CN107878990A - A kind of goods delivery management method, system, server and distributed robot - Google Patents
A kind of goods delivery management method, system, server and distributed robot Download PDFInfo
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- CN107878990A CN107878990A CN201711306082.2A CN201711306082A CN107878990A CN 107878990 A CN107878990 A CN 107878990A CN 201711306082 A CN201711306082 A CN 201711306082A CN 107878990 A CN107878990 A CN 107878990A
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- server
- distributed robot
- robot
- order
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
Abstract
The invention provides a kind of goods delivery management method, system, server and distributed robot, method includes step：S10 servers receive the order dispatching request that intelligent terminal is sent, and record the reception time of the order dispatching request；Order dispatching request is stored into order list by server described in S20；Server described in S30 identifies the distributed robot with distribution capacity as current distributed robot in distributed robot's list；Server described in S40 dispatching task corresponding to the first order dispatching request of reception time earliest will distribute to the current distributed robot in the order list.Efficient goods delivery is realized, and saves human resources.
Description
Technical field
The present invention relates to goods delivery, espespecially a kind of goods delivery management method, system, server and distributed robot.
Background technology
Current robot technology is like a raging fire, and the industrial robot in factory realizes the production automation, the clothes in family
Business humanoid robot brings very more facilities to the life of people, also such as search and rescue robot, transportation robot etc.
Specialized robot so that the work and life of people constantly intellectuality, automation.
In supermarket, often see that staff pushes the commodity of a cart and is sent on each shelf, it is tired to work
Personnel are with a face streaming with sweat, and staff can also misremember the delivery location of goods sometimes, cause efficiency low, and employ work people
Member, cost are very high.
Within the hospital, we usually can also see that some medical instruments are sent to each section office by staff, still, often
Medical instrument required for individual section office is had nothing in common with each other, and dispatching is completed very likely by medical instrument delivery error by manually,
And manually dispatching speed is slow, and efficiency is low, it is impossible to meets that hospital efficiently operates.
Therefore, in order to save manpower, improve goods delivery efficiency, the invention provides a kind of goods delivery management method,
System and distributed robot.
The content of the invention
The invention provides a kind of goods delivery management method, system, server and distributed robot, realizes efficient
Goods delivery, and save human resources.
Technical scheme provided by the invention is as follows：
A kind of goods delivery management method, including step：S10 servers receive the order dispatching that intelligent terminal is sent please
Ask, and record the reception time of the order dispatching request；Order dispatching request is stored into order by server described in S20
In list；Server described in S30 identifies the distributed robot with distribution capacity as current in distributed robot's list
Distributed robot；Server described in S40 will receive corresponding to the first order dispatching request of time earliest in the order list
Dispatching task distributes to the current distributed robot.
Preferably, step is included after step S40：Server described in S50 parses the first order dispatching request, obtains
Order ship-to；Server described in S51 according to store in advance map, the current distributed robot on the map
Position, and order ship-to, plan the Distribution path of the current distributed robot, and the Distribution path is sent to
The current distributed robot；Current distributed robot described in S52 carries out goods delivery according to the Distribution path.
Preferably, step S30 specifically includes step：All distributed robot's timings in distributed robot's list described in S301
Respective status information is uploaded to the server；The status information includes the electricity of distributed robot, task dispatching shape
State, the position on map；S302 identifies that electricity reaches default charge value, and institute in the status information when the server
When stating task dispatching state as without dispatching task；Then the distributed robot has a distribution capacity, and by the delivery machine
Device people is as the current distributed robot；Otherwise, the distributed robot does not have distribution capacity to S303.
Preferably, step is also included after step S303：Server described in S304 is sent to the current distributed robot
State confirmation information；After current distributed robot receives the state confirmation information described in S305, to the server feedback
The current state information of the current distributed robot；The current state information that server identification described in S306 receives, confirms
Whether the current distributed robot has distribution capacity.
Preferably, step is also included after step S40：Order is dispensed feedback of status to described the by server described in S60
Corresponding to the dispatching request of one order on the intelligent terminal；Current distributed robot described in S61 is in real time by the current delivery machine
The position of device people on the map feeds back to the server；Server described in S62 is current by the current distributed robot
The position of distributed robot on the map feeds back to the intelligent terminal.
Preferably, in addition to step：S307 is when the electricity of the distributed robot is not up to the default charge value, institute
State server and send charging signals to the distributed robot；After distributed robot described in S308 receives the charging signals,
Return to charging pile charging.
A kind of goods delivery guard system, including server, distributed robot, intelligent terminal；The server includes：Mutually
The server com-munication module and server holder of electrical connection, the server com-munication module are used to receive intelligent terminal transmission
Order dispatching request, the server holder are used for the reception time for recording the order dispatching request；Server holder,
It is additionally operable to order dispatching request being stored in order list；Processor-server, with server com-munication module electricity
Connection, for identifying the distributed robot with distribution capacity as current distributed robot in distributed robot's list；
Processor-server, it is additionally operable to that dispatching times corresponding to the first order dispatching request of time earliest will be received in the order list
The current distributed robot is distributed in business.
Preferably, the processor-server, it is additionally operable to parse the first order dispatching request, obtains order place of acceptance
Location；The processor-server, be additionally operable to according to store in advance map, the current distributed robot on the map
Position, and order ship-to, plan the Distribution path of the current distributed robot；The server com-munication module, also
For the Distribution path to be sent into the current distributed robot；The distributed robot includes：Robot communication module,
It is connected with the server com-munication module radio communication, the Distribution path sent for receiving the server；Robot
Processor, for controlling distributed robot to carry out goods delivery according to the Distribution path.
Preferably, the robot communication module, it is additionally operable to timing and is uploaded to the status information of the distributed robot
The server；The status information includes the electricity of distributed robot, task dispatching state, the position coordinates on map；
The processor-server, it is additionally operable to when the server identifies that electricity reaches default charge value in the status information, and
When the task dispatching state is without dispatching task；Then identifying the distributed robot has a distribution capacity, and by institute
Distributed robot is stated as the current distributed robot；Otherwise, identify that the distributed robot does not have distribution capacity.
Preferably, the server com-munication module, it is additionally operable to send state confirmation information to the current distributed robot；
The distributed robot also includes：The robot communication module, it is additionally operable to when the distributed robot reception state is true
Recognize after information, to the current state information of current distributed robot described in the server feedback；The processor-server,
The current state information that identification receives is additionally operable to, confirms whether the current distributed robot has distribution capacity.
Preferably, the server com-munication module, it is additionally operable to dispense order dispatching feedback of status to first order
Corresponding to request on the intelligent terminal；The robot communication module, it is additionally operable to that the current distributed robot exists in real time
Positional information on the map feeds back to the server；The server com-munication module, it is additionally operable to the current delivery
The position of robot on the map feeds back to the intelligent terminal.
Preferably, the server com-munication module, it is additionally operable to when the electricity of the distributed robot is not up to described preset
During charge value, the server sends charging signals to the distributed robot；The distributed robot also includes：Automatic charging
Module, it is additionally operable to after the distributed robot receives the charging signals, returns to charging pile charging.
A kind of server, including：The server com-munication module and server holder being electrically connected to each other, the server
Communication module is used for the order dispatching request for receiving intelligent terminal transmission, and the server holder is matched somebody with somebody for recording the order
Send the reception time of request；Server holder, it is additionally operable to order dispatching request being stored in order list；Server
Processor, electrically connected with the server com-munication module, for being identified in distributed robot's list with distribution capacity
Current distributed robot；Processor-server, the first order of time earliest will be received by being additionally operable in the order list dispenses
Dispatching task corresponding to request distributes to the current distributed robot.
Preferably, the processor-server, it is additionally operable to parse the first order dispatching request, obtains order place of acceptance
Location；The processor-server, be additionally operable to according to store in advance map, the current distributed robot on the map
Position, and order ship-to, plan the Distribution path of the current distributed robot；The server com-munication module, also
For the Distribution path to be sent into the current distributed robot.
Preferably, the processor-server, it is additionally operable to when the server identifies that electricity reaches in the status information
To default charge value, and when task dispatching state is without dispatching task；Then identify that the distributed robot has
Distribution capacity, and using the distributed robot as the current distributed robot；Otherwise, the distributed robot is identified not
With distribution capacity.
Preferably, the server com-munication module, it is additionally operable to send state confirmation information to the current distributed robot；
The processor-server, it is additionally operable to identify the current state information that the current distributed robot sends, confirms described current
Whether distributed robot has distribution capacity.
Preferably, the server com-munication module, it is additionally operable to dispense order dispatching feedback of status to first order
Corresponding to request on the intelligent terminal；The robot communication module, it is additionally operable to that the current distributed robot exists in real time
Positional information on the map feeds back to the server；The server com-munication module, it is additionally operable to the current delivery
The position of robot on the map feeds back to the intelligent terminal.
Preferably, the server com-munication module, it is additionally operable to when the electricity of the distributed robot is not up to described preset
During charge value, charging signals are sent to the distributed robot；
A kind of distributed robot, including：Robot communication module, it is connected with the server com-munication module radio communication,
For receiving the dispatching task, the Distribution path that the server is sent；Robot processor, for according to the dispatching road
Footpath control distributed robot carries out goods delivery.
Preferably, the distributed robot also includes：The robot communication module, timing is additionally operable to by the delivery machine
The status information of device people is uploaded to the server；The status information includes the electricity of distributed robot, task dispenses state,
Position coordinates on map.
Preferably, the distributed robot also includes：Automatic charging module, for receiving institute as the distributed robot
After stating charging signals, charging pile charging is returned.
Preferably, the distributed robot also includes：Trailer chassis, including running gear and load-carrying members；Installed in institute
The loading platform on trailer chassis is stated, the loading platform includes lifting platform and lift drive mechanism, the lifting platform peace
On the lift drive mechanism, the lift drive mechanism is arranged on the trailer chassis；The lift drive mechanism
Electrically connected with the processor；Distributed robot's body shell, on the trailer chassis and positioned at the loading platform
One end；The robot communication module, robot processing and the automatic charging module are arranged on the distributed robot
In body shell.
Preferably, at least provided with a goods stay hook in distributed robot's body shell, for preventing goods from existing
It is moved on the loading platform.
Preferably, the lift drive mechanism is transposition arm elevating mechanism or electric putter elevating mechanism or spiral lifting machine
Structure.
Preferably, the mounting groove for installing laser radar is additionally provided with distributed robot's body shell, it is described to swash
Optical radar electrically connects with robot processor；The laser radar is used to detect whether there is barrier within a preset range.
Preferably, guidance panel, the guidance panel and the processing are installed in distributed robot's body shell
Device electrically connects；For checking distributed robot's status information, and enter the operating instructions.
By a kind of goods delivery management method, system, server and distributed robot provided by the invention, can bring
Following at least one beneficial effect：
1st, user can place an order on intelligent terminal, and server can automatically process order, by Order splitting to matching somebody with somebody
The current distributed robot of ability is sent, distributed robot will have been given come the goods delivery task completed come complete by people in the past
Into saving human resources, realize the automation of dispatching；Meanwhile the distribution capacity of distributed robot is strong, the goods once dispensed
The remote superman's power dispatching of object amount, this improves the efficiency of goods delivery.
