CN107097239B - A kind of intelligent express delivery allocator and its system based on automatic machinery people - Google Patents
A kind of intelligent express delivery allocator and its system based on automatic machinery people Download PDFInfo
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- CN107097239B CN107097239B CN201710356858.5A CN201710356858A CN107097239B CN 107097239 B CN107097239 B CN 107097239B CN 201710356858 A CN201710356858 A CN 201710356858A CN 107097239 B CN107097239 B CN 107097239B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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Abstract
A kind of intelligent express delivery allocator based on automatic machinery people, the step includes: discharge device scanning express delivery list and obtains distribution information, the express delivery of same area is stored in the storage silo of the first robot of responsible corresponding region, distribution information is transmitted to the first robot by server, when first robot walks to the first dispatching address, detect that traffic congestion is then positioned in real time and obtains location data, it searches on default map and spreads whether have the second robot in pre-set radius around centered on location data, have, express delivery is sent at the second robot using unmanned plane and route is transmitted to second robot, whether the first robot ambulation to the second dispatching address detected has elevator, ascending for elevator is controlled if having to floor where client, first robot ambulation is to customer address and absorbs the face of express delivery of taking Image analysing computer whether with the Image Matching in distribution information, matching then controls corresponding door and opens and notify client to sign for using loudspeaker.
Description
Technical field
The present invention relates to dispatching field, in particular to a kind of intelligent express delivery allocator based on automatic machinery people and its
System.
Background technique
As global economic integration progress is constantly accelerated, the trade barrier between various countries are constantly eliminated, international trade and state
Interior trade activity is further active, and production, operation and social activities tend to high efficiency and fast pace, and the time value is more and more important,
A large amount of sample, document, commercial correspondance, data quick transmitting demand, for letters, express delivery dealer provides a large amount of source of goods.
With the development of science and technology, the scientific and technological content of product increases, and the large-tonnage product of high-tech enterprise is small in size, again
Amount is light, and value of goods is but very high, and the amount of circulating funds used is very big, these products can be given as early as possible client by express transportation, and provides good
Packaging, storage, declaration logistics service, meet the needs of enterprise, the division of maximum possible realized, continuous
In development process, gradually formed with handle letters express delivery based on file, data, drawing, Trade documents etc. and processing sample,
Cargo express delivery based on high overage, social activities gift and family's high-grade goods etc., both modes are simultaneously sent out simultaneously
Exhibition, only small-scale express company due to its ability it is limited, manage emphasis and have nothing in common with each other.Internationally recognizable express company relies on
Its powerful technology and network advantage, constantly extension force gradually form advantage in a certain region even whole world, and open more
Kind new method of service and means, the essential characteristic of analysis express delivery industry development seek its rule of development to just in developing
State's express delivery industry is very necessary.
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology；In recent years, robot is ours
It is had been widely used in life.For example, the robot explained in museum, at the restaurant in be responsible for the machine of food delivery
People and the robot that people can be accompanied to chat etc..
So existing express delivery dispatching all carries out dispatching express delivery using artificial mode mostly, according at a large amount of manpower and material resources
Waste and express delivery dispatching Frequent Accidents on the way, how to utilize robot, which is one in express delivery dispatching field, urgently to be solved asks
Topic.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind to be based on automation machine
The intelligent express delivery allocator and its system of device people, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: a kind of intelligent express delivery allocator based on automatic machinery people, including at least two robots, nothing
Man-machine, discharge device, driving device, battery and processing unit, the described method comprises the following steps:
Express delivery list is scanned and obtains the distribution information on express delivery list by discharge device；
The express delivery article of same area is stored in the storage of the first robot of responsible corresponding region by the discharge device
In storehouse；
When first robot detects that express delivery article is stored in storage silo, first robot starts starting fortune
Row；
The corresponding distribution information of several express deliveries is transmitted in first robot by server, and first robot connects
Plan optimal track route after receiving automatically according to several distribution informations；
First robot walks according to pre-set velocity and passes through wireless to the first dispatching address according to the route of planning
Device obtains current route traffic conditions；
Pass through positioning device if detecting current route traffic congestion to carry out in fact first robot current location
Shi Dingwei simultaneously obtains location data；
It searches on default map and spreads whether have the second robot in pre-set radius around centered on location data；
The express delivery article that current route dispenses is sent to if having using unmanned plane the second machine from itself minimum distance
Second robot is transmitted at people and by the route of planning；
The route that first robot then passes through planning runs to the correspondence place of the second dispatching address and dials client
Whether phone confirmation client is in corresponding place；
If if detection second dispatching address at whether have elevator；
First robot sends up-on command to elevator using wireless device and detects whether elevator door is beaten if having
It opens；
Match if opening in first robot ambulation to elevator and using wireless device control ascending for elevator to second
Floor where sending address；
Where detecting that elevator stops to the second dispatching address when floor, first robot ambulation to the specific institute of client
Address and by camera real time shooting take express delivery human face image analysing computer whether with server input distribution information
Interior image of face matching；
The correspondence express delivery storage silo door of the second dispatching of control address is opened and notifies client using loudspeaker if matching
It is signed for.
