CN105487541A - Distribution robot and control method thereof - Google Patents

Distribution robot and control method thereof Download PDF

Info

Publication number
CN105487541A
CN105487541A CN201511024431.2A CN201511024431A CN105487541A CN 105487541 A CN105487541 A CN 105487541A CN 201511024431 A CN201511024431 A CN 201511024431A CN 105487541 A CN105487541 A CN 105487541A
Authority
CN
China
Prior art keywords
dispensing machine
machine people
controller
control
storage disk
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201511024431.2A
Other languages
Chinese (zh)
Inventor
尹刚刚
孙晓菁
李文荣
殷圣鸽
韦正华
宋奋韬
常孟芝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaqin Telecom Technology Co Ltd
Original Assignee
Huaqin Telecom Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huaqin Telecom Technology Co Ltd filed Critical Huaqin Telecom Technology Co Ltd
Priority to CN201511024431.2A priority Critical patent/CN105487541A/en
Publication of CN105487541A publication Critical patent/CN105487541A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0217Anthropomorphic or bipedal robot

Abstract

The invention discloses a distribution robot and a control method thereof. The distribution robot comprises a controller for storing a navigation map of a target area. The navigation map is used to record the name of the target location within the target area and the navigation path leading to the target location. The controller is also used to control the distribution robot to move along the navigation path leading to the target location when a control command including the name of the target location is received. In the invention, the navigation map is stored in the controller of the distribution robot in advance and the distribution robot is controlled by the controller to move along the navigation path, so that there is no need to configure a moving path for the distribution robot in advance as in the prior art, saving the cost. Meanwhile, the invention makes it possible to control the distribution robot to move freely, instead of being controlled by the moving path.

Description

Dispensing machine people and control method thereof
Technical field
The present invention relates to a kind of robot controlling field, particularly relate to a kind of dispensing machine people and control method thereof.
Background technology
Mark dispensing control mode along the line is patrolled in the many employings of the existing dispensing machine National People's Congress, namely in advance for dispensing machine people configures many movement line, and every bar movement line there are the lines be electrically connected with described dispensing machine people, then control dispensing machine people to move along movement line, be similar to the control mode of tramcar of the prior art.This dispensing control mode needs for dispensing machine people configures a large amount of lines, and configure the possibility that lines exist lines damage on the ground, in addition, if dispensing machine people needs the destination quantity of dispensing a lot, cause environmental change too large, then need, again according to destination configuration movement line, to cause cost very high, in prior art, dispensing machine people can only move along pre-configured movement line in addition, causes the mobile route of dispensing machine people relatively more fixing and single.
Summary of the invention
The technical problem to be solved in the present invention is the dispensing control mode in order to overcome dispensing machine people in prior art is pre-configured movement line, cause there are lines to damage, may need again relatively to fix and single defect according to the mobile route of destination configuration movement line and dispensing machine people, a kind of dispensing machine people and control method thereof are provided.
The present invention solves above-mentioned technical matters by following technical proposals:
The invention provides a kind of dispensing machine people, its feature is, described dispensing machine people comprises controller, described controller is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
Preferably, the bottom of described dispensing machine people is provided with the omni-directional wheel be electrically connected with described controller, and described controller moves along the guidance path of described objective title for controlling described omni-directional wheel.
Preferably, described dispensing machine people also comprises laser instrument, described laser instrument is for scanning described target area, and scan-data is sent to described controller, described controller is used for the navigation map setting up described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
Preferably, described controller also controls described laser instrument when controlling described dispensing machine people and moving and carries out real time scan, described laser instrument is used for when the front scanning described dispensing machine people exists barrier, the real-time distance of described barrier is sent to described controller, and described controller is used for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
Preferably, whether described controller is also still existed for being detected described barrier after preset time period by described laser instrument, if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
Preferably, the inside of described dispensing machine people is also provided with storage disk.
Preferably, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described controller is used for controlling described elevating mechanism after receiving lifting instruction and drives described storage disk to move.
Preferably, described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
Preferably, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described head induction installation is for receiving peripheral operation and sending described lifting instruction to described controller.
Preferably, described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
Preferably, described lifting instruction is for characterizing the displacement of described storage disk.
Preferably, described dispensing machine people also comprises the dodge gate that can open or close.
Preferably, described dispensing machine people also comprises order reception apparatus, and described order reception apparatus is for receiving described steering order and described steering order being sent to described controller.
Preferably, described order reception apparatus comprises microphone, and described steering order comprises phonetic control command.
Preferably, the outside of described dispensing machine people is also provided with light plate, and described controller also shows different lamp effects for controlling described light plate according to the different operating state of described dispensing machine people.
Preferably, described dispensing machine people also comprises the battery be electrically connected with described controller.
The object of the invention is to the control method additionally providing a kind of dispensing machine people, its feature is, comprising:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
Preferably, described controller also comprises before storing the step of the navigation map of target area:
Target area described in laser scans, and scan-data is sent to described controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
Preferably, described controller when receiving the steering order comprising described objective title, control described dispensing machine people along the guidance path movement of described objective title step after also comprise:
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
Preferably, described controller is detecting that described real-time distance controls when being less than predetermined threshold value also to comprise after described dispensing machine people stops the step of movement:
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
Preferably, the inside of described dispensing machine people is also provided with storage disk, and described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described control method also comprises:
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction.
Preferably, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described control method also comprises:
Described head induction installation receives peripheral operation and sends described lifting instruction to described controller.
Preferably, described control method also comprises:
Order reception apparatus receives described steering order and described steering order is sent to described controller.
Preferably, described control method also comprises:
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
Positive progressive effect of the present invention is: the present invention is by pre-stored navigation map in the controller of dispensing machine people, and moved along guidance path by controller control dispensing machine people, thus do not need to be the pre-configured movement line of dispensing machine people as in prior art, provide cost savings, the present invention simultaneously can control dispensing machine people and move freely, and not by the control of movement line.
Accompanying drawing explanation
Fig. 1 is the structural representation of the dispensing machine people of embodiments of the invention 1.
Fig. 2 is the structural representation of the dispensing machine people of embodiments of the invention 2.
Structural representation when Fig. 3 is the dodge gate closedown of the dispensing machine people of embodiments of the invention 3.
Fig. 4 is the structural representation of the dodge gate of the dispensing machine people of embodiments of the invention 3 when opening.
Fig. 5 is the first inner structure schematic diagram of the dispensing machine people of embodiments of the invention 3.
Fig. 6 is the second inner structure schematic diagram of the dispensing machine people of embodiments of the invention 3.
Fig. 7 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 4.
Fig. 8 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 5.
Fig. 9 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 6.
Embodiment
Mode below by embodiment further illustrates the present invention, but does not therefore limit the present invention among described scope of embodiments.
Embodiment 1
As shown in Figure 1, the dispensing machine people of the present embodiment comprises controller 1, described controller 1 is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title; Described controller 1, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
In the present embodiment, described target area is moving area and the dispensing region of dispensing machine people, described objective title is the dispensing objective of dispensing machine people, described target area and described objective title specifically can be arranged according to actual needs, and such as described objective title is specifically as follows the place names such as kitchen, hall, dining room.
Do not need in the present embodiment to be the special pre-configured movement line of dispensing machine people as in prior art, thus provide cost savings, and the present embodiment can control dispensing machine people by controller to be moved freely along guidance path, achieve the complete autonomous of dispensing machine people, thus not by the control of movement line.
Embodiment 2
As shown in Figure 2, the difference of the present embodiment and embodiment 1 is:
The dispensing machine people of the present embodiment is except comprising the controller 1 in embodiment 1, also comprise omni-directional wheel 2, described omni-directional wheel 2 is arranged at the bottom of described dispensing machine people, and described omni-directional wheel 2 is electrically connected with described controller 1, controller 1 described in the present embodiment specifically can control described omni-directional wheel 2 and move along the guidance path of described objective title, thus drives described dispensing machine people to move by omni-directional wheel 2.
The dispensing machine people of the present embodiment also comprises laser instrument 3, described laser instrument 3 is for scanning described target area, and scan-data is sent to described controller 1, described controller 1 for setting up the navigation map of described target area according to described scan-data, and marks described objective title and generates the guidance path arriving described objective title on described navigation map.
In the present embodiment, described controller 1 also controls described laser instrument 3 when controlling described dispensing machine people and moving and carries out real time scan, when for there is barrier in the front scanning described dispensing machine people in described laser instrument 3, the real-time distance of described barrier is sent to described controller 1, and described controller 1 is for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.Whether described controller 1 also still exists for detecting described barrier after preset time period by described laser instrument 3, if not, then controlling described dispensing machine people continues mobile along current guidance path, if so, then control described dispensing machine people and move along new guidance path.Wherein, described predetermined threshold value and described preset time period all can be arranged according to actual needs.
In the present embodiment, described controller 1 control described dispensing machine people move time, detected by the obstacle of described laser instrument 3 to the mobile route front of described dispensing machine people, and described controller 1 dispensing machine people according to obstacle detection output control stops mobile, after waiting for a period of time, continue through described laser instrument 3 detect obstacle and whether still exist, and control described dispensing machine people according to different testing results and continue mobile or move along new guidance path, thus the dispensing machine people of the present embodiment can be made to have the function automatically detecting obstacle and automatic obstacle-avoiding.
As shown in Figure 2, described dispensing machine people also comprises order reception apparatus 4, can receive the steering order comprising described objective title that user sends, and described steering order is sent to described controller 1 by described order reception apparatus 4.Described order reception apparatus 4 specifically can comprise microphone, now described steering order correspondence can comprise phonetic control command, like this, described microphone just can receive the phonetic control command that user sends, and then described controller 1 just can parse described objective title from described phonetic control command, thus control described dispensing machine people and move to objective.Certainly, those skilled in the art are to be understood that, described order reception apparatus also can comprise the related device of the steering order that can receive other kinds, such as can comprise note receiving trap, touch command receiving trap (as touch-screen), pressing order reception apparatus (as button) etc., and described controller 1 can parse described objective title from various types of steering order.
Preferably, the outside of described dispensing machine people can also arrange light plate 5, described controller 1 also shows different lamp effects for controlling described light plate 5 according to the different operating state of described dispensing machine people, concrete duty and lamp imitate between corresponding relation can arrange according to actual needs, described light plate 5 specifically can comprise many groups breath light that can send different colours light, combine by organizing breath light more, thus polytype lamp effect can be generated, and dissimilar lamp effect characterizes the different operating state of described dispensing machine people, such as, when sending type of respiration green light after described dispensing machine people normal boot-strap, type of respiration red light can be sent when described dispensing machine people is broken down, type of respiration amber light etc. can be sent when receiving control command and moving.
Embodiment 3
As seen in figures 3-6, the difference of the present embodiment and embodiment 2 is:
The dispensing machine people of the present embodiment, except all parts of dispensing machine people comprising embodiment 2, also comprises the storage disk 6 of the inside being arranged at described dispensing machine people, thus can hold article to be dispensed by described storage disk 6.
The dispensing machine people of the present embodiment also comprises the elevating mechanism 7 be connected with described storage disk 6, and described controller 1 drives described storage disk 6 to move for controlling described elevating mechanism 7 after receiving lifting instruction.Described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described chain can be layed in described slide rail, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
Described dispensing machine people also comprises the head induction installation 8 be connected with described storage disk 6, described head induction installation 8 is for receiving peripheral operation and sending described lifting instruction based on peripheral operation to described controller 1, described head induction installation 8 specifically can comprise at least one in infrared sensor, touch sensing and pressure transducer, and then correspondingly just can generate described lifting instruction by infrared induction, touch-control sensing and pressure sensitive, and described lifting instruction is sent to described controller 1.
Preferably, described lifting instruction is for characterizing the displacement of described storage disk 6, particularly, described lifting instruction can characterize displacement and moving direction according to the positive and negative values of data, such as, if described lifting instruction comprises "-40cm " data field, then can represent that described storage disk 6 moves down 40cm, if described lifting instruction comprises "+50cm " data field, then can represent that described storage disk 6 moves up 50cm, those skilled in the art are to be understood that, the corresponding relation of the data field comprised in described lifting instruction and the displacement of described storage disk 6 and moving direction can be arranged according to actual needs.
The described dispensing machine people of the present embodiment also comprises the dodge gate 9 that can open or close, when described dodge gate 9 is opened, described storage disk 6 can be taken out from the inside of described dispensing machine people, when described dodge gate 9 is closed, then the item enclosure formula held in described storage disk 6 and described storage disk 6 can be stored in the inside of described dispensing machine people.
The dispensing machine people of the present embodiment can also comprise the battery 10 be electrically connected with described controller 1, thus can be that the whole dispensing machine people comprising described controller 1 powers by described battery 10, maintains the normal operation of whole dispensing machine people.
Move freely and adopt different lamp effects to reflect except the different operating state of dispensing machine people except dispensing machine people can be controlled in the present embodiment, the article deposited in storage disk and storage disk can also be stored closedly, thus greatly improve security and the privacy of dispensing machine people, can storage disk be driven to rise by elevating mechanism or decline in the present embodiment simultaneously, thus user can be facilitated to get thing from storage disk.
Embodiment 4
As shown in Figure 7, the control method of the dispensing machine people of the present embodiment comprises the following steps:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
Do not need in the present embodiment to be the special pre-configured movement line of dispensing machine people as in prior art, thus provide cost savings, and the present embodiment can control dispensing machine people by controller to be moved freely along guidance path, achieve the complete autonomous of dispensing machine people, thus not by the control of movement line.
Embodiment 5
As shown in Figure 8, the control method of the dispensing machine people of the present embodiment comprises the following steps:
Laser scans target area, and scan-data is sent to controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title;
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title;
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value;
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
The control method of the present embodiment not only can realize controlling dispensing machine people and move freely, target area can be scanned in advance by laser instrument simultaneously, controller sets up the navigation map of described target area according to the scan-data of laser instrument, thus makes the navigation of described navigation map more accurate.Meanwhile, the present embodiment can also be realized dispensing machine people automatically detected obstacle and automatic obstacle-avoiding while movement by cooperatively interacting of laser instrument and controller, thus makes the control of dispensing machine people more efficient and intelligent.
Embodiment 6
As shown in Figure 9, the difference of the present embodiment and embodiment 4 is, in the present embodiment, the inside of dispensing machine people is also provided with storage disk, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and the control method of the dispensing machine people of the present embodiment specifically comprises the following steps:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Order reception apparatus receives steering order and described steering order is sent to described controller;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title;
Described head induction installation receives peripheral operation and sends lifting instruction to described controller;
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction;
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
In the present embodiment, preferably, described elevating mechanism can comprise motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller controls described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.Described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
The control method of the present embodiment not only can realize controlling dispensing machine people and move freely, can also control dispensing machine people adopts outside the different operating state of different lamp effect reflection dispensing machine people, the article deposited in storage disk and storage disk can also be stored closedly, thus greatly improve security and the privacy of dispensing machine people, can storage disk be driven to rise by elevating mechanism or decline in the present embodiment simultaneously, thus user can be facilitated to get thing from storage disk.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.

Claims (24)

1. a dispensing machine people, it is characterized in that, described dispensing machine people comprises controller, and described controller is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
2. dispensing machine people as claimed in claim 1, it is characterized in that, the bottom of described dispensing machine people is provided with the omni-directional wheel be electrically connected with described controller, and described controller moves along the guidance path of described objective title for controlling described omni-directional wheel.
3. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises laser instrument, described laser instrument is for scanning described target area, and scan-data is sent to described controller, described controller is used for the navigation map setting up described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
4. dispensing machine people as claimed in claim 3, it is characterized in that, described controller also controls described laser instrument when controlling described dispensing machine people and moving and carries out real time scan, described laser instrument is used for when the front scanning described dispensing machine people exists barrier, the real-time distance of described barrier is sent to described controller, and described controller is used for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
5. dispensing machine people as claimed in claim 4, it is characterized in that, whether described controller is also still existed for being detected described barrier after preset time period by described laser instrument, if not, then controlling described dispensing machine people continues mobile, if so, then control described dispensing machine people to move along new guidance path.
6. dispensing machine people as claimed in claim 1, it is characterized in that, the inside of described dispensing machine people is also provided with storage disk.
7. dispensing machine people as claimed in claim 6, it is characterized in that, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described controller is used for controlling described elevating mechanism after receiving lifting instruction and drives described storage disk to move.
8. dispensing machine people as claimed in claim 7, it is characterized in that, described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
9. dispensing machine people as claimed in claim 7, it is characterized in that, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described head induction installation is for receiving peripheral operation and sending described lifting instruction to described controller.
10. dispensing machine people as claimed in claim 9, it is characterized in that, described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
11. dispensing machine people as claimed in claim 7, it is characterized in that, described lifting instruction is for characterizing the displacement of described storage disk.
12. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises the dodge gate that can open or close.
13. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises order reception apparatus, and described order reception apparatus is for receiving described steering order and described steering order being sent to described controller.
14. dispensing machine people as claimed in claim 13, it is characterized in that, described order reception apparatus comprises microphone, and described steering order comprises phonetic control command.
15. dispensing machine people as claimed in claim 1, it is characterized in that, the outside of described dispensing machine people is also provided with light plate, and described controller also shows different lamp effects for controlling described light plate according to the different operating state of described dispensing machine people.
16. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises the battery be electrically connected with described controller.
The control method of 17. 1 kinds of dispensing machine people, is characterized in that, comprising:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
18. control methods as claimed in claim 17, is characterized in that, described controller also comprises before storing the step of the navigation map of target area:
Target area described in laser scans, and scan-data is sent to described controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
19. control methods as claimed in claim 17, it is characterized in that, described controller when receiving the steering order comprising described objective title, control described dispensing machine people along the guidance path movement of described objective title step after also comprise:
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
20. control methods as claimed in claim 19, is characterized in that, described controller is detecting that described real-time distance controls when being less than predetermined threshold value also to comprise after described dispensing machine people stops the step of movement:
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
21. control methods as claimed in claim 17, it is characterized in that, the inside of described dispensing machine people is also provided with storage disk, and described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described control method also comprises:
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction.
22. control methods as claimed in claim 21, it is characterized in that, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described control method also comprises:
Described head induction installation receives peripheral operation and sends described lifting instruction to described controller.
23. control methods as claimed in claim 17, it is characterized in that, described control method also comprises:
Order reception apparatus receives described steering order and described steering order is sent to described controller.
24. control methods as claimed in claim 17, it is characterized in that, described control method also comprises:
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
CN201511024431.2A 2015-12-30 2015-12-30 Distribution robot and control method thereof Pending CN105487541A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201511024431.2A CN105487541A (en) 2015-12-30 2015-12-30 Distribution robot and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201511024431.2A CN105487541A (en) 2015-12-30 2015-12-30 Distribution robot and control method thereof