2nd, server can be by distributed robot position, order ship-to and the map stored in advance, certainly
Dynamic planning Distribution path, realizes dispatching automation, saves human resources.
3rd, distributed robot's timing uploads oneself state information, and server can identify delivery machine by status information
Whether people has distribution capacity, if having distribution capacity, server can just distribute to dispatching task sending with distribution capacity
Goods robot, enables order to complete in time.
4th, when distributing dispatching task to distributed robot, server can send state confirmation validation of information delivery machine again
Whether device people has distribution capacity, it is ensured that dispatching task is distributed into the distributed robot with distribution capacity, enables order
Complete in time.
5th, the dispatching feedback of status of order can be given to intelligent terminal by server, and user can know to order by intelligent terminal
Single disposition, and distributed robot in real time can be arrived positional information on the map by the server feedback
Intelligent terminal, user can check the situation of arrival dispatching by intelligent terminal.
6th, will not when electricity of the server in the status information for recognizing distributed robot's feedback is less than default charge value
Distribute to distributed robot and dispense task, but charging signals are sent to distributed robot, distributed robot receives described fill
After electric signal, meeting auto-returned charging pile charging, this process does not have to artificially charge to distributed robot, realizes distributed robot
The automation of work.
7th, distributed robot provided by the invention, there is lifting platform and lift drive mechanism, loading can be adjusted
The height of platform, facilitate user's arrangement of goods and unloading, the lifting platform and the lift drive mechanism are with being located at
The goods stay hook of body shell is used cooperatively, and goods can be fixed in robot, arrangement of goods movement.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of goods delivery manager
Method, system, above-mentioned characteristic, technical characteristic, advantage and its implementation of server and distributed robot are further described.
Fig. 1 is a kind of one embodiment flow chart of goods delivery management method of the present invention；
Fig. 2 is a kind of another embodiment flow chart of goods delivery management method of the present invention；
Fig. 3 is a kind of another embodiment flow chart of goods delivery management method of the present invention；
Fig. 4 is a kind of a kind of example structure schematic diagram of goods delivery management system of the present invention；
Fig. 5 is a kind of another example structure schematic diagram of goods delivery management system of the present invention；
Fig. 6 is a kind of a kind of structural representation of distributed robot of the present invention；
Fig. 7 is a kind of another structural representation of distributed robot of the present invention；
Fig. 8 is a kind of a kind of structural representation of the distributed robot of the present invention in loading state；
Fig. 9 is a kind of another structural representation of the distributed robot of the present invention in loading state.
Drawing reference numeral explanation：
1- servers, 11- server com-munication modules, 12- servers holder, 13- processor-servers, 2- intelligence are eventually
End, 3- distributed robots, 30- robot communications module, 31- robot processors, 32- automatic charging modules, 33- trailers bottom
Disk, 34- loading platforms, 35- lifting platforms, 36- lift drive mechanisms, 37- distributed robots body shell, 38- goods are fixed
Hook, 39- laser radars.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented
" only this ", the situation of " more than one " can also be represented.
As shown in figure 1, the invention provides a kind of one embodiment of goods delivery management method, comprise the following steps：
S10 servers receive the order dispatching request that intelligent terminal is sent, and record the reception of the order dispatching request
Time；
Order dispatching request is stored into order list by server described in S20；
Server described in S30 identifies the distributed robot with distribution capacity as current in distributed robot's list
Distributed robot；
Server described in S40 will be received corresponding to the first order dispatching request of time earliest in the order list and dispensed
Task distributes to the current distributed robot.
Specifically, the present embodiment, which can specifically be used in hospital, supermarket etc., needs the place of goods delivery.Intelligent terminal can
To be mobile phone, PAD or computer etc., intelligent terminal and server can be wifi or Bluetooth communication；Server and delivery
Can also be wifi or Bluetooth communication between robot.
One server can bind multiple intelligent terminals and multiple distributed robots for being used to dispense goods, and user is in intelligence
The goods for needing to dispense can be clicked in terminal, intelligent terminal automatically generates order afterwards, and please to server transmission order dispatching
Ask, after server receives the order dispatching request that intelligent terminal is sent, record the reception time of the order dispatching request, and
Order dispatching request is placed in order list, server priority processing receives time early order dispatching request, i.e., excellent
First handle the first order dispatching request described in the present embodiment.
Because server can bind multiple distributed robots, when there is order dispatching request in order list, server meeting
Identify whether the distributed robot with distribution capacity in multiple distributed robots, in order to distinguish the delivery with distribution capacity
Robot and the distributed robot without distribution capacity, therefore the distributed robot with distribution capacity is turned into current delivery
Robot.When server has recognized current distributed robot, first of time earliest can will be received in the order list
Dispatching task corresponding to order dispatching request distributes to the current distributed robot；Currently sent if server has not recognized
Goods robot, then temporarily shelve order, when having recognized current distributed robot, then the first order is dispensed into request and corresponded to
Dispatching task distribute to the current distributed robot.
As shown in Fig. 2 the invention provides a kind of another embodiment of goods delivery management method, including following step
Suddenly：
S10 servers receive the order dispatching request that intelligent terminal is sent, and record the reception of the order dispatching request
Time；
Order dispatching request is stored into order list by server described in S20；
Respective status information is uploaded to described by all distributed robot's timings in distributed robot's list described in S301
Server；The status information includes the electricity of distributed robot, task dispatching state, the position on map；
S302 identifies that electricity reaches default charge value in the status information when the server, and the task dispenses
When state is without dispatching task；Then the distributed robot has distribution capacity, and using the distributed robot as institute
State current distributed robot；
Otherwise, the distributed robot does not have distribution capacity to S303；
For S307 when the electricity of the distributed robot is not up to the default charge value, the server sends charging letter
Number give the distributed robot；
After distributed robot described in S308 receives the charging signals, charging pile charging is returned；
Server described in S40 will be received corresponding to the first order dispatching request of time earliest in the order list and dispensed
Task distributes to the current distributed robot；
Server described in S50 parses the first order dispatching request, obtains order ship-to；
Server described in S51 according to store in advance map, the current position of distributed robot on the map,
And order ship-to, the Distribution path of the current distributed robot is planned, and the Distribution path is sent to described
Current distributed robot；
Current distributed robot described in S52 carries out goods delivery according to the Distribution path.
Specifically, dispatching task corresponding to first order dispatching request distributed in the server described current
After distributed robot, server also needs to plan Distribution path to current distributed robot.Server will parse first first
Order dispatching request, obtains the ship-to of order, further according to the status information of distributed robot's feedback, gets delivery machine
People position, then according to the map stored in the server in advance, carry out the planning of Distribution path.Distributed robot's
In actual working environment, lines or mark that distributed robot can be set to identify in each channel, delivery machine
People is according to these white lines and mark, you can is dispensed by the Distribution path.
The present embodiment also specifically describes how distributed robot identifies the current distributed robot with distribution capacity.Send
Goods robot at work, regularly can report the status information of itself to server, the status information includes distributed robot
Electricity, task dispatching state, the position coordinates on map；When the server identifies that electricity reaches in the status information
To default charge value, and when task dispatching state is without dispatching task, then being considered as the distributed robot has
Distribution capacity, and using the distributed robot as the current distributed robot；Otherwise, the distributed robot does not have and matched somebody with somebody
Send ability.When the electricity for detecting the distributed robot is not up to the default charge value, the server sends charging
Signal gives the distributed robot；After the distributed robot receives the charging signals, charging pile charging is returned, makes delivery
The work that robot can continue, without artificially being charged to distributed robot.
As shown in figure 3, the invention provides a kind of further embodiment of goods delivery management method, including following step
Suddenly：
S10 servers receive the order dispatching request that intelligent terminal is sent, and record the reception of the order dispatching request
Time；
Order dispatching request is stored into order list by server described in S20；
Respective status information is uploaded to described by all distributed robot's timings in distributed robot's list described in S301
Server；The status information includes the electricity of distributed robot, task dispatching state, the position on map；
S302 identifies that electricity reaches default charge value in the status information when the server, and the task dispenses
When state is without dispatching task；Then the distributed robot has distribution capacity, and using the distributed robot as institute
State current distributed robot；
Otherwise, the distributed robot does not have distribution capacity to S303.
Server described in S304 sends state confirmation information to the current distributed robot；
After current distributed robot described in S305 receives the state confirmation information, to described in the server feedback when
The current state information of preceding distributed robot；
The current state information that server identification described in S306 receives, confirms whether the current distributed robot has
Distribution capacity.
For S307 when the electricity of the distributed robot is not up to the default charge value, the server sends charging letter
Number give the distributed robot；
After distributed robot described in S308 receives the charging signals, charging pile charging is returned；
Server described in S40 will be received corresponding to the first order dispatching request of time earliest in the order list and dispensed
Task distributes to the current distributed robot；
Server described in S50 parses the first order dispatching request, obtains order ship-to；
Server described in S51 according to store in advance map, the current position of distributed robot on the map,
And order ship-to, the Distribution path of the current distributed robot is planned, and the Distribution path is sent to described
Current distributed robot；
Current distributed robot described in S52 carries out goods delivery according to the Distribution path.
Order is dispensed the intelligence corresponding to feedback of status to first order dispatching request eventually by server described in S60
On end；
Current distributed robot described in S61 is anti-by the current positional information of distributed robot on the map in real time
It is fed to the server；
The current positional information of distributed robot on the map is fed back to the intelligence by server described in S62
Terminal.
Specifically, in step S301, all distributed robots are that timing uploads onto the server status information, and centre has one
Fixed interval time, server is after the current distributed robot with distribution capacity is recognized, if within the time period
Dispatching task is allocated to this current distributed robot, current distributed robot does not upload status information again herein
When, server is simultaneously unaware of this current distributed robot and has had dispatching task, it is possible to also may proceed to this delivery machine
People distributes dispatching task.In order to solve the above problems, server is before dispatching task is distributed into current distributed robot
The confirmation current distributed robot has distribution capacity, it is necessary to send state confirmation to the current distributed robot really
Information, after the current distributed robot receives the state confirmation information, to current delivery described in the server feedback
The current state information of robot；The current state information that the server identification receives, check the current delivery machine
Whether people has distribution capacity.So, distributed robot is being ensure that really with distribution capacity and then is being assigned the task to
It distributed robot, can so avoid multiple tasks distributing to a distributed robot, improve the work effect of distributed robot
Rate
When server process order dispenses request, server can be in real time by the processing feedback of status of order to intelligent terminal
On, for example after step S10 completions, server can feed back the status information that order has received to intelligent terminal；Step S40 is completed
Afterwards, server can feed back the status information that order is dispensing to intelligent terminal；Server is not found with dispatching energy
The current distributed robot of power, server can feed back order status information to be allocated to intelligent terminal；The current delivery machine
For device people after goods is sent to, server can feed back the status information of goods Delivered to intelligent terminal；
Meanwhile the current distributed robot is in real time by the current positional information of distributed robot on the map
Feed back to the server；The current positional information of distributed robot on the map is fed back to institute by the server
State intelligent terminal.User can view the dispatching situation of goods on intelligent terminal.