As a kind of preferred embodiment of the invention, first robot is pressed according to the route of planning to the first dispatching address
When according to pre-set velocity walking, the method also includes following steps:
First robot is analyzed by camera real time shooting images of environment surrounding and according to the environmental images of intake
Whether first robot walks in pavement；
It corrects if the first robot described not if into pavement and is analysed whether according to the environmental images of real time shooting
There is automobile close to itself；
First robot avoids automobile and is detected according to before the analysis of the environmental images of real time shooting if having
Whether side has pedestrian；
First robot is controlled if having to avoid pedestrian and loudspeaker is utilized to issue the first default decibel
Alarm song.
As a kind of preferred embodiment of the invention, searches on default map to spread around centered on location data and preset
After whether having the second robot in radius, the method also includes following steps:
The express delivery object for utilizing unmanned plane to dispense current route if not searching second robot in pre-set radius
Product are sent to the correspondence place of the first dispatching address and dial customer phone；
The route that first robot then passes through planning is walked to the second dispatching address.
As a kind of preferred embodiment of the invention, first robot ambulation to the specific address of client and by taking the photograph
As head real time shooting take express delivery human face image analysing computer whether with server input distribution information in image of face
After matching, the method also includes following steps:
First robot dials customer phone and confirms whether it knows that someone helps him to take express delivery object if mismatching
Product；
First robot is warned using the alarm song that loudspeaker issues the second default decibel if not knowing.
As a kind of preferred embodiment of the invention, after notifying client to sign for using loudspeaker, the method is also wrapped
Include following steps:
Whether the first robot detection client puts back to proof of delivery in the correspondence express delivery storage silo of the second dispatching address；
First robot controls corresponding express delivery storage silo door and closes and be back at elevator if putting back to；
First robot sends downlink command to elevator and detects whether elevator door is opened；
Bottom is come downwards to if opening in first robot ambulation to elevator and using wireless device control elevator；
When detecting that elevator stops to bottom, first robot ambulation goes out elevator and to row at third dispatching address
It walks.
A kind of intelligent express delivery delivery system based on automatic machinery people, including at least two robots, unmanned plane, distribution
Equipment, driving device, battery and processing unit, at least two robot are respectively the first robot and the second machine
Device people, first robot and the second robot respectively include several storage silos, loudspeaker and camera, each storage
For storing a express delivery article in storehouse, the loudspeaker is used to issue the alarm song of default decibel and client is notified to sign for,
The camera is for absorbing images of environment surrounding；The unmanned plane quantity is corresponding with robot quantity and is set to robot
Top, for transmitting express delivery；The discharge device is set in express delivery warehouse, and the region for being responsible for according to robot will dispense
The express delivery article of corresponding region is stored in robot storage silo in information；The driving device includes driving motor and shoe
Band, the crawler belt are set to below robot, and the driving motor is set to robot interior and connect with crawler belt, for driving
Crawler belt drives robot ambulation；The battery is set to robot interior, for providing electric power；The processing unit quantity with
First robot and the second robot quantity correspondence are simultaneously set to the first robot and the second robot interior, the distribution
Equipment includes:
Scan module, for scanning the distribution information on express delivery list；
Distribution module, the storage of the first robot for the express delivery article of same area to be stored in responsible corresponding region
In storehouse；
The processing unit includes:
First detection module, for detecting whether express delivery article is stored in the storage silo of the first robot；
Starting module runs first robot for starting；
Receiving module, for receiving several distribution informations of server input
Route planning module, for planning optimal route automatically according to distribution information；
Wireless device, for obtaining current route traffic conditions, connection external equipment and connection elevator；
Second detection module, for detect obtain current route traffic whether congestion；
Positioning device, for being positioned in real time to first robot current location and obtaining location data；
Whether search module has for searching for spread around in pre-set radius centered on location data on default map
Second robot；
Apart from detection module, for detecting the second robot of itself minimum distance；
Transmission module, for the route of planning to be transmitted to the second robot；
First confirmation module, for confirming client whether in corresponding place；
Whether third detection module, the designated place for detecting dispatching address have elevator；
Sending module is instructed for sending to elevator；
4th detection module, for detecting whether elevator door is opened；
5th detection module, for detecting floor where whether elevator stops to dispatching address；
Telephone call module, for dialing customer phone.
Image analysing computer module, for analyze express delivery of taking human face image whether with server input distribution information in
Image of face matching；
Switch module is opened for controlling storage silo door；
First sound module, for notifying client to sign for using loudspeaker.
As a kind of preferred embodiment of the invention, the processing unit includes:
First analysis module has analysed whether that automobile is close to itself for the environmental images according to real time shooting；
Rectification module is corrected for controlling first robot into pavement；
Second analysis module, for whether having pedestrian according to the environmental images of real time shooting detection front；
Module is avoided, automobile and pedestrian are avoided for controlling first robot；
Second sound module, for issuing the alarm song of the first default decibel using loudspeaker.
As a kind of preferred embodiment of the invention, the processing unit includes:
Whether the 6th detection module searches the second robot for detecting in pre-set radius.
As a kind of preferred embodiment of the invention, the processing unit includes:
Second confirmation module, for confirming whether client knows that someone helps him to take express delivery article；
Third sound module, the alarm song for issuing the second default decibel using loudspeaker are warned.
As a kind of preferred embodiment of the invention, the processing unit includes:
Whether the 7th detection module puts back to proof of delivery the correspondence express delivery storage silo of the second dispatching address for detecting client
It is interior；
8th detection module, for detecting whether elevator stops to bottom.
The present invention realizes following the utility model has the advantages that the intelligent express delivery allocator based on automatic machinery people, the step packet
Include: express delivery list information is scanned and is obtained the distribution information on express delivery list and by the express delivery article of same area by discharge device
It is stored in the storage silo of the first robot of responsible corresponding region, the corresponding distribution information of several express deliveries is transmitted to by server
After first robot, the first robot plans optimal track route according to several distribution informations automatically, to the first dispatching address
It walks according to pre-set velocity and passes through wireless device；Current route traffic conditions are obtained, if detecting current route traffic congestion
Location data is then positioned and obtained in real time to first robot current location by positioning device, searches for default map
On spread whether have the second robot in pre-set radius around centered on location data, if having using unmanned plane will store
The storage silo for the express delivery article for having current route to dispense is sent at the second robot from itself minimum distance and by the road of planning
Line is transmitted to second robot, and the route that the first robot then passes through planning runs to the correspondence place of the second dispatching address
And customer phone confirmation client is dialed whether in corresponding place, if whether having elevator at the second dispatching of detection address if, if having
Then the first robot utilizes wireless device；Up-on command is sent to elevator and detects whether elevator door is opened, first if opening
In robot ambulation to elevator and utilize wireless device；Floor where controlling ascending for elevator to the second dispatching address, when detecting
When elevator stops floor where to the second dispatching address, the first robot ambulation to the specific address of client simultaneously passes through camera reality
When intake take express delivery human face image analysing computer whether with server input distribution information in image of face match, if
Correspondence express delivery storage silo door with then the second dispatching of control address is opened and notifies client to sign for using loudspeaker；It can
Automatic planning distribution route, can utilize wireless device；Traffic conditions on networking detection distribution route, can be in discovery road
Express delivery article is sent at the second robot using unmanned plane in the case where congestion and ascending for elevator can be controlled to dispatching
Floor where address signs for express delivery for client, has saved a large amount of manpower and material resources.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 be the one of example of the present invention provide based on automation
The schematic diagram of the intelligent express delivery delivery system of robot；
Fig. 2 is the process for the intelligent express delivery allocator based on automatic machinery people that the one of example of the present invention provides
Figure；
Fig. 3 is the flow chart for the detection objects in front method that the one of example of the present invention provides；
Fig. 4 is the flow chart that express delivery article method is transmitted using unmanned plane that the one of example of the present invention provides；
Fig. 5 is the flow chart for the article method that detects whether to take for me that the one of example of the present invention provides；
Fig. 6 is the flow chart for the control elevator down method that the one of example of the present invention provides；
Fig. 7 is the framework for the intelligent express delivery delivery system based on automatic machinery people that the one of example of the present invention provides
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
Refering to what is shown in Fig. 2, Fig. 2 is that the intelligent express delivery based on automatic machinery people that the one of example of the present invention provides is matched
The flow chart of delivery method.
Specifically, the present embodiment provides a kind of intelligent express delivery allocator based on automatic machinery people, including at least two
A robot, unmanned plane 2, discharge device 3, driving device 4, battery 5 and processing unit 6, which is characterized in that the method
The following steps are included:
Express delivery list is scanned and obtains the distribution information on express delivery list by S1, discharge device 3；
The express delivery article of same area is stored in the first robot 10 of responsible corresponding region by S2, the discharge device 3
Storage silo 101 in；
When S3, first robot 10 detect that express delivery article is stored in storage silo 101, first robot 10
Start starting operation；
The corresponding distribution information of several express deliveries is transmitted in first robot 10 by S4, server, first machine
Device people 10 plans optimal track route according to several distribution informations after receiving automatically；
S5, first robot 10 walk and pass through according to pre-set velocity to the first dispatching address according to the route of planning
Wireless device 64 obtains current route traffic conditions；
S6, pass through positioning device 66 if detecting current route traffic congestion to 10 current location of the first robot
It is positioned in real time and obtains location data；
S7, search on default map spread whether have the second robot in pre-set radius around centered on location data
11；
S8, using unmanned plane 2 express delivery article that current route dispenses is sent to second from itself minimum distance if having
Second robot 11 is transmitted at robot 11 and by the route of planning；
S9, first robot 10 then run to the correspondence place of the second dispatching address by the route planned and dial
Whether customer phone confirms client in corresponding place；
S10, if if detection second dispatching address at whether have elevator；
S11, first robot 10 sends up-on command to elevator using wireless device 64 and detects elevator if having
Whether door is opened；
S12, first robot 10 runs in elevator and controls ascending for elevator using wireless device 64 if opening
To floor where the second dispatching address；
S13, when detect elevator stop to second dispatching address where floor when, first robot 10 runs to client
Specific address and by 103 real time shooting of camera take express delivery human face image analysing computer whether with server input
Image of face matching in distribution information；
S14,101 door of correspondence express delivery storage silo of the second dispatching of control address is opened and utilizes loudspeaker if matching
102 notify client to sign for.
Wherein, the information obtained on express delivery list refers to name, address, phone number and the correspondence for obtaining user
The pet name of APP；The responsible region of first robot 10 can be municipality directly under the Central Government, provincial capital, prefecture-level city, county-level city, small towns
One of them even more in corregidor, in the present embodiment a preferably community；The express delivery by same area
Article, which is stored in, to be referred in the storage silo 101 of the first robot 10 of responsible corresponding region the first robot 10 being responsible for region
Express delivery article is stored in storage silo 101, and a express delivery article of 101 storages of each storage silo；The distribution information is
Refer to the name of client, address, phone number, the pet name of corresponding A PP and is recognized by the process real name that the corresponding A PP pet name inquires
The image of face of card；The optimal track route refers to most short according to one travel time of far and near setting of customer address distance
Route；The pre-set velocity refers to 0-100 kilometers/hour, preferably 30 kilometers/hour in the present embodiment；The utilization
Wireless device 64 obtains current route traffic conditions and refers to that the traffic for connecting network inquiry current route using wireless device 64 is
No congestion；The default map specifically can be municipality directly under the Central Government, provincial capital, prefecture-level city, county-level city, small towns even more volost
One of them in domain, the in the present embodiment corresponding prefecture-level city in preferably described first robot, 10 present position；It is described pre-
If radius refers to 0-30 kilometers, preferably 3 kilometers in the present embodiment；Second robot 11 refers to except the first robot 10
Other dispatching express delivery robots in addition；It is described to refer to disconnection unmanned plane 2 and 10 brain groove of the first robot using unmanned plane 2
Connection, the hook of control unmanned plane 2 lower section slings express delivery article；It is described to refer to first machine from itself minimum distance
The shortest distance of the 10 to the second robot of people 11；It is described the route of planning is transmitted to second robot 11 to refer to described
One robot 10 is transferred to the corresponding distribution information of 11 express delivery article of the second robot and corresponding route passes through wirelessly
Device 64 is transferred to the second robot 11；The second dispatching address that runs to refers to that the express delivery of the first dispatching of detection address utilizes
First robot 10 walks to next dispatching address after unmanned plane 2 sends the second robot 11 to；It is described to utilize wirelessly
Floor where device 64 controls ascending for elevator to the second dispatching address, which refers to, goes to second to elevator transmission using wireless device 64
The instruction of floor where dispensing address；Client's specific address refers to the number filled in client's distribution information address；Institute
State matching refer to analysis take express delivery human face image and server input distribution information in image of face phase knowledge and magnanimity be
It is no to reach 90%；It is described to notify client to carry out signing for referring to using the prompting client of loudspeaker 102 in express delivery list using loudspeaker 102
The upper express delivery list signed and will sign word is put back in the storage silo 101 of corresponding express delivery.
In S1, specifically discharge device 3 express delivery list is scanned and is obtained the name of the user on express delivery list,
These information after being scanned by discharge device 3, while being also stored in by the nickname information of location, phone number and corresponding A PP
In server.
In S2, the first robot 10 is specifically responsible for the express delivery of community in the discharge device 3 according to the information of scanning
Article is stored in each storage silo 101, and a express delivery article of 101 storages of each storage silo, prevents client from taking fastly
It is taken when passing more.
In S3, is specifically detected in first robot 10 and only place a express delivery article in each storage silo 101
Afterwards, first robot 10 is initially powered up starting operation.
In S4, specifically utilize external equipment by the name of several clients, address, phone number, order time in businessman
And it is transmitted in first robot 10 by the image of face by real-name authentication that the corresponding A PP pet name inquires, institute
It states after the first robot 10 receives according to the name of several clients, address, phone number, order time and passes through correspondence
When the image of face by real-name authentication that the APP pet name inquires sets a walking according to the distance of customer address distance automatically
Between shortest track route, first robot 10 can be according to one most time saving road of far and near setting of customer address
Line gives express delivery article to client in time.
In S5, address is specifically dispensed to first according to the most time saving route of setting in first robot 10
Walk according to 30 kilometers/hour of speed and utilize wireless device 64 connect network inquiry current route traffic whether congestion,
First robot 10 has to comply with traffic rules when walking, prevents from causing accident.
In S6, specifically when detecting current route traffic congestion, by positioning device 66 to first robot
10 current locations are positioned in real time and obtain location data.
In S7, specifically search for the corresponding prefecture-level city in 10 present position of the first robot centered on location data to
Surrounding spreads whether have the second express delivery robot in 3 kilometer radius, and first robot 10 is searched using the networking of wireless device 64
Suo Dangqian ground level city is using itself as other express deliveries dispensing machine people in 6 kilometer range of center.
In S8, specifically searching the second express delivery dispensing machine people, to disconnect unmanned plane 2 recessed with the first robot 10 brain
The express delivery article stretched out in storage silo 101 that current route dispenses is sling and is sent by the connection of slot, the hook of control unmanned plane 2 lower section
At toward the second robot 11 from 10 short line of the first robot and by the corresponding distribution information of express delivery article and
Corresponding route is transferred to the second robot 11 by wireless device 64, detects that congestion in road then put by first robot 10
The express delivery for sending the first dispatching address is abandoned, other express delivery dispensing machine people is transmitted to using unmanned plane 2 and dispenses, simultaneously
Also address is transferred to the second robot 11 that unmanned plane 2 is sent to, avoid traffic congestion according at delay.
In S9, specifically detect that the express delivery of the first dispatching address is sent to by unmanned plane 2 in first robot 10
After other express delivery dispensing machine go out, the phone of client is dialed by the accordingly point that the route of planning runs to the second dispatching address
Confirm that the express delivery of the first dispatching address whether in the correspondence place of the second dispatching address, is sent to other using unmanned plane 2 by client
After express delivery dispensing machine people, itself to walking at the second dispatching address, dials visitor after running at the second dispatching address immediately
Whether Advise By Wire client's express delivery article at family arrived and confirm client in corresponding place.
In S10, specifically then detect whether current floor pacifies at the corresponding place in the second dispatching address in confirmation client
Equipped with elevator.
In S11, specifically after detecting that current floor is equipped with elevator, first robot 10 utilizes wireless device
64 send up-on command to elevator and detect whether elevator door is opened, and first robot 10 sends up-on command to elevator again
Afterwards, whether real-time detection elevator door is opened, i.e., whether elevator reaches the 10 place number of plies of the first robot.
In S12, specifically after detecting that elevator door is opened, first robot 10 runs in elevator and utilizes nothing
Line apparatus 64 sends the instruction for going to the second dispatching address place floor to elevator and whether real-time detection elevator reaches second and match
Send the number of plies where address.
In S13, the specific floor and when coming to a complete stop where detecting that elevator reaches the second dispatching address, first machine
People 10 walk out elevator and by 103 real time shooting of camera take express delivery human face image analysing computer it is whether defeated with server
The image of face phase knowledge and magnanimity entered in distribution information reach 90%.
In S14, the face in distribution information specifically is inputted in the human face image and server for analyzing express delivery of taking
101 door of correspondence express delivery storage silo that portion's image phase knowledge and magnanimity reach the second dispatching of 90% control address, which is opened, stretches out express delivery simultaneously
It reminds client to sign on express delivery list using loudspeaker 102 and the express delivery list for having signed word is put back to the storage silo 101 of corresponding express delivery
It is interior.
Embodiment two
Refering to what is shown in Fig. 3, Fig. 3 is the flow chart for the detection objects in front method that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, described first
When robot 10 walks to the first dispatching address according to pre-set velocity according to the route of planning, the method also includes following steps
It is rapid:
S50, first robot 10 pass through 103 real time shooting images of environment surrounding of camera and the environment according to intake
Whether the first robot 10 described in image analysing computer walks in pavement；
S51, it is corrected if the first robot 10 described not if into pavement and according to the environmental images of real time shooting point
Whether analysis has automobile close to itself；
S52, first robot 10 avoids automobile and detects the environmental images according to real time shooting if having
Whether analysis front has pedestrian；
S53, first robot 10 is controlled if having pedestrian is avoided and passes through loudspeaker 102 to issue second pre-
If the alarm song of decibel.
Wherein, the correction refers to that control first robot 10 deviates to pavement direction, to ensure described first
Robot 10 walks in pavement；The automobile to itself it is close include itself to automobile and automobile to itself；It is described to keep away
It allows and refers to that control first robot 10 deviates round about and hidden, the first default decibel refers to that 0-150 divides
Shellfish, preferably 60 decibels in the present embodiment.
Specifically, being taken the photograph in real time during first robot 10 walking using the camera 103 for being mounted on brain
It takes environmental images and analyzes whether first robot, 10 front travels in pavement according to environmental images, avoid described the
One robot 10 shines at traffic accident, if detecting that first robot 10 does not walk in pavement in motor vehicle lane
It controls first robot 10 and deviates simultaneously root of walk to ensure first robot 10 in pavement to pavement direction
It has detected whether that automobile is close to itself according to the environmental images of real time shooting, has avoided and collide vapour when correcting to pavement
Vehicle has detected that automobile is close to itself, controls first robot 10 and deviates round about and is hidden simultaneously to automobile
Whether there is pedestrian according to the environmental images of real time shooting detection front, prevents from colliding pedestrian when hiding automobile, before detecting
Side has pedestrian then to control first robot 10 and deviate round about to hide pedestrian and pass through loudspeaker 102 and issue
60 decibels of alarm song, warns while hiding pedestrian, prevents pedestrian from playing mobile phone and do not realize and cause thing bowing
Therefore.
Embodiment three
Refering to what is shown in Fig. 4, Fig. 4 transmits express delivery article method using unmanned plane 2 for what the one of example of the present invention provided
Flow chart.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, on searching for default map
It is spread around centered on location data in pre-set radius after whether having the second robot 11, the method also includes following steps
It is rapid:
S70, unmanned plane 2 is utilized to dispense current route if not searching second robot 11 in pre-set radius
Express delivery article is sent to the correspondence place of the first dispatching address and dials customer phone；
S71, first robot 10 are then walked by the route of planning to the second dispatching address.
Specifically, disconnecting unmanned plane 2 and the if not searching other express delivery dispensing machine people in 6 kilometer ranges
The connection of one robot, 10 brain groove, what the hook of 2 lower section of control unmanned plane stretched out the storage silo 101 that current route dispenses
Express delivery article is sling the first dispatching address of directly flying to and is corresponded at place, and reaches where customer address at the window of floor
It dials customer phone and notifies its express delivery of taking of opeing the window, and first robot 10 then detects unmanned plane 2 by express delivery object
After product are routed directly to customers' place, are dispensed by the route of planning to second and walked at address.
Example IV
Refering to what is shown in Fig. 5, Fig. 5 be the one of example of the present invention provide detect whether article method of taking for me
Flow chart.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, first robot 10
Run to the specific address of client and by 103 real time shooting of camera take express delivery human face image analysing computer whether with
After server inputs the image of face matching in distribution information, the method also includes following steps:
S130, first robot 10 dials customer phone and confirms whether it knows that someone helps him to take if mismatching
Express delivery article；
S131, first robot 10 issues the alarm song of the second default decibel using loudspeaker 102 if not knowing
It warns.
Wherein, the described second default decibel is 0-150 decibels, in the present embodiment preferably 110 decibels.
It elevator and is taken express delivery by 103 real time shooting of camera specifically, walking out in first robot 10
After whether human face image analysing computer reaches 90% with the image of face phase knowledge and magnanimity in server input distribution information, if detecting
The image of face of the real-name authentication of first robot 10 is input to come the image of face of the human body for express delivery of taking and server
Phase knowledge and magnanimity do not reach 90% and dial whether customer phone confirmation client allows other people to take in generation, if client does not allow other people generations
It is warned by then first robot 10 using the alarm song that loudspeaker 102 issues 110 decibels, and warning information is passed through
Wireless device 64 is transmitted in server.
Embodiment five
Refering to what is shown in Fig. 6, Fig. 6 is the flow chart for the control elevator down method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, are utilizing loudspeaker 102
After notifying client to sign for, the method also includes following steps:
Whether S140, first robot 10 detection client deposit the correspondence express delivery that proof of delivery puts back to the second dispatching address
In warehouse 101；
S141, first robot 10 controls corresponding 101 door of express delivery storage silo and closes and be back to electricity if putting back to
At ladder；
S142, first robot 10 send downlink command to elevator and detect whether elevator door is opened；
S143, first robot 10 runs in elevator and controls elevator downlink using wireless device 64 if opening
To bottom；
S144, when detecting that elevator stops to bottom, first robot 10, which walks out, elevator and dispenses ground to third
It walks at location.
Wherein, the bottom refers to the floor where when the first robot of the foregoing description 10 sends up-on command.
Specifically, reminding client to sign on express delivery list and put back to the express delivery list for having signed word pair using loudspeaker 102
When answering in the storage silo 101 of express delivery, whether the 10 real-time detection client of the first robot by the express delivery list for having signed word puts back to
Two dispatching addresses correspond in the storage silo 101 of express delivery, if first robot 10 is detected and put back in corresponding storage silo 101
Control closes with the second corresponding 101 door of express delivery article storage silo in dispatching address and to return at elevator, first machine
People 10 is returning at elevator then simultaneously whether real-time detection elevator door is opened to elevator transmission downlink command, if detecting elevator door
The then walking of the first robot 10 is opened to enter in elevator and send the finger for dropping to bottom to elevator using wireless device 64
It enables, when detecting that elevator is stopped to bottom, first robot 10 walks out elevator and to be dispensed to the third of programme path
It walks at address.
Embodiment six
With reference to Fig. 1, shown in Fig. 7, Fig. 1 is that the intelligence based on automatic machinery people that the one of example of the present invention provides is fast
Pass the schematic diagram of delivery system；Fig. 7 is that the intelligent express delivery based on automatic machinery people that the one of example of the present invention provides is matched
Send the architecture diagram of system.
Specifically, the present embodiment provides a kind of intelligent express delivery delivery system based on automatic machinery people, including at least two
A robot, unmanned plane 2, discharge device 3, driving device 4, battery 5 and processing unit 6, at least two robot
Respectively the first robot 10 and the second robot 11, if first robot 10 and the second robot 11 respectively include
Dry storage silo 101, loudspeaker 102 and camera 103, each storage silo 101 is interior for storing a express delivery article, described to raise
Sound device 102 is used to issue the alarm song of default decibel and client is notified to sign for, and the camera 103 is for absorbing ambient enviroment
Image；2 quantity of unmanned plane is corresponding with robot quantity and is set to above robot, for transmitting express delivery；Described point
Hair equipment 3 is set in express delivery warehouse, and the region for being responsible for according to robot is by the express delivery object of corresponding region in distribution information
Product are stored in robot storage silo 101；The driving device 4 includes driving motor 40 and crawler belt 41, and the crawler belt 41 is set
It is placed in below robot, the driving motor 40 is set to robot interior and connect with crawler belt 41, for driving 41 band of crawler belt
Mobile robot walking；The battery 5 is set to robot interior, for providing electric power；6 quantity of processing unit and first
Robot 10 and the second robot 11 quantity correspondence are simultaneously set to inside the first robot 10 and the second robot 11, described
Discharge device 3 includes:
Scan module 30, for scanning the distribution information on express delivery list；
Distribution module 31, for the express delivery article of same area to be stored in the first robot 10 of responsible corresponding region
In storage silo 101；
The processing unit 6 includes:
First detection module 60, for detecting whether express delivery article is stored in the storage silo 101 of the first robot 10；
Starting module 61 runs first robot 10 for starting；
Receiving module 62, for receiving several distribution informations of server input
Route planning module 63, for planning optimal route automatically according to distribution information；
Wireless device 64, for obtaining current route traffic conditions, connection external equipment and connection elevator；
Second detection module 65, for detect obtain current route traffic whether congestion；
Positioning device 66, for being positioned in real time to 10 current location of the first robot and obtaining location data；
Search module 67, for search on default map spread around centered on location data in pre-set radius whether
There is the second robot 11；
Apart from detection module 68, for detecting the second robot 11 of itself minimum distance；
Transmission module 69, for the route of planning to be transmitted to the second robot 11；
First confirmation module 70, for confirming client whether in corresponding place；
Whether third detection module 71, the designated place for detecting dispatching address have elevator；
Sending module 72 is instructed for sending to elevator；
4th detection module 73, for detecting whether elevator door is opened；
5th detection module 75, for detecting floor where whether elevator stops to dispatching address；
Telephone call module 76, for dialing customer phone.
Image analysing computer module 77, for analyze express delivery of taking human face image whether with server input distribution information
Interior image of face matching；
Switch module 78 is opened for controlling 101 door of storage silo；
First sound module 79, for notifying client to sign for using loudspeaker 102.
As a kind of preferred embodiment of the invention, the processing unit 6 includes:
First analysis module 80 has analysed whether that automobile is close to itself for the environmental images according to real time shooting；
Rectification module 81 is corrected for controlling first robot 10 into pavement；
Second analysis module 82, for whether having pedestrian according to the environmental images of real time shooting detection front；
Module 83 is avoided, automobile and pedestrian are avoided for controlling first robot 10；
Second sound module 84, for issuing the alarm song of the first default decibel using loudspeaker 102.
As a kind of preferred embodiment of the invention, the processing unit 6 includes:
Whether the 6th detection module 85 searches the second robot 11 for detecting in pre-set radius.
As a kind of preferred embodiment of the invention, the processing unit 6 includes:
Second confirmation module 86, for confirming whether client knows that someone helps him to take express delivery article；
Third sound module 87, the alarm song for issuing the second default decibel using loudspeaker 102 are warned.
As a kind of preferred embodiment of the invention, the processing unit 6 further include:
7th detection module 88, for detect client whether by proof of delivery put back to the second dispatching address correspondence express delivery store
In storehouse 101；
8th detection module 89, for detecting whether elevator stops to bottom.
It should be understood that the specific implementation process of above-mentioned modules (can be implemented with above method embodiment in embodiment six
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
System provided by above-described embodiment six is only the example of the division of the above functional modules actually answered
In, it can according to need and be completed by different functional modules appeal function distribution, i.e., divide the internal structure of system
At different functional modules, to complete all or part of the functions described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of intelligent express delivery allocator based on automatic machinery people, including at least two robots, unmanned plane, distribution are set
Standby, driving device, battery and processing unit, which is characterized in that the described method comprises the following steps:
Express delivery list is scanned and obtains the distribution information on express delivery list by discharge device；
The express delivery article of same area is stored in the storage silo of the first robot of responsible corresponding region by the discharge device；
When first robot detects that express delivery article is stored in storage silo, first robot starts starting operation；
The corresponding distribution information of several express deliveries is transmitted in first robot by server, and first robot receives
Plan optimal track route automatically according to several distribution informations afterwards；
First robot walks according to pre-set velocity to the first dispatching address according to the route of planning and passes through wireless device
Obtain current route traffic conditions；
Pass through positioning device if detecting current route traffic congestion and first robot current location determine in real time
Position simultaneously obtains location data；
It searches on default map and spreads whether have the second robot in pre-set radius around centered on location data；
The express delivery article that current route dispenses is sent at the second robot from itself minimum distance using unmanned plane if having
And the route of planning is transmitted to second robot；
The route that first robot then passes through planning runs to the correspondence place of the second dispatching address and dials customer phone
Confirm client whether in corresponding place；
If if detection second dispatching address at whether have elevator；
First robot sends up-on command to elevator using wireless device and detects whether elevator door is opened if having；
Ascending for elevator is controlled to the second dispatching ground if opening in first robot ambulation to elevator and using wireless device
Floor where location；
Where detecting that elevator stops to the second dispatching address when floor, first robot ambulation to the specific location of client
Location and by camera real time shooting take express delivery human face image analysing computer whether with server input distribution information in
Image of face matching；
The correspondence express delivery storage silo door of the second dispatching of control address is opened and notifies client to carry out using loudspeaker if matching
It signs for.
2. a kind of intelligent express delivery allocator based on automatic machinery people according to claim 1, which is characterized in that institute
When stating the first robot and being walked to the first dispatching address according to pre-set velocity according to the route of planning, the method also includes following
Step:
First robot is by camera real time shooting images of environment surrounding and according to the analysis of the environmental images of intake
Whether the first robot walks in pavement；
It is corrected if the first robot described not if into pavement and has analysed whether vapour according to the environmental images of real time shooting
Vehicle is close to itself；
First robot avoids automobile and detects if is according to the environmental images of real time shooting analysis front
It is no to have pedestrian；
The alarm that first robot avoids pedestrian and loudspeaker is utilized to issue the first default decibel is controlled if having
Sound.
3. a kind of intelligent express delivery allocator based on automatic machinery people according to claim 1, which is characterized in that search
It is spread around centered on location data on the default map of rope after whether having the second robot in pre-set radius, the method is also
The following steps are included:
The express delivery article for utilizing unmanned plane to dispense current route if not searching second robot in pre-set radius passes
It send to the correspondence place of the first dispatching address and dials customer phone；
The route that first robot then passes through planning is walked to the second dispatching address.
4. a kind of intelligent express delivery allocator based on automatic machinery people according to claim 1, which is characterized in that institute
The first robot ambulation is stated to the specific address of client and is taken the human face image of express delivery by camera real time shooting
After analysing whether that the image of face inputted in distribution information with server matches, the method also includes following steps:
First robot dials customer phone and confirms whether it knows that someone helps him to take express delivery article if mismatching；
First robot is warned using the alarm song that loudspeaker issues the second default decibel if not knowing.
5. a kind of intelligent express delivery allocator based on automatic machinery people according to claim 1, which is characterized in that In
After notifying client to sign for using loudspeaker, the step further include:
Whether the first robot detection client puts back to proof of delivery in the correspondence express delivery storage silo of the second dispatching address；
First robot controls corresponding express delivery storage silo door and closes and be back at elevator if putting back to；
First robot sends downlink command to elevator and detects whether elevator door is opened；
Bottom is come downwards to if opening in first robot ambulation to elevator and using wireless device control elevator；
When detecting that elevator stops to bottom, first robot ambulation goes out elevator and to walking at third dispatching address.
6. a kind of intelligent express delivery delivery system based on automatic machinery people, including at least two robots, unmanned plane, distribution are set
Standby, driving device, battery and processing unit, at least two robot are respectively the first robot and the second machine
People, first robot and the second robot respectively include several storage silos, loudspeaker and camera, each storage silo
Interior to be used to store a express delivery article, the loudspeaker is used to issue the alarm song of default decibel and client is notified to sign for, institute
Camera is stated for absorbing images of environment surrounding；The unmanned plane quantity is corresponding with robot quantity and is set in robot
Side, for transmitting express delivery；The discharge device is set in express delivery warehouse, and the region for being responsible for according to robot, which will match, delivers letters
The express delivery article of corresponding region is stored in robot storage silo in breath；The driving device includes driving motor and crawler belt,
The crawler belt is set to below robot, and the driving motor is set to robot interior and connect with crawler belt, is carried out for driving
Band drives robot ambulation；The battery is set to robot interior, for providing electric power；The processing unit quantity and the
One robot and the second robot quantity are corresponding and be set to the first robot and the second robot interior, feature exist
In the discharge device includes:
Scan module, for scanning the distribution information on express delivery list；
Distribution module, the storage silo of the first robot for the express delivery article of same area to be stored in responsible corresponding region
It is interior；
The processing unit includes:
First detection module, for detecting whether express delivery article is stored in the storage silo of the first robot；
Starting module runs first robot for starting；
Receiving module, for receiving several distribution informations of server input；
Route planning module, for planning optimal route automatically according to distribution information；
Wireless device, for obtaining current route traffic conditions, connection external equipment and connection elevator；
Second detection module, for detect obtain current route traffic whether congestion；
Positioning device, for being positioned in real time to first robot current location and obtaining location data；
Search module spreads in pre-set radius whether have second centered on location data on default map for searching for around
Robot；
Apart from detection module, for detecting the second robot of itself minimum distance；
Transmission module, for the route of planning to be transmitted to the second robot；
First confirmation module, for confirming client whether in corresponding place；
Whether third detection module, the designated place for detecting dispatching address have elevator；
Sending module is instructed for sending to elevator；
4th detection module, for detecting whether elevator door is opened；
5th detection module, for detecting floor where whether elevator stops to dispatching address；
Telephone call module, for dialing customer phone；
Image analysing computer module, for analyze express delivery of taking human face image whether with server input distribution information in face
Portion's Image Matching；
Switch module is opened for controlling storage silo door；
First sound module, for notifying client to sign for using loudspeaker.
7. a kind of intelligent express delivery delivery system based on automatic machinery people according to claim 6, which is characterized in that institute
Stating processing unit includes:
First analysis module has analysed whether that automobile is close to itself for the environmental images according to real time shooting；
Rectification module is corrected for controlling first robot into pavement；
Second analysis module, for whether having pedestrian according to the environmental images of real time shooting detection front；
Module is avoided, automobile and pedestrian are avoided for controlling first robot；
Second sound module, for issuing the alarm song of the first default decibel using loudspeaker.
8. a kind of intelligent express delivery delivery system based on automatic machinery people according to claim 6, which is characterized in that institute
Stating processing unit includes:
Whether the 6th detection module searches the second robot for detecting in pre-set radius.
9. a kind of intelligent express delivery delivery system based on automatic machinery people according to claim 6, which is characterized in that institute
Stating processing unit includes:
Second confirmation module, for confirming whether client knows that someone helps him to take express delivery article；
Third sound module, the alarm song for issuing the second default decibel using loudspeaker are warned.
10. a kind of intelligent express delivery delivery system based on automatic machinery people according to claim 6, which is characterized in that
The processing unit includes:
7th detection module, for detecting whether client puts back to proof of delivery in the correspondence express delivery storage silo of the second dispatching address；
8th detection module, for detecting whether elevator stops to bottom.
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