Publications (1)

Publication Number Publication Date
CN105487541A true CN105487541A (en) 2016-04-13

Family

ID=55674578

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201511024431.2A Pending CN105487541A (en) 2015-12-30 2015-12-30 Distribution robot and control method thereof

Country Status (1)

Country Link
CN (1) CN105487541A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625693A (en) * 2016-10-19 2017-05-10 苏州大成电子科技有限公司 Speech-controlled service robot
CN108092859A (en) * 2017-11-30 2018-05-29 山东大学 Family's service robot system and method for work under a kind of intelligent environment
CN108081273A (en) * 2017-12-18 2018-05-29 上海有个机器人有限公司 The lifting control method of more parcel shelf of robot, system, control terminal, robot
CN109588101A (en) * 2018-10-31 2019-04-09 浙江亚特电器有限公司 For improving the control method of intelligent grass-removing operation coverage rate
CN110861087A (en) * 2019-11-22 2020-03-06 深圳市优必选科技股份有限公司 Robot initialization positioning method and device, mobile robot and storage medium
CN112140099A (en) * 2019-06-28 2020-12-29 百度在线网络技术(北京)有限公司 Light effect control method, device, equipment and medium for robot
CN112465439A (en) * 2021-02-02 2021-03-09 红石阳光(北京)科技股份有限公司 Logistics distribution method and system based on intelligent brain control robot