As shown in figure 4, present invention also offers a kind of one embodiment of goods delivery management system, including server 1,
Distributed robot 3, intelligent terminal 2：
The server 1 includes：
The server com-munication module 11 and server holder 12 being electrically connected to each other, the server com-munication module 11 are used for
The order dispatching request that intelligent terminal 2 is sent is received, the server holder 12 is used to record the order dispatching request
Receive the time；
Server holder 12, it is additionally operable to order dispatching request being stored in order list；
Processor-server 13, electrically connected with the server com-munication module 11, in the list of distributed robot 3
Identify that the distributed robot 3 with distribution capacity is used as current distributed robot 3；
Processor-server 13, it is additionally operable to that the first order dispatching request pair of time earliest will be received in the order list
The dispatching task answered distributes to the current distributed robot 3.
Specifically, the present embodiment, which can specifically be used in hospital, supermarket etc., needs the place of goods delivery.Intelligent terminal 2
Can be mobile phone, PAD or computer etc., intelligent terminal 2 and server 1 can be wifi or Bluetooth communication；Server 1
Can also be wifi or Bluetooth communication between distributed robot 3.
One server 1 can bind multiple intelligent terminals 2 and multiple distributed robots 3 for being used to dispense goods, user
The goods for needing to dispense is clicked on intelligent terminal 2, intelligent terminal 2 automatically generates order afterwards, and sends order to server 1
Dispatching request, after server 1 receives the order dispatching request that intelligent terminal 2 is sent, record connecing for the order dispatching request
Between time receiving, and order dispatching request is placed in order list, the priority treatment of server 1 receives time early order dispatching
Request, i.e., the first order dispatching request described in priority treatment the present embodiment.
Because server 1 can bind multiple distributed robots 3, when there is order dispatching request in order list, server 1
The distributed robot 3 with distribution capacity can be identified whether in multiple distributed robots 3, in order to distinguish with distribution capacity
Distributed robot 3 and the distributed robot 3 without distribution capacity, therefore the distributed robot 3 with distribution capacity is turned into
Current distributed robot 3.When server 1 has recognized current distributed robot 3, the time can will be received in the order list
Dispatching task corresponding to earliest the first order dispatching request distributes to the current distributed robot 3；If server 1 is not known
Current distributed robot 3 has been clipped to, then has temporarily been shelved order, has been ordered when having recognized current distributed robot 3, then by first
Dispatching task corresponding to single dispatching request distributes to the current distributed robot 3.
As shown in figure 5, present invention also offers a kind of one embodiment of goods delivery management system, including server 1,
Distributed robot 3, intelligent terminal 2：
The server 1 includes：
The server com-munication module 11 and server holder 12 being electrically connected to each other, the server com-munication module 11 are used for
The order dispatching request that intelligent terminal 2 is sent is received, the server holder 12 is used to record the order dispatching request
Receive the time；
Server holder 12, it is additionally operable to order dispatching request being stored in order list；
Processor-server 13, electrically connected with the server com-munication module 11, in the list of distributed robot 3
Identify that the distributed robot 3 with distribution capacity is used as current distributed robot 3；
Processor-server 13, it is additionally operable to that the first order dispatching request pair of time earliest will be received in the order list
The dispatching task answered distributes to the current distributed robot 3.
The processor-server 13, it is additionally operable to parse the first order dispatching request, obtains order ship-to；
The processor-server 13, it is additionally operable to according to the map stored in advance, the current distributed robot 3 is in institute
The position on map, and order ship-to are stated, plans the Distribution path of the current distributed robot 3；
The server com-munication module 11, it is additionally operable to the Distribution path being sent to the current distributed robot 3；
The distributed robot 3 includes：
Robot communication module 30, it is connected with the radio communication of server com-munication module 11, for receiving the service
The Distribution path that device is sent；
Robot processor 31, for controlling distributed robot 3 to carry out goods delivery according to the Distribution path.
The robot communication module 30, be additionally operable to timing the status information of the distributed robot 3 is uploaded to it is described
Server 1；The status information includes the electricity of distributed robot 3, task dispatching state, the position coordinates on map；
The processor-server 13, it is additionally operable to when the server 1 identifies that electricity reaches pre- in the status information
If charge value, and the task dispatching state be without dispatching task when；Then identify that the distributed robot 3 has dispatching
Ability, and using the distributed robot 3 as the current distributed robot 3；Otherwise, the distributed robot 3 is identified not
With distribution capacity.
The server com-munication module 11, it is additionally operable to send state confirmation information to the current distributed robot 3；
The distributed robot 3 also includes：
The robot communication module 30, it is additionally operable to after the distributed robot 3 receives the state confirmation information,
The current state information of the current distributed robot 3 is fed back to the server 1；
The processor-server 13, the current state information that identification receives is additionally operable to, confirms the current delivery machine
Whether device people 3 has distribution capacity.
The server com-munication module 11, it is additionally operable to order dispensing feedback of status to first order dispatching request pair
On the intelligent terminal 2 answered；
The robot communication module 30, it is additionally operable to the current position of distributed robot 3 on the map in real time
Confidence breath feeds back to the server；
The server com-munication module 11, it is additionally operable to the current position of distributed robot 3 on the map is anti-
It is fed to the intelligent terminal 2.
The server com-munication module 11, it is additionally operable to when the electricity of the distributed robot 3 is not up to the default electricity
During value, the server 1 sends charging signals to the distributed robot 3；
The distributed robot 3 also includes：
Automatic charging module 32, it is additionally operable to after the distributed robot 3 receives the charging signals, returns to charging pile
Charging.
Specifically, dispatching task corresponding to first order dispatching request is distributed into described work as in the server 1
After preceding distributed robot 3, server 1 also needs to plan Distribution path to current distributed robot 3.Server 1 will solve first
The dispatching request of the first order is analysed, the ship-to of order is obtained, the status information fed back further according to distributed robot 3, gets
The position of distributed robot 3, then according to the map stored in the server 1 in advance, carry out the planning of Distribution path.Sending
In the actual working environment of goods robot 3, lines or mark that distributed robot 3 can be set to identify in each channel
Note, distributed robot 3 is according to these white lines and mark, you can is dispensed by the Distribution path.
The present embodiment also specifically describes how distributed robot 3 identifies the current distributed robot 3 with distribution capacity.
Distributed robot 3 at work, regularly can report the status information of itself to server 1, the status information includes delivery machine
Electricity, task dispatching state, the position coordinates on map of device people 3；When the server 1 is identified in the status information
Electricity reaches default charge value, and when task dispatching state is without dispatching task；Then the distributed robot 3 is regarded
For with distribution capacity, and using the distributed robot 3 as the current distributed robot 3；Otherwise, the distributed robot
3 do not have distribution capacity.When the electricity for detecting the distributed robot 3 is not up to the default charge value, the service
Device 1 sends charging signals to the distributed robot 3；After the distributed robot 3 receives the charging signals, charging is returned
Stake charging, the work for continuing distributed robot 3, without artificially being charged to distributed robot 3.
Because status information is uploaded onto the server 1 by the timing of the time block of distributed robot 3, when there is certain interval centre
Between, server 1 is after the current distributed robot 3 with distribution capacity is recognized, if within the time period appointed dispatching
Business is allocated to this current distributed robot 3, when current distributed robot 3 without status information is uploaded again herein, service
Device 1 is simultaneously unaware of this current distributed robot 3 and has had dispatching task, it is possible to also may proceed to divide to this distributed robot 3
With dispatching task.In order to solve the above problems, server 1 before dispatching task is distributed into current distributed robot 3, in order to
Confirm the current distributed robot 3 has distribution capacity, it is necessary to send state confirmation to the current distributed robot 3 really
Information, after the current distributed robot 3 receives the state confirmation information, feed back and described currently send to the server 1
The current state information of goods robot 3；The server 1 identifies the current state information received, checks the current delivery
Whether robot 3 has distribution capacity.So, it ensure that distributed robot 3 has distribution capacity and then by task really
Distributed robot 3 is distributed to, can so avoid multiple tasks distributing to a distributed robot 3, improve distributed robot 3
Operating efficiency
In the processing order dispatching request of server 1, server 1 can be whole to intelligence by the processing feedback of status of order in real time
On end 2, for example after the order dispatching request of the reception transmission of intelligent terminal 2 of server 1, server 1 can feed back to intelligent terminal 2
The status information that order has received；After dispatching task is distributed to current distributed robot 3 by server 1, server 1 can be to intelligence
Energy terminal 2 feeds back the status information that order is dispensing；Server 1 does not find the current delivery machine with distribution capacity
People 3, and server 1 can feed back order status information to be allocated to intelligent terminal 2；The current distributed robot 3 is by goods
After being sent to, server 1 can feed back the status information of goods Delivered to intelligent terminal 2；
Meanwhile the current distributed robot 3 in real time believes the position of the current distributed robot 3 on the map
Breath feeds back to the server 1；The server 1 is anti-by the current positional information of distributed robot 3 on the map
It is fed to the intelligent terminal 2.User can view the dispatching situation of goods on intelligent terminal 2.
Present invention also offers a kind of server, the server application in a kind of above-mentioned goods delivery management method and
In system, including：
The server com-munication module 11 and server holder 12 being electrically connected to each other, the server com-munication module 11 are used for
The order dispatching request that intelligent terminal 2 is sent is received, the server holder 12 is used to record the order dispatching request
Receive the time；
Server holder 12, it is additionally operable to order dispatching request being stored in order list；
Processor-server 13, electrically connected with the server com-munication module 11, in the list of distributed robot 3
Identify the current distributed robot 3 with distribution capacity；
Processor-server 13, it is additionally operable to that the first order dispatching request pair of time earliest will be received in the order list
The dispatching task answered distributes to the current distributed robot 3.
Preferably, the processor-server 13, it is additionally operable to parse the first order dispatching request, obtains order and receive
Address；The processor-server 13, be additionally operable to according to store in advance map, the current distributed robot 3 described
Position on figure, and order ship-to, plan the Distribution path of the current distributed robot；The server communication mould
Block 11, it is additionally operable to the Distribution path being sent to the current distributed robot 3.
Preferably, the processor-server 13, it is additionally operable to when the server 1 identifies electricity in the status information
Reach default charge value, and when task dispatching state is without dispatching task；Then identify that the distributed robot 3 has
There is distribution capacity, and using the distributed robot 3 as the current distributed robot 3；Otherwise, the delivery machine is identified
People 3 does not have distribution capacity.
Preferably, the server com-munication module 11, it is additionally operable to send state confirmation letter to the current distributed robot 3
Breath；The processor-server 13, it is additionally operable to identify the current state information that the current distributed robot 3 sends, confirms institute
State whether current distributed robot 3 has distribution capacity.
Preferably, the server com-munication module 11, it is additionally operable to match somebody with somebody order dispatching feedback of status to first order
Send corresponding to request on the intelligent terminal 2；The robot communication module 11, it is additionally operable to the current delivery machine in real time
The positional information of people 3 on the map feeds back to the server 1；The server com-munication module 11, being additionally operable to will be described
The current position of distributed robot 3 on the map feeds back to the intelligent terminal 2.
Preferably, the server com-munication module 11, be additionally operable to the electricity as the distributed robot 3 be not up to it is described pre-
If during charge value, charging signals are sent to the distributed robot 3；
Specifically, the server com-munication module 11 of the server of the present embodiment can use bluetooth, wifi and intelligent terminal 2
Data are carried out with distributed robot 3, information exchanges.The server holder 12 stores order list and robot row
Table.
The server 1 of the present embodiment can bind multiple intelligent terminals 2 and multiple distributed robots for being used to dispense goods
3, user clicks on the goods for needing to dispense on intelligent terminal 2, and intelligent terminal 2 automatically generates order afterwards, and is sent out to server 1
Order dispatching request is sent, after the order dispatching request that the reception intelligent terminal 2 of server 1 is sent, the order dispatching is recorded and asks
The reception time asked, and order dispatching request is placed in order list, the priority treatment of server 1 receives ordering for morning time
Single dispatching request, i.e., the first order dispatching request described in priority treatment the present embodiment.
Because server 1 can bind multiple distributed robots 3, when there is order dispatching request in order list, server 1
The distributed robot 3 with distribution capacity can be identified whether in multiple distributed robots 3, in order to distinguish with distribution capacity
Distributed robot 3 and the distributed robot 3 without distribution capacity, therefore the distributed robot 3 with distribution capacity is turned into
Current distributed robot 3.When server 1 has recognized current distributed robot 3, the time can will be received in the order list
Dispatching task corresponding to earliest the first order dispatching request distributes to the current distributed robot 3；If server 1 is not known
Current distributed robot 3 has been clipped to, then has temporarily been shelved order, has been ordered when having recognized current distributed robot 3, then by first
Dispatching task corresponding to single dispatching request distributes to the current distributed robot 3.
As shown in Figure 6, Figure 7, present invention also offers a kind of distributed robot, the distributed robot 3 to be applied to above-mentioned
A kind of goods delivery management method and system in, including：
Robot communication module 30, it is connected with the radio communication of server com-munication module 11, for receiving the service
The dispatching task of the transmission of device 1, Distribution path；
Robot processor 31, for controlling distributed robot 3 to carry out goods delivery according to the Distribution path.
Trailer chassis 33, including the wheel for the distributed robot 3 walking, and the load-carrying members of bearing goods；
Loading platform 34 on the trailer chassis 33, the loading platform 34 include lifting platform 35 and lifting
Drive mechanism 36, the lifting platform 35 are arranged on the lift drive mechanism 36, and the lift drive mechanism 36 is installed
On the trailer chassis 33；The lift drive mechanism 36 electrically connects with the processor；
Distributed robot's body shell 37, on the trailer chassis 33 and positioned at the one of the loading platform 34
End；The robot communication module 30, the robot processor 31 and the automatic charging module 32 are arranged on the delivery
In robot body's housing 37.
At least provided with a goods stay hook 38 in distributed robot's body shell 37, for preventing goods described
It is moved on loading platform 34.
The lift drive mechanism 36 is transposition arm elevating mechanism or electric putter elevating mechanism or spiral lifting mechanism.
The mounting groove for installing laser radar 39, the laser thunder are additionally provided with distributed robot's body shell 37
Electrically connected up to 39 with robot processor 31；The laser radar 39 is used to detect whether there is barrier within a preset range.
Specifically, when distributed robot 3 receives dispatching task, the Distribution path sent according to server 1 is dispensed.
In the actual working environment of distributed robot 3, can set in each channel lines that distributed robot 3 can identify or
Person marks, and distributed robot 3 is according to these white lines and mark, you can is dispensed by the Distribution path.Distributed robot 3
In also have positioner is installed, the position of itself can be reported to server 1 in real time, be easy to server 1 plan Distribution path
And user checks the particular location of robot.
Whole distributed robot 3 is mainly made up of trailer chassis 33, loading platform 34, distributed robot's body shell 37, institute
Stating loading platform 34 includes lifting platform 35 and lift drive mechanism 36, and the lifting platform 35 is arranged on the lifting and driven
In mechanism 36, the lift drive mechanism 36 is arranged on the trailer chassis 33.The lift drive mechanism 36 can be to hand over
Yoke elevating mechanism, or electric putter elevating mechanism or spiral lifting mechanism.
The spiral lifting mechanism includes screw thread pair and pivoting support, and the threaded male component outer ring of the screw thread pair is tooth
Wheel, inner ring are threadedly coupled with the inner thread part of screw thread pair, and the inner ring of the pivoting support is fixedly connected with installation foundation meal, are returned
The outer ring for turning supporting is fixedly connected with the inner thread part bottom of screw thread pair, and the raising plate is fixed on the external screw thread zero of screw thread pair
On part.The jacking drive mechanism is including lifting little gear and lifting motor, lifting little gear and lifting motor
Motor shaft is fixedly connected, and lifting little gear is meshed with the outer ring gear of pivoting support, and lifting motor is arranged on installation base
On plinth plate.
Electric putter elevating mechanism includes sleeve pipe, electric pushrod, pulley and around the steel wire rope being located on the pulley；Sleeve pipe is by outer
Include the outer pipe, the pipe and the inner pipe successively to interior；The bottom of inner tube is arranged with bushing under inner tube, and the lower end of the inner tube is additionally provided with inner tube
Lower flange, inner tube lower flange are located at the lower section of bushing under inner tube；The tube chamber bottom of outer tube is provided with electric pushrod fixed part and steel wire
Rope fixed part；Electric pushrod includes ram seat and push rod；Ram seat is fixed on electric pushrod fixed part, and pulley, which is fixed on, to be pushed away
The top of bar；One end of steel wire rope is fixed on steel wire rope fixed part, and the other end is connected with inner tube lower flange.
Middle pipe upper bushing is fixed with the top of the tube chamber of the outer tube；The bottom of the middle pipe is arranged with bushing under middle pipe,
Inner tube upper bushing is fixed with the top of the tube chamber of the middle pipe.
As shown in Figure 8, Figure 9, there is the groove to match with goods stay hook 38 one end of cargo compartment, and user puts cargo compartment
After putting on loading platform 34, corresponding goods fixing function button is clicked on, the lift drive mechanism 36 can be flat by the lifting
Platform raises, and the groove of cargo compartment is stuck on the goods stay hook 38, prevents goods movement.
When goods is sent to, user clicks on corresponding goods unloading function button, and the lift drive mechanism 36 makes described
Hoistable platform declines, and the groove on cargo compartment departs from the goods stay hook 38, then goods is unloaded.
The mounting groove for installing laser radar 39, the laser radar are additionally provided with distributed robot's body shell
39 electrically connect with robot processor 31；The laser radar 39 is used to detect whether there is barrier within a preset range, when
When having barrier, robot can automatic avoiding obstacles.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of goods delivery management method, it is characterised in that including step：
S10 servers receive the order dispatching request that intelligent terminal is sent, and record the reception time of the order dispatching request；
Order dispatching request is stored into order list by server described in S20；
Server described in S30 identifies the distributed robot with distribution capacity as current delivery in distributed robot's list
Robot；
Server described in S40 will receive dispatching task corresponding to the first order dispatching request of time earliest in the order list
Distribute to the current distributed robot.
2. a kind of goods delivery management method according to claim 1, it is characterised in that include step after step S40：
Server described in S50 parses the first order dispatching request, obtains order ship-to；
Server described in S51 according to store in advance map, the current position of distributed robot on the map, and
Order ship-to；The Distribution path of the current distributed robot is planned, and the Distribution path is sent to described current
Distributed robot；
Current distributed robot described in S52 carries out goods delivery according to the Distribution path.
3. a kind of goods delivery management method according to claim 1, it is characterised in that step S30 specifically includes step：
Respective status information is uploaded to the service by all distributed robot's timings in distributed robot's list described in S301
Device；The status information includes the electricity of distributed robot, task dispatching state, the position on map；
S302 identifies that electricity reaches default charge value, and task dispatching state in the status information when the server
During for without dispatching task；Then the distributed robot has distribution capacity, and works as using the distributed robot as described
Preceding distributed robot；
Otherwise, the distributed robot does not have distribution capacity to S303.
4. a kind of goods delivery management method according to claim 3, it is characterised in that also include step after step S303
Suddenly：
Server described in S304 sends state confirmation information to the current distributed robot；
After current distributed robot receives the state confirmation information described in S305, currently sent to described in the server feedback
The current state information of goods robot；
The current state information that server identification described in S306 receives, confirms whether the current distributed robot has dispatching
Ability.
5. according to a kind of goods delivery management method according to any one of claims 1 to 4, it is characterised in that step S40 it
Also include step afterwards：
Order is dispensed the intelligent terminal corresponding to feedback of status to first order dispatching request by server described in S60
On；
Current distributed robot described in S61 in real time feeds back to the current position of distributed robot on the map described
Server；
The position of the current distributed robot of the current distributed robot on the map is fed back to institute by server described in S62
State intelligent terminal.
6. the goods delivery guard system in a kind of goods delivery management method applied to described in Claims 1 to 5, including service
Device, distributed robot, intelligent terminal, it is characterised in that：
The server includes：
The server com-munication module and server holder being electrically connected to each other, the server com-munication module are used to receive intelligent end
The order dispatching request that end is sent, the server holder are used for the reception time for recording the order dispatching request；
Server holder, it is additionally operable to order dispatching request being stored in order list；
Processor-server, electrically connected with the server com-munication module, for identifying have in distributed robot's list
The distributed robot of distribution capacity is as current distributed robot；
The processor-server, the first order dispatching request of time earliest will be received by being additionally operable in the order list corresponds to
Dispatching task distribute to the current distributed robot.
A kind of 7. goods delivery management system according to claim 6, it is characterised in that：
The processor-server, it is additionally operable to parse the first order dispatching request, obtains order ship-to；
The processor-server, be additionally operable to according to store in advance map, the current distributed robot on the map
Position, and order ship-to, plan the Distribution path of the current distributed robot；
The server com-munication module, it is additionally operable to the Distribution path being sent to the current distributed robot；
The current distributed robot includes：
Robot communication module, it is connected with the server com-munication module radio communication, for receiving the server transmission
The Distribution path；
Robot processor, for controlling distributed robot to carry out goods delivery according to the Distribution path.
8. a kind of server being applied in a kind of goods delivery management method according to any one of claims 1 to 5, it is special
Sign is, including：
The server com-munication module and server holder being electrically connected to each other, the server com-munication module are used to receive intelligent end
The order dispatching request that end is sent, the server holder are used for the reception time for recording the order dispatching request；
Server holder, it is additionally operable to order dispatching request being stored in order list；
Processor-server, electrically connected with the server com-munication module, for identifying have in distributed robot's list
The current distributed robot of distribution capacity；
The processor-server, the first order dispatching request of time earliest will be received by being additionally operable in the order list corresponds to
Dispatching task distribute to the current distributed robot.
9. a kind of be applied to a kind of distributed robot of goods delivery management method according to any one of claims 1 to 5, its
It is characterised by, including：
Robot communication module, it is connected with the server com-munication module radio communication, for receiving the server transmission
The dispatching task, Distribution path；
Robot processor, for controlling distributed robot to carry out goods delivery according to the Distribution path.
10. a kind of distributed robot according to claim 9, it is characterised in that also include：
Trailer chassis；
Loading platform on the trailer chassis, the loading platform includes lifting platform and lift drive mechanism, described
Lifting platform is arranged on the lift drive mechanism, and the lift drive mechanism is arranged on the trailer chassis；It is described
Lift drive mechanism electrically connects with the processor；
Distributed robot's body shell, on the trailer chassis and positioned at one end of the loading platform；The robot
Communication module, the robot processor are arranged in distributed robot's body shell.
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