlling the carrying equipment to stop working.

8. The method of claim 7, wherein the first positioning system comprises a barcode reading sensor and a barcode strip, one of the barcode reading sensor and the barcode strip being secured to the handling apparatus and the other being secured to a moving base of the handling apparatus, the method further comprising:

and if the second distance exceeds the third preset distance threshold, controlling a prompting device to prompt prompting information corresponding to the maintenance requirement of the first positioning system.

9. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8.

10. A handling system comprising a handling apparatus and an electronic apparatus according to claim 9.

Technical Field

The present disclosure relates to the field of transportation technologies, and in particular, to a control method for a handling system, an electronic device, and a handling system.

Background

In the process of carrying products in an OLED (Organic Light-Emitting Diode) factory, carrying equipment needs to place a cassette or a tray filled with products in upstream equipment in a storage area (stereoscopic warehouse), and when the downstream equipment needs to feed materials, the carrying equipment transports the downstream equipment to the downstream equipment, and meanwhile, empty cassettes or trays are transported back to the upstream equipment or temporarily stored in the storage area; when no conveying task exists, the system is in a standby state, and if the conveying task exists, immediate response is needed.

In the operation process of the carrying equipment, workers need to enter a working area of the carrying equipment as required to operate and maintain related components of the carrying equipment, and therefore the safety of the workers entering the working area of the carrying equipment needs to be guaranteed in the operation process of the carrying equipment.

Disclosure of Invention

The invention aims to provide a control method of a conveying system, an electronic device and the conveying system, so as to improve the safety of workers in the operation of a working area of the conveying device.

In order to achieve the above object, a first aspect of the present disclosure provides a control method of a handling system including a handling apparatus, the method including:

acquiring first position information of a user terminal;

if the first position information represents that the user terminal is located in a working area of the carrying equipment, determining a first distance between the user terminal and the carrying equipment according to the first position information;

and controlling the carrying equipment to work according to the first distance.

Optionally, the controlling the handling device to operate according to the first distance includes:

and when the first distance is larger than or equal to a first preset distance threshold value, responding to a motion instruction indicating the movement of the carrying equipment, and controlling the carrying equipment to move according to the motion instruction.

Optionally, a detection device for detecting a user is disposed on the carrying device, and the controlling the carrying device to move according to the action command includes:

if the detection device does not detect the user corresponding to the user terminal or the detection device works abnormally, controlling the carrying equipment to move at a first preset speed according to the action instruction;

and if the detection device detects the user corresponding to the user terminal, controlling the carrying equipment to move at a second preset speed according to the action command, wherein the first preset speed is less than the second preset speed.

Optionally, the controlling the handling device to operate according to the first distance further includes:

and if the first distance is smaller than the first preset distance threshold value, controlling the carrying equipment to stop moving.

Optionally, the operation mode of the handling device includes an automatic operation mode, and the controlling the handling device to operate according to the first distance includes:

and controlling the carrying equipment to stop moving according to the first distance under the condition that the carrying equipment is in an automatic operation mode at present and moves.

Optionally, the controlling the handling device to stop moving according to the first distance includes:

if the first distance is larger than or equal to a second preset distance threshold value, controlling the carrying equipment to decelerate at a first acceleration so as to stop the carrying equipment;

and if the first distance is smaller than a second preset distance threshold value, controlling the carrying equipment to decelerate at a second acceleration so as to stop the carrying equipment from moving, wherein the absolute value of the second acceleration is larger than that of the first acceleration.

Optionally, the handling system comprises a first positioning system and a second positioning system, the method further comprising:

determining a first real-time position of the handling equipment according to the first positioning system;

determining a second real-time position of the handling device according to the second positioning system;

and if the second distance between the first real-time position and the second real-time position exceeds a third preset distance threshold value, controlling the carrying equipment to stop working.

Optionally, the first positioning system includes a barcode reading sensor and a barcode strip, one of the barcode reading sensor and the barcode strip is fixed to the carrying device, and the other is fixed to a moving base of the carrying device, and the method further includes:

and if the second distance exceeds the third preset distance threshold, controlling a prompting device to prompt prompting information corresponding to the maintenance requirement of the first positioning system.

A second aspect of the present disclosure provides an electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.

A third aspect of the present disclosure provides a handling system including a handling apparatus and the electronic apparatus provided by the second aspect of the present disclosure.

Through the technical scheme, the position of the user terminal can be monitored by acquiring the first position information of the user terminal, and then the position of a worker carrying the user terminal can be determined. If the first position information represents that the user terminal is located in the working area of the carrying equipment, at the moment, the staff carrying the user terminal is located in the working area of the carrying equipment. At this time, if the conveying equipment works, the conveying equipment and the worker need to keep a safe distance so that the worker can work safely in the working area of the conveying equipment. Therefore, a first distance between the user terminal and the carrying equipment is determined according to the first position information, and the carrying equipment is controlled to work according to the first distance. Therefore, under the condition that the working personnel carrying the user terminal enters the working area of the carrying equipment, the carrying equipment can work on the premise of ensuring the safety of the working personnel.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a flowchart of a method of controlling a handling system provided in an exemplary embodiment of the present disclosure;

FIG. 2 is a top view of a handling system provided by an exemplary embodiment of the present disclosure;

FIG. 3 is a side view of a handling system provided in an exemplary embodiment of the present disclosure;

fig. 4 is a flowchart of a control method of a handling system according to another exemplary embodiment of the present disclosure;

fig. 5 is a flowchart of a control method of a handling system according to still another exemplary embodiment of the present disclosure;

fig. 6 is a flowchart of a control method of a handling system according to still another exemplary embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device provided by an exemplary embodiment of the present disclosure.

Description of the reference numerals

1 work area 2 shelf

2-1 first goods shelf 2-2 second goods shelf

3-1 primary safety door and 3-2 secondary safety door

4 track 5 haulage equipment

5-1 first detecting means 5-2 second detecting means

5-3 first collision detecting device 5-4 second collision detecting device

5-5 bar code reading sensor 5-6 bar code belt

6-1 first positioning base station 6-2 second positioning base station

6-3 third positioning base station 6-4 positioning label

6-5 user terminal 7 alarm

8 upper computer of controller 9

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, the terms "first", "second", and the like are used, unless otherwise specified, for distinguishing one element from another, without particular order or importance. In addition, when the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements, unless otherwise indicated.

As described in the background art, during the operation of the handling apparatus, a worker needs to enter the working area of the handling apparatus as required to perform operation maintenance on related components of the handling apparatus, and therefore, during the operation of the handling apparatus, the safety of the worker entering the working area of the handling apparatus needs to be ensured.

In a possible implementation mode, laser scanning sensors can be arranged at the front and the rear of the carrying equipment and used for detecting whether people or obstacles exist at the front and the rear of the carrying equipment so as to decelerate or stop in time and ensure the safety of workers and the carrying equipment. The area scanned by the laser scanning sensor is a scanning plane parallel to the running track of the carrying equipment, and the laser scanning sensor cannot detect people or obstacles above or below the scanning plane; when a person suddenly rises or falls from a high place, i.e., even if the laser scanning sensor immediately detects, sudden braking of the handling apparatus in the case of high-speed walking may not avoid the occurrence of a dangerous situation.

Based on the above, the present disclosure provides a control method of a conveying system, an electronic device and a conveying system, so as to improve safety of workers when working in a working area where the conveying device works.

Fig. 1 is a flowchart of a control method of a handling system according to an exemplary embodiment of the present disclosure. Referring to fig. 1, an embodiment of the present disclosure provides a method of controlling a conveyance apparatus, which may include steps S11 through S13.

In step S11, first location information of the user terminal is acquired.

The position of a worker carrying the user terminal can be monitored by actively acquiring the first position information of the user terminal. For example, a plurality of positioning base stations may be disposed in a working area of the carrying apparatus, and the plurality of positioning base stations may communicate with the user terminal so as to obtain the first position information of the user terminal through the plurality of positioning base stations. For example, the positioning base station may acquire the first location information of the user terminal based on UWB (Ultra Wide Band, chinese). The user terminal can be a bracelet, a chest card or a mobile terminal carried by other workers. Because UWB transmission rate is high, the interference killing feature is strong and the penetrability is strong, be convenient for realize the effective monitoring to user terminal position.

In step S12, if the first position information indicates that the user terminal is located in the working area of the transportation device, a first distance between the user terminal and the transportation device is determined according to the first position information.

If the first position information represents that the user terminal is located in the working area of the carrying equipment, at the moment, the staff carrying the user terminal is located in the working area of the carrying equipment. At this time, if the conveying equipment works, the conveying equipment and the worker need to keep a safe distance so that the worker can work safely in the working area of the conveying equipment. Therefore, a first distance between the user terminal and the carrying device is determined according to the first position information.

For example, the position coordinates of the user terminal may be determined from the first position information, and after the position coordinates of the conveyance device are acquired, the first distance between the user terminal and the conveyance device may be determined from the position coordinates of the user terminal and the position coordinates of the conveyance device.

Subsequently, in step S13, the operation of the conveyance device is controlled in accordance with the first distance.

Therefore, under the condition that the working personnel carrying the user terminal enters the working area of the carrying equipment, the carrying equipment can work on the premise of ensuring the safety of the working personnel.

Fig. 2 is a top view and fig. 3 is a side view of a handling system provided in an exemplary embodiment of the present disclosure. Referring to fig. 2 and 3, the carrying apparatus 5 of the carrying system may have a working area 1, and a primary safety door 3-1 and a secondary safety door 3-2 for entrance and exit are provided at opposite sides of the working area 1, respectively.

Traveling wheels (not shown) driven by a servo motor (not shown) are arranged at the bottom of the conveying equipment 5, and the traveling wheels on the two sides of the conveying equipment 5 respectively travel on the mutually parallel rails 4, so that when the servo motor drives the traveling wheels to travel, the conveying equipment 5 can reciprocate along the rails 4.

The two ends of the carrying device 5 in the moving direction are respectively provided with a first detection device 5-1 and a second detection device 5-2 so as to detect whether a worker is present in the moving direction of the carrying device 5. For example, the first and second detection means 5-1 and 5-2 may comprise laser scanning sensors. The first and second collision detecting devices 5-3 and 5-4 may also be provided at both ends of the handling apparatus 5 in the moving direction, respectively, for example, the first and second collision detecting devices 5-3 and 5-4 may include collision sensors.

Meanwhile, the carrying equipment 5 can be provided with a bar code reading sensor 5-5, one side of the track 4 can be fixed with a bar code strip 5-6, and the bar code reading sensor 5-5 can determine the position of the carrying equipment 5 by reading position data on the bar code strip 5-6. A shelf 2 for storing cassettes or pallets may also be provided in the working area 1, and the shelf 2 may include a first shelf 2-1 and a second shelf 2-2 provided on both sides of the rail 4, respectively. The working area 1 may also be provided with a feed inlet and a discharge outlet for the cassette or tray to enter and exit.

The top of the working area 1 can be provided with a first positioning base station 6-1, a second positioning base station 6-2 and a third positioning base station 6-3 which are arranged at intervals, the top of the carrying equipment 5 can be fixed with a positioning tag 6-4, a worker entering the working area 1 can carry the user terminal 6-5 with him, the positioning tag 6-4 and the user terminal 6-5 can be positioned through the first positioning base station 6-1, the second positioning base station 6-2 and the third positioning base station 6-3, and then the position coordinate of the carrying equipment 1 and the position coordinate of the worker carrying the user terminal 6-5 can be determined. The controller 8 can be connected with a servo motor, a first detection device 5-1, a second detection device 5-2, a first collision detection device 5-3, a second collision detection device 5-4 and a bar code reading sensor 5-5 in a communication mode, the controller 8 is connected with an upper computer 9 in a communication mode, and the alarm 7 is connected with the upper computer in a communication mode.

Fig. 4 is a flowchart of a control method of a handling system according to another exemplary embodiment of the present disclosure. Referring to fig. 4, step S13 may include steps S131 to S133.

In step S131, after the first distance between the user terminal and the transporting apparatus is determined, it is determined whether the first distance is greater than or equal to a first preset distance threshold, and a first determination result is generated. It can be understood that the first preset distance threshold corresponds to a safe distance between the user terminal and the handling device, and by comparing the first distance with the first preset distance threshold, it can be determined whether the worker carrying the user terminal keeps a safe distance with the handling device.

If the first determination result is yes, that is, if the first distance is greater than or equal to the first preset distance threshold, step S132 is executed to control the movement of the conveying apparatus in response to the motion command instructing the movement of the conveying apparatus.

Therefore, under the condition that the worker carrying the user terminal keeps a safe distance from the carrying equipment, the operator of the carrying equipment can manually control the carrying equipment to work, controllability of the carrying equipment can be improved through control of the carrying equipment by the operator, and the worker operating in a working area is safer.

For example, an operator of the carrying equipment can send an action instruction through the upper computer, the upper computer sends the action instruction to the controller, and the controller responds to the action instruction and controls the carrying equipment to move.

If the first determination result is negative, that is, if the first distance is smaller than the first preset distance threshold, the worker carrying the user terminal does not keep a safe distance from the transporting apparatus, and the transporting apparatus may be controlled to stop moving in order to avoid a danger (i.e., step S133). Therefore, the safety of workers working in a working area can be preferentially ensured, and the possibility of danger of the workers is reduced.

Exemplarily, when the first distance is smaller than the first preset distance threshold, the prompting device may be further controlled to prompt the alarm information corresponding to the first distance being smaller than the first preset distance threshold, so that the staff in the work area and the operator of the handling device can know in time. Audible and visual alarm information may be emitted, for example, by the alarm 7 in fig. 2.

Fig. 5 is a flowchart of a control method of a handling system according to still another exemplary embodiment of the present disclosure. Referring to fig. 5, step S132 may include steps S1321 to S1323.

In step S1321, it is determined whether or not the detection device (for example, the first detection device 5-1 and the second detection device 5-2 in fig. 2) on the conveyance device detects the user corresponding to the user terminal, and a second determination result is generated.

If the second determination result is yes, that is, when the detection device detects a user corresponding to the user terminal (that is, a worker carrying the user terminal), the controller may determine a distance between the worker carrying the user terminal and the transportation device according to a signal of the detection device, and when the distance between the worker carrying the user terminal and the transportation device is too small, the controller may autonomously control the transportation device to stop working without intervention of an upper computer.

If the second determination result is negative, that is, the detecting device cannot detect the staff carrying the user terminal, the situation that the staff carrying the user terminal is located in the blind area of the detecting device may be included, and the situation that the detecting device is working abnormally may also be included.

If the second determination result is yes, the transport apparatus is controlled to move at the second preset speed according to the motion command (i.e., step S1322), and if the second determination result is no, the transport apparatus is controlled to move at the first preset speed according to the motion command (i.e., step S1323), wherein the first preset speed is smaller than the second preset speed. At this time, the movement of the conveying equipment is slow, and if the conveying equipment approaches to a worker working in the working area, the worker may touch the first collision detection device or the second collision detection device to stop the movement of the conveying equipment.

Through this scheme, under the condition that detection device can not detect the staff who carries user terminal, the controller responds to action command control haulage equipment and moves with less first predetermined speed, and haulage equipment can the rapid braking when dangerous to can reduce the possibility that staff and haulage equipment bump.

For example, the motion command may include a moving direction indicating the movement of the carrying apparatus, and the controller controls the movement of the carrying apparatus according to one of the first preset speed and the second preset speed and the moving direction indicated by the motion command.

Fig. 6 is a flowchart of a control method of a handling system according to still another exemplary embodiment of the present disclosure. Referring to fig. 6, the operation mode of the handling apparatus includes an automatic operation mode, and if the first position information indicates that the user terminal enters the work area of the handling apparatus in the case that the handling apparatus is currently in the automatic operation mode and the handling apparatus is moving, step S13 may include steps S134 to S136.

In step S134, it is determined whether the first distance is greater than or equal to a second preset distance threshold, and a third determination result is generated.

In the case that the first distance is greater than or equal to the second preset distance threshold, the available braking distance of the transporting apparatus is longer, so the transporting apparatus may be controlled to decelerate at the first acceleration so as to gradually decelerate the transporting apparatus until the transporting apparatus stops moving (i.e., step S135).

If the first distance is smaller than the second preset distance threshold, the available braking distance of the transporting apparatus is short, and in order to prevent the transporting apparatus from colliding with the operator carrying the user terminal, the transporting apparatus is controlled to decelerate at the second acceleration so as to stop the operation of the transporting apparatus (i.e., step S136). Wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration.

Therefore, if the working personnel carrying the user terminal enters the working area of the carrying equipment and the carrying equipment automatically runs, the carrying equipment stops running, and danger is prevented. Meanwhile, under the condition that the available braking distance of the carrying equipment is short, the carrying equipment can be controlled to decelerate according to a second larger acceleration, so that the carrying equipment can be braked quickly, and the danger of workers carrying the user terminal is avoided; under the condition that the available braking distance of the conveying equipment is longer, the conveying equipment is controlled to decelerate at the reduced first acceleration, so that the conveying equipment is protected while braking is achieved, and the condition that the conveying equipment is damaged due to emergency braking is reduced.

For example, during the automatic operation of the handling equipment, in order to reduce the downtime of the handling equipment and not to influence the on-time of the equipment when a worker handles a problem, the worker may enter the working area of the handling equipment through the material inlet or the material outlet on the upstream and downstream of the handling equipment. Through this scheme, can make haulage equipment out of service under this kind of condition, prevent to take place danger.

For example, under the condition that the carrying device is currently in the automatic operation mode and the carrying device is moving, if the first position information represents that the user terminal enters the working area of the carrying device, the prompting device may be controlled to prompt the operator to enter the alarm information of the working area, so that the operator of the carrying device can know the alarm information in time. For example, the alarm 7 in fig. 2 can emit sound and light alarm information, and the alarm information can be displayed on the display screen of the upper computer 9 in fig. 2 by eye-catching color and text.

Of course, how to control the conveying equipment to stop moving according to the first distance in the case that the conveying equipment is currently in the automatic operation mode and the conveying equipment is moving is only one possible implementation way shown in the embodiment of fig. 6.

In another possible embodiment, a corresponding relation table between the first distance and the target acceleration for decelerating the conveying device may be constructed, the target acceleration may be determined according to the first distance table, and the conveying device may be controlled to decelerate according to the target acceleration.

In this way, an appropriate target acceleration can be selected, so that the carrying equipment can be effectively braked, the possibility of collision between the carrying equipment and a worker carrying the user terminal is reduced, the impact of deceleration on the carrying equipment is reduced as much as possible, and the possibility of damage of the carrying equipment due to deceleration is reduced.

Illustratively, the handling system may include a first positioning system and a second positioning system, the method may further include:

determining a first real-time position of the handling equipment according to the first positioning system; determining a second real-time position of the handling equipment according to the second positioning system; and if the second distance between the first real-time position and the second real-time position exceeds a third preset distance threshold value, controlling the carrying equipment to stop working.

Therefore, the position of the carrying equipment can be determined more reliably by arranging the first positioning system and the second positioning system, the position coordinate inaccuracy of the carrying equipment caused by one fault in the first positioning system and the second positioning system is reduced, and the possibility of danger when a worker carrying the user terminal operates in a working area is reduced.

For example, the first positioning system may include a barcode reading sensor and a barcode strip, the barcode reading sensor may be fixed to the handling device, the barcode strip may be fixed to a moving base of the handling device (for example, may be fixed to a rail side of the handling device), the second positioning system may be a UWB-based positioning system, and the second positioning system may include a plurality of positioning base stations and positioning tags fixed to the handling device.

Even if the cleanliness grade of a working area of the carrying equipment is high, dust is inevitably adhered to the bar code strip, and when the dust is accumulated to a certain thickness, the position data read by the bar code reading sensor on the bar code strip can be directly influenced; in addition, electromagnetic interference can also cause abnormal reading of position data of the bar code reading sensor, and although the interference can be reduced through technical means, the interference cannot be completely avoided. When the position data of the barcode reading sensor is abnormally read, the transportation equipment can jump or stop abnormally, and particularly, when the transportation equipment is converted from a stop state to an operating state, unsafe conditions are easily caused.

In this scheme, through addding the second positioning system, can in time discover when bar code reading sensor position data reads unusually to in time take corresponding measure, for example can be the suggestion information that control suggestion device suggestion corresponds to first positioning system needs to maintain, can control the haulage equipment stop work simultaneously, so that in time maintain first positioning system.

Meanwhile, the second positioning system is additionally arranged, so that the position of the carrying equipment can be determined under the condition that the carrying equipment stops working, and the carrying equipment is convenient to keep a safe distance from workers.

Fig. 7 is a block diagram illustrating an electronic device 700 in accordance with an example embodiment. As shown in fig. 7, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the control method of the conveying system. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.

In an exemplary embodiment, the electronic Device 700 may be implemented by 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, or other electronic components for executing the control method of the above-described handling system.

In another exemplary embodiment, a computer-readable storage medium is also provided, which comprises program instructions, which when executed by a processor, implement the steps of the control method of the handling system described above. For example, the computer readable storage medium may be the memory 702 including the program instructions, which are executable by the processor 701 of the electronic device 700 to perform the control method of the handling system.

The present disclosure further provides a carrying system, which includes a carrying device and the electronic device provided by the above embodiment of the present disclosure.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.