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101619985A (en) * 2009-08-06 2010-01-06 上海交通大学 Service robot autonomous navigation method based on deformable topological map
CN102681542A (en) * 2012-03-07 2012-09-19 陶重犇 Experimental platform for indoor multipurpose mobile robot
CN102699895A (en) * 2012-06-04 2012-10-03 山东大陆科技有限公司 Meal delivering robot and meal delivering method
CN202933163U (en) * 2012-12-15 2013-05-15 肖湘 Distribution robot
CN103340514A (en) * 2013-07-03 2013-10-09 华北电力大学(保定) Intelligent meal delivery robot
CN103914068A (en) * 2013-01-07 2014-07-09 中国人民解放军第二炮兵工程大学 Service robot autonomous navigation method based on raster maps
CN104842358A (en) * 2015-05-22 2015-08-19 上海思岚科技有限公司 Autonomous mobile multifunctional robot
CN105045259A (en) * 2015-04-27 2015-11-11 华中科技大学 Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101619985A (en) * 2009-08-06 2010-01-06 上海交通大学 Service robot autonomous navigation method based on deformable topological map
CN102681542A (en) * 2012-03-07 2012-09-19 陶重犇 Experimental platform for indoor multipurpose mobile robot
CN102699895A (en) * 2012-06-04 2012-10-03 山东大陆科技有限公司 Meal delivering robot and meal delivering method
CN202933163U (en) * 2012-12-15 2013-05-15 肖湘 Distribution robot
CN103914068A (en) * 2013-01-07 2014-07-09 中国人民解放军第二炮兵工程大学 Service robot autonomous navigation method based on raster maps
CN103340514A (en) * 2013-07-03 2013-10-09 华北电力大学(保定) Intelligent meal delivery robot
CN105045259A (en) * 2015-04-27 2015-11-11 华中科技大学 Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof
CN104842358A (en) * 2015-05-22 2015-08-19 上海思岚科技有限公司 Autonomous mobile multifunctional robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625693A (en) * 2016-10-19 2017-05-10 苏州大成电子科技有限公司 Speech-controlled service robot
CN108092859A (en) * 2017-11-30 2018-05-29 山东大学 Family's service robot system and method for work under a kind of intelligent environment
CN108092859B (en) * 2017-11-30 2021-02-02 山东大学 Home service robot system in intelligent environment and working method
CN108081273A (en) * 2017-12-18 2018-05-29 上海有个机器人有限公司 The lifting control method of more parcel shelf of robot, system, control terminal, robot
CN108081273B (en) * 2017-12-18 2020-07-07 上海有个机器人有限公司 Lifting control method and system for multiple object placing plates of robot, control terminal and robot
CN109588101A (en) * 2018-10-31 2019-04-09 浙江亚特电器有限公司 For improving the control method of intelligent grass-removing operation coverage rate
CN112140099A (en) * 2019-06-28 2020-12-29 百度在线网络技术(北京)有限公司 Light effect control method, device, equipment and medium for robot
CN110861087A (en) * 2019-11-22 2020-03-06 深圳市优必选科技股份有限公司 Robot initialization positioning method and device, mobile robot and storage medium
CN112465439A (en) * 2021-02-02 2021-03-09 红石阳光(北京)科技股份有限公司 Logistics distribution method and system based on intelligent brain control robot
CN112465439B (en) * 2021-02-02 2021-05-11 红石阳光(北京)科技股份有限公司 Logistics distribution method and system based on intelligent brain control robot

Similar Documents

Publication Publication Date Title
CN105487541A (en) Distribution robot and control method thereof
US10570656B2 (en) Magnetic object detection for vehicle door assist system
CN103143509B (en) Garbage classification robot and garbage identification and classification method
US20170030135A1 (en) Object detection and method for vehicle door assist system
CN103284662B (en) Purging system and control method thereof
US20170030737A1 (en) Door position sensor and system for a vehicle
JP6086733B2 (en) Self-propelled device and method of operating such a device
CN104944029B (en) Dustbin robot system and its control method
CN104000541A (en) Floor sweeping robot with threshold detection function and threshold detection method thereof
CN101403271A (en) Method and system for controlling a door drive
CN206258954U (en) A kind of unattended shop gate control system based on human motion angle detecting
BR112020024333A2 (en) track vehicles in a warehouse environment
CN110140094A (en) Autonomous mobile robot and method for controlling autonomous mobile robot
CN204014854U (en) A kind of orchard range compound chemical spraying device
CN105551300B (en) It is a kind of that parking stall realization method and system is accounted for based on unmanned plane
CN104149781A (en) Intelligent carrier control system and control method
CN105947851A (en) Obstruction detection and elevator door control methods and systems
KR101571809B1 (en) System for managing gas station
CN205290932U (en) Distribution robot
CN205796008U (en) Blind-guidance robot
CN206892669U (en) Unmanned aerial vehicle (UAV) control device and unmanned aerial vehicle control system
CN110388159A (en) System and method for preventing garage door from closing in lifting type car door opening
CN205533372U (en) Control by temperature change response fan based on arduino
CN205373811U (en) Industry liquid level control system's bubble liquid level detection device
CN105794499A (en) Pruning method of green belt pruning machine

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20160413