CN108170149A - A kind of autonomous formula office procedure and system - Google Patents
A kind of autonomous formula office procedure and system Download PDFInfo
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- CN108170149A CN108170149A CN201810061022.7A CN201810061022A CN108170149A CN 108170149 A CN108170149 A CN 108170149A CN 201810061022 A CN201810061022 A CN 201810061022A CN 108170149 A CN108170149 A CN 108170149A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007613 environmental effect Effects 0.000 claims abstract description 29
- 238000007639 printing Methods 0.000 claims description 43
- 238000001514 detection method Methods 0.000 claims description 26
- 230000005611 electricity Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- 239000010893 paper waste Substances 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 4
- 238000003379 elimination reaction Methods 0.000 claims description 4
- 230000007257 malfunction Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 29
- 230000006870 function Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 230000002452 interceptive effect Effects 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a kind of autonomous formula office procedure and systems.This method includes：The telecontrol equipment for being equipped with office device scans environmental information around itself, and SLAM birds-eye views are built, and SLAM birds-eye views are sent to server according to the environmental information scanned；The request of the Office Service from mobile terminal of server forwarding is received, Office Service request carries target position information and Office Service instruction；Itself travelling route is planned according to itself starting position coordinates, target location coordinate and SLAM birds-eye views, target location is shifted to according to the travelling route of planning；Control office device is instructed to perform corresponding operating according to Office Service, realization independently provides Office Service to the user, solves the problems, such as that office device can not be efficiently used adequately and reasonably, has saved the time of user, the working efficiency of user is improved, promotes user experience.
Description
Technical field
The present invention relates to field of computer technology, and in particular to a kind of autonomous formula office procedure and system.
Background technology
More shared electron equipment usually are set in different location in the region of centralized office work, for example, printing device or
Shredded paper equipment, so that staff uses nearby.Since the position of these shared electron equipment is fixed, these shared electron equipment
During use, there are following situations：(1) when user compares concentration using the time of a certain shared electron equipment, work
Making personnel needs to wait in line, and wastes the more time waited in line.(2) when user uses a certain shared electron equipment
When time is more dispersed, the shared electron equipment overwhelming majority is in standby mode.(3) user is in shared electron equipment lay down location
It comes and goes to confirm whether the shared electron equipment can use repeatedly with working region, wastes the more time.Case above
Presence so that public resource can not be efficiently used adequately and reasonably, while waste the time of user, lead to user
Working efficiency it is low, reduce user experience.
Invention content
The present invention provides a kind of autonomous formula office procedure and systems, are solved now with solving the prior art or part
There is the problem of technology.
According to an aspect of the invention, there is provided a kind of autonomous formula office procedure, the method includes：
The telecontrol equipment for being equipped with office device scans environmental information around itself, according to the environmental information structure scanned
SLAM birds-eye views are built, and the SLAM birds-eye views are sent to server；
The request of the Office Service from mobile terminal of server forwarding is received, the Office Service request carries target
Location information and Office Service instruction；
Itself traveling road is planned according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views
Line shifts to target location according to the travelling route of the planning；
The office device is controlled to perform corresponding operating according to Office Service instruction, provide Office Service to the user.
According to another aspect of the present invention, a kind of autonomous formula office system is provided, the system comprises：Service
Device and at least one autonomous formula office equipment, the server and each autonomous formula office equipment pass through wireless
Mode communicates；
The server, for receiving the Office Service request that mobile terminal is wirelessly sent, the office clothes
Business request carries target position information and Office Service instruction；Obtain the idle shape of each autonomous formula office equipment
State and current location determine a suitable autonomous formula office equipment by algorithm globally optimal, and to determining
The autonomous formula office equipment forwards the Office Service request；
The autonomous formula office equipment for scanning the environmental information around itself, is believed according to the environment scanned
Breath structure SLAM birds-eye views, and the SLAM birds-eye views are sent to server；Receive server forwarding comes from mobile terminal
Office Service request, Office Service request carries target position information and Office Service instruction；It is originated according to itself
Position coordinates, the target location coordinate and the SLAM birds-eye views plan itself travelling route, according to the traveling of the planning
Route shifts to target location；The office device is controlled to perform corresponding operating according to Office Service instruction, provided to the user
Office Service.
The beneficial effects of the invention are as follows：Technical scheme of the present invention is scanned certainly by being equipped with the telecontrol equipment of office device
Environmental information around body builds SLAM birds-eye views, and SLAM birds-eye views are sent to service according to the environmental information scanned
Device；The request of the Office Service from mobile terminal of server forwarding is received, Office Service request carries target position information
It is instructed with Office Service；Itself travelling route is planned according to itself starting position coordinates, target location coordinate and SLAM birds-eye views,
Target location is shifted to according to the travelling route of planning, it is seen then that the present invention realizes the office of autonomous formula using SLAM technologies and sets
Standby real-time positioning, independent navigation and avoiding obstacles；After reaching target location, control office device is instructed according to Office Service
Corresponding operating is performed, so as to fulfill independently Office Service is provided to the user, solving office device can not obtain adequately and reasonably
The problem of efficiently using has saved the time of user, improves the working efficiency of user, promotes user experience.
Description of the drawings
Fig. 1 is a kind of flow chart of autonomous formula office procedure of one embodiment of the invention；
Fig. 2 is a kind of illustrative view of functional configuration of autonomous formula office equipment of one embodiment of the invention；
Fig. 3 is a kind of schematic diagram of autonomous formula office system of one embodiment of the invention.
Specific embodiment
The present invention design concept be：For problem of the existing technology in background technology, inventor expects, will handle official business
Device is mounted on telecontrol equipment, and telecontrol equipment scans the environmental information around itself during the motion, and structure SLAM is got a bird's eye view
Figure, and SLAM birds-eye views are sent to server；Receive server send carry target position information and Office Service refers to
Office Service request enable；Itself traveling road is planned according to itself starting position coordinates, target location coordinate and SLAM birds-eye views
Line shifts to target location；After reaching target location, control office device is instructed to perform corresponding operating according to Office Service, be
User provides Office Service.
Fig. 1 is a kind of flow chart of autonomous formula office procedure of one embodiment of the invention, as shown in Figure 1：
Step S110, the telecontrol equipment for being equipped with office device scans environmental information around itself, according to what is scanned
Environmental information builds SLAM birds-eye views, and SLAM birds-eye views are sent to server；
In this step, the telecontrol equipment for being equipped with office device is scanned using laser radar or infrared radar around itself
Environmental information, and SLAM birds-eye views are built according to the environmental information that scans using SLAM algorithms, and by the SLAM birds-eye views
It is sent to server.Wherein, SLAM algorithms refer to：Synchronous superposition (Simultaneous localization
AndMapping, abbreviation SLAM) unknown place of the robot from circumstances not known can be made, it is not going to visit in by environment about
Rope positions self-position and posture by the map feature (for example, corner, pillar etc.) that repeated measures arrive during the motion,
Further according to the structure map of self-position increment type, so as to achieve the purpose that while position and map structuring.Establishing new map
Known to model or iteration while map, the positioning robot on the cartographic model, by recording perception with some form
The information of acquisition, to compare with previous sensing results, to support the assessment to reality positioning.
Traditional 2D and 2.5D SLAM algorithms can build birds-eye view, in addition, also proposed some 3D SLAM in recent years
Algorithm, these algorithms are realized by combined colors and depth transducer (RGB-D) such as PrimeSense equipment.It is existing
The more typical three-dimensional S LAM methods of ratio be KinectFusion, it is a kind of dense three-dimensional SLAM methods, using iteration most
Near point goes the distance measurements of matching depth image and a tape symbol to obtain three-dimensional map.Another kind is by Bylow et al. propositions
Method, this method be on the basis of KinectFusion algorithms, it is public by using a kind of distance of more complicated tape symbol
The improvement that the representation of formula and a kind of better optimisation strategy carry out.Kerl et al. proposes another intensive vision SLAM side
Method, this algorithm optimize existing location estimation using light and depth error is surveyed.
Step S120, receives the request of the Office Service from mobile terminal of server forwarding, and Office Service request carries
There are target position information and Office Service instruction；
In this step, target position information includes the Position Number of everyone desk or user in Administrative Area and carries
Mobile terminal location information, Office Service instruction includes that print service instructs, shredded paper service order or print service refer to
It enables and shredded paper service order.
Step S130 plans itself traveling road according to itself starting position coordinates, target location coordinate and SLAM birds-eye views
Line shifts to target location according to the travelling route of planning；
Step S140 instructs control office device to perform corresponding operating, provides Office Service to the user according to Office Service.
As it can be seen that the present invention realized using SLAM technologies the real-time positioning of autonomous formula office equipment, independent navigation and
Avoiding obstacles；After reaching target location, control office device is instructed to perform corresponding operating according to Office Service, provided to the user
Office Service, so as to fulfill independently Office Service is provided to the user, solving office device can not obtain adequately and reasonably effectively
The problem of utilization, has saved the time of user, improves the working efficiency of user, promotes user experience.
In one embodiment of the invention, method further comprises：
In the request of the Office Service from mobile terminal for not receiving server forwarding, telecontrol equipment is according to default road
Line is gone on patrol.For example, prestoring default patrol route in the memory of telecontrol equipment, coming for server forwarding is not being received
From during the Office Service request of mobile terminal, telecontrol equipment carries office device and is gone on patrol according to predetermined paths, so as to patrol
During patrolling, the user to there is demand provides Office Service, has saved user and has sent Office Service request by mobile terminal
Time, contribute to promoted user working efficiency.
In one embodiment of the invention, target location is shifted to according to the travelling route of planning to include：
The indoor environmental information of real time scan；
The continuous iterated revision SLAM birds-eye views of environmental information data arrived according to real time scan are marked and are included in scan data
Barrier position coordinates；
When finding that there is barrier in front, sat according to the position of itself current position coordinates, target in SLAM birds-eye views
The position coordinates of mark and barrier plan itself travelling route again, to realize avoidance, ensure that telecontrol equipment carries office device
Target location is arrived safely, provides Office Service to the user.
In one embodiment of the invention, before target location is shifted to according to the travelling route of planning, method is also wrapped
It includes：
Fault detect and electric power detection are carried out to office device, if office device normal operation and electricity abundance, control
Telecontrol equipment shifts to target location according to the travelling route of planning, otherwise, prompt user to office device carry out malfunction elimination and/
Or it charges for office device.
Assuming that office device is printer, carry office device in telecontrol equipment shifts to target according to the travelling route of planning
Before position, fault detect and electric power detection are carried out to printer, for example, whether the ink powder in the toner cartridge of detection printer fills
Foot, while whether the electricity for detecting printer is sufficient, if the ink powder and electricity in the toner cartridge of the printer are sufficient, controls
Telecontrol equipment shifts to target location according to the travelling route of planning, if the ink powder in the toner cartridge of printer is inadequate, prompts
User replaces toner cartridge；If electricity is inadequate, user is prompted to power for office device；If the ink powder in the toner cartridge of printer
It is inadequate with electricity, then user is prompted to replace toner cartridge and charge for office device simultaneously.It should be known that it is carried in telecontrol equipment
Office device is shifted to according to the travelling route of planning before target location, it is also necessary to carry out fault detect and electricity to telecontrol equipment
Detection, if the operating status of telecontrol equipment is normal and electricity is sufficient, controlled motion device carries office device according to planning
Travelling route shift to target location, otherwise prompt user to telecontrol equipment carry out malfunction elimination and/or for telecontrol equipment charge.
That is, when telecontrol equipment and the equal motion state of office device are normal and in the case that electricity is sufficient, ability controlled motion device
It carries office device and shifts to target location according to programme path.
In addition, in one embodiment of the invention, the battery in telecontrol equipment is office device power supply, therefore, into
During row electric power detection, as long as whether the electricity of detection telecontrol equipment is sufficient.Target is shifted in the travelling route according to planning
Before position, the purpose for carrying out fault detect and electric power detection to office device and telecontrol equipment respectively is：It avoids moving
Device is carried during office device shifts to target location and is broken down, and it is safe and stable to carry office device for telecontrol equipment
Ground arrives at target location and provides safeguard.
In one embodiment of the invention, office device includes receiving the office dress that Office Service request works
Put and/or reach the office device that target location works again.That is, telecontrol equipment can both carry receipts Office Service
The office device that request works can also carry and reach the office device that target location works again, can also be same
When carry and receive the Office Service office device that works of request and office device that arrival target location works again.
In practical applications, can the office device entrained by telecontrol equipment be set according to actual demand, the application takes telecontrol equipment
The type of the office device of band is not construed as limiting.
In one embodiment of the invention, it receives to belong to and receives the office device that Office Service request works
Office Service request after, control office device starts Office Service function immediately, while controlled motion device carries office dress
It puts and is moved to target institute position；After reaching target location, control office device examines whether Office Service instruction performs completion,
If performing completion, user's pickup is prompted.For example, receiving the office device that Office Service request works includes printing
Machine receives after belonging to the print service request of printer, then printer is controlled to start printing function, while controlled motion immediately
Device carries printer and is moved to target location, that is to say, that shifts to the mistake of target location in telecontrol equipment carrying office device
Cheng Zhong, printer are in print state, and after reaching target location, whether control printing machine testing print service performs completion,
If performing completion, user's pickup is prompted；If print service is not carried out completing, certain time is waited for, continues detection and beats
Whether print service performs completion, until print service performs completion, stops detection, and prompt user's pickup.
Specifically, it receives the office device that Office Service request works and includes printing device, Office Service instruction
It is instructed including print service, control office device is instructed to perform corresponding operating according to Office Service, provide Office Service to the user
Including：
Control printing device receives the file to be printed that server is sent and starts printing function, and controlled motion device carries
Printing device is moved to target location；
After printing device is moved to target location, whether control printing device detection file to be printed prints completion, such as
Fruit printing is completed, then prompts user's pickup, detection user whether complete by pickup, if pickup is completed, controlled motion device is taken
Band printing device leaves target location.The present invention is detected the pickup state of user, and the non-pickup of user is avoided just to have left
Target location ensure that user's pickup success, promote user experience.
In addition, after controlled motion device carrying printing device leaves target location, if not receiving server transmission
Other Office Services are asked, then controlled motion device carries printing device according to predetermined paths and gone on patrol, and are on patrol route
User provide Office Service.If receiving other Office Service devices request of server transmission, controlled motion device is taken
The position where new target is shifted to printing device, the user for new target location provides Office Service.
Specifically, control office device is instructed to perform corresponding operating according to Office Service, provides Office Service to the user also
Including：
Generation printing pickup password after equipment to be printed is moved to target location and prints completion file to be printed, is prompted
User inputs pickup password, and whether detect pickup password input by user correct, if pickup password is correct, exports printing text
Otherwise part does not export mimeograph documents.In the present embodiment, the corresponding generation printing pickup password per portion mimeograph documents, and should
Pickup password is sent to server, the pickup password is sent to mobile terminal by server, device to be exercised carries printing and sets
It is standby be moved to target location and print and complete file to be printed after, user is prompted to input pickup password, detection is input by user to be taken
Whether part password is correct, if pickup password input by user is correct, exports mimeograph documents；If pickup input by user is close
Code is incorrect, then does not export mimeograph documents.As it can be seen that the present invention realizes secure printing file by generating pickup cipher mechanism
Function, promote the safety of vital document.
In one embodiment of the invention, it receives to belong to and reaches doing for the office device that target location works again
After public service order, controlled motion device carries office device and is moved to target location, after reaching target location, control office
Device starts Office Service function, and control office device, which checks whether to finish receiving, treats office duties, if treating that office duties connect
It harvests into, then controlled motion device carries office device and leaves target location.It is assumed that reach doing of working again of target location
Public device includes shredded paper equipment, and after the shredded paper Office Service for belonging to shredded paper equipment instruction is received, controlled motion device carries
Office device is moved to target location, after reaching target location, control shredded paper equipment movement paper shredding function, and the equipment inspection of control shredded paper
Whether survey finishes receiving and treats shredded paper task, if treating that shredded paper task finishes receiving, controlled motion device carry office device from
Open target location.It should be noted that if file to be comminuted is not classified papers, then control shredded paper equipment is receiving
Finish after the file of shredded paper, then controlled motion device carries shredded paper equipment and leaves target location, that is to say, that telecontrol equipment is being taken
During band shredded paper equipment leaves target location, shredded paper equipment crushes processing to the file to be comminuted being finally putting into.
In addition, after controlled motion device carrying shredded paper equipment leaves target location, if not receiving server transmission
Other Office Services are asked, then controlled motion device carries shredded paper equipment according to predetermined paths and gone on patrol, and are on patrol route
User provide Office Service.If receiving other Office Service devices request of server transmission, controlled motion device is taken
The position where new target is shifted to shredded paper equipment, the user for new target location provides Office Service.
Specifically, it reaches the office device that target location works again and includes shredded paper equipment, Office Service instruction includes
Shredded paper service order instructs control office device to perform corresponding operating, provides Office Service to the user and include according to Office Service：
Controlled motion device carries shredded paper equipment and is moved to target location,
After shredded paper equipment is moved to target location, start paper shredding function, user is prompted to be put into waste paper to be comminuted, if treated
The file of crushing is classified papers, then it detects whether waste paper to be comminuted crushes completion, is completed if crushed, controlled motion dress
It puts carrying shredded paper equipment and leaves target location, so as to avoid the leakage of classified papers, promote user experience.
In order to which whether file clearly to be comminuted is classified papers, whether inquiry user file to be comminuted is secret text
Part, and " classified papers " select button is set in shredded paper equipment, after user clicks " classified papers ", then shredded paper equipment detects
Whether file to be comminuted, which all crushes, is completed；If user does not click on " classified papers ", the detection of shredded paper equipment is to be comminuted
Whether file all finishes receiving, and further ensures the safety of Office Service, prevents the leakage of classified papers.
It should be noted that if telecontrol equipment carries printing device and shredded paper equipment simultaneously, controlled motion device is taken
After band printing device and shredded paper equipment leave target location, if not receiving the printing Office Service request of server transmission
And/or the request of shredded paper Office Service, then controlled motion device carries printing device according to predetermined paths and shredded paper equipment is patrolled
It patrols, Office Service is provided for the user on patrol route.If receive server transmission printing Office Service request and/or
Shredded paper Office Service is asked, then controlled motion device carries printing device and shredded paper equipment shifts to new target location, is new
The user of target location provides Office Service.
Fig. 2 is a kind of illustrative view of functional configuration of autonomous formula office equipment of one embodiment of the invention, such as Fig. 2 institutes
Show：Autonomous formula office equipment 200 includes office device 220 and telecontrol equipment 210, and office device 220 is mounted on sportswear
Put 210 tops；
Telecontrol equipment 210 includes processor 210_2, wireless communication unit 210_1, sensor 210_3 and mobile unit
210_4；
Wireless communication unit 210_1, the Office Service request that the mobile terminal for receiving server forwarding is sent, and will
Office Service request is sent to processor；Wherein, Office Service request carries target position information and Office Service instruction；
Environmental information for scanning the environmental information around itself, and is sent to processor by sensor 210_3；
Processor 210_2, the environmental information for being scanned according to sensor build SLAM birds-eye views, and SLAM is got a bird's eye view
Unit is sent to server to figure by radio communication；According to itself starting position coordinates, target location coordinate and SLAM birds-eye views
It plans itself travelling route, mobile unit 210_4 is controlled to shift to target location according to the travelling route of planning；According to Office Service
Instruction control office device performs corresponding operating, provides Office Service to the user.
In one embodiment of the invention, processor 210_2, be additionally operable to do not receive server forwarding from move
During the Office Service request of dynamic terminal, control mobile unit 210_4 is gone on patrol according to predetermined paths.
In one embodiment of the invention, sensor 210_3 is additionally operable to the indoor environmental information of real time scan, and will
Environmental information is sent to processor 210_2；
Processor 210_2 is additionally operable to the continuous iterated revision SLAM birds-eye views of environmental information data arrived according to real time scan,
The position coordinates of barrier included in mark scan data；When finding that there is barrier in front, sat according to itself current location
Mark, position coordinates and barrier of the target in SLAM birds-eye views position coordinates plan itself travelling route again, with realize
Avoidance.
In one embodiment of the invention, office device 220 includes detection unit 220_1 and interactive unit 220_2；
Detection unit 220_1, for carrying out fault detect and electric power detection to office device, if office device 220 is run
Normal and electricity is sufficient, then controlled motion device 210 shifts to target location according to the travelling route of planning, otherwise, passes through interaction
Unit 220_2 prompts user to carry out malfunction elimination to office device 220 or charge for office device 220.
In one embodiment of the invention, office device 220 asks what is worked to do including receiving Office Service
The office device that public device and/or arrival target location work again.
In one embodiment of the invention, processor 210_2 is additionally operable to receive what Office Service request worked
After office device receives Office Service request, the office device is controlled to start Office Service function immediately, while control movement
Unit 210_4 is moved to target institute position；After reaching target location, control office device 220 is examined by detection unit 220_1
It tests whether Office Service instruction performs completion, if performing completion, prompts user's pickup.
In one embodiment of the invention, the office device that Office Service request works is received to set including printing
Standby, processor 210_2 is additionally operable to control printing device and receives the file to be printed that server is sent and start printing function, controls
Mobile unit 210_4 processed is moved to target location；After printing device is moved to target location, control printing device passes through detection
Whether unit 220_1 detection files to be printed print completion, if printing is completed, user is prompted by interactive unit 220_2
Pickup, by detection unit 220_1 detect user whether pickup complete, if pickup complete, control mobile unit 210_4 from
Open target location.
In one embodiment of the invention, processor 210_2 prints pickup password specifically for generation, to be printed to set
It is standby be moved to target location and print and complete file to be printed after, user is prompted to input pickup password by interactive unit 220_2,
It is whether correct by detection unit 220_1 detections pickup password input by user, if pickup password is correct, export printing text
Otherwise part does not export mimeograph documents.
In one embodiment of the invention, processor 210_2 is done specifically for what arrival target location worked again
After public device receives Office Service instruction, control mobile unit 210_4 is moved to target location, after reaching target location, control
Office device 220 processed starts Office Service function, and control office device 220 checks whether to have received by detection unit 220_1
Into office duties are treated, if treating that office duties finish receiving, mobile unit is controlled to leave target location.
In one embodiment of the invention, it reaches the office device that target location works again and includes shredded paper equipment；
Processor 210_2 carries shredded paper equipment specifically for controlled motion device 220 and is moved to target location, treats shredded paper
After equipment is moved to target location, start paper shredding function, user is prompted to be put into waste paper to be comminuted by interactive unit 220_2, led to
Cross detection unit 220_1 and detect whether waste paper to be comminuted crushes completions, if crushing completion, control mobile unit 210_4 from
Open target location.
It should be noted that the course of work of autonomous formula office equipment 200 is handled official business with autonomous formula shown in FIG. 1
The implementation steps of method correspond to identical, and identical content repeats no more.
Fig. 3 is a kind of schematic diagram of autonomous formula office system of one embodiment of the invention, as shown in Figure 2：Independently
Mobile office system 300 includes：Server 310 and at least one autonomous formula office equipment 200, server 310 and every
A autonomous formula office equipment 200 wirelessly communicates；
Server 310, for receiving the Office Service request that mobile terminal is wirelessly sent, Office Service request
Carry target position information and Office Service instruction；It obtains the idle state of each autonomous formula office equipment 200 and works as
A suitable autonomous formula office equipment is determined in front position by algorithm globally optimal, and to the autonomous shifting determined
Dynamic formula office equipment 200 forwards Office Service request；
Autonomous formula office equipment 200, for scanning the environmental information around itself, according to the environmental information scanned
SLAM birds-eye views are built, and SLAM birds-eye views are sent to server；Receive the office from mobile terminal of server forwarding
Service request, Office Service request carry target position information and Office Service instruction；According to itself starting position coordinates, mesh
Cursor position coordinate and SLAM birds-eye views plan itself travelling route, and target location is shifted to according to the travelling route of planning；According to doing
Public service order control office device performs corresponding operating, provides Office Service to the user.
It should be noted that the course of work of autonomous formula office equipment 200 is handled official business with autonomous formula shown in FIG. 1
The implementation steps of method correspond to identical, have been discussed in detail above, identical content repeats no more.
In one embodiment of the invention, autonomous formula office equipment 200 is additionally operable to do not receiving server
During the request of the Office Service from mobile terminal of 310 forwardings, gone on patrol according to predetermined paths.So as in the process of patrol
In, the user to there is demand provides Office Service, has saved the time that user sends Office Service request by mobile terminal, has had
Help be promoted the working efficiency of user.
In one embodiment of the invention, server 310 are additionally operable to SLAM birds-eye views being sent to mobile terminal, with
Just user checks the location information of autonomous formula office equipment by mobile terminal, promotes user experience.
In the present embodiment, mobile terminal includes computer, smart mobile phone, tablet computer or wearable device etc..
In conclusion technical scheme of the present invention scans ring around itself by being equipped with the telecontrol equipment of office device
Border information builds SLAM birds-eye views, and SLAM birds-eye views are sent to server according to the environmental information scanned；Receive service
The request of the Office Service from mobile terminal of device forwarding, Office Service request carries target position information and Office Service refers to
It enables；Itself travelling route is planned according to itself starting position coordinates, target location coordinate and SLAM birds-eye views, according to the row of planning
Shift to target location into route, it is seen then that the present invention realized using SLAM technologies autonomous formula office equipment real-time positioning,
Independent navigation and avoiding obstacles；After reaching target location, control office device is instructed to perform corresponding operating according to Office Service,
So as to fulfill independently Office Service is provided to the user, solve that office device can not be efficiently used adequately and reasonably asks
Topic, has saved the time of user, improves the working efficiency of user, promotes user experience.
The above description is merely a specific embodiment, under the above-mentioned introduction of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is only preferably explained in body description, and protection scope of the present invention is subject to the protection scope in claims.
Claims (13)
1. a kind of autonomous formula office procedure, which is characterized in that the method includes：
The telecontrol equipment for being equipped with office device scans environmental information around itself, is built according to the environmental information scanned
SLAM birds-eye views, and the SLAM birds-eye views are sent to server；
The request of the Office Service from mobile terminal of server forwarding is received, the Office Service request carries target location
Information and Office Service instruction；
Itself travelling route, root are planned according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views
Target location is shifted to according to the travelling route of the planning；
The office device is controlled to perform corresponding operating according to Office Service instruction, provide Office Service to the user.
2. autonomous formula office procedure as described in claim 1, which is characterized in that the method further includes：
In the request of the Office Service from mobile terminal for not receiving server forwarding, the telecontrol equipment is according to default road
Line is gone on patrol.
3. autonomous formula office procedure as described in claim 1, which is characterized in that the traveling road according to the planning
Line is shifted to target location and is included：
The indoor environmental information of real time scan；
The continuous iterated revision SLAM birds-eye views of environmental information data arrived according to real time scan, mark and are included in the scan data
Barrier position coordinates；
When finding that there is barrier in front, sat according to the position of itself current position coordinates, target in the SLAM birds-eye views
The position coordinates of mark and the barrier plan itself travelling route again, to realize avoidance.
4. autonomous formula office procedure as described in claim 1, which is characterized in that in the travelling route according to the planning
Before shifting to target location, the method further includes：
Fault detect and electric power detection are carried out to office device, if the office device normal operation and electricity abundance, control
The telecontrol equipment shifts to target location according to the travelling route of the planning, otherwise, prompt user to the office device into
Row malfunction elimination charges for the office device.
5. autonomous formula office procedure as described in claim 1, which is characterized in that the office device, which includes receiving, handles official business
Service request is the office device to work and/or reaches the office device that target location works again.
6. autonomous formula office procedure as claimed in claim 5, which is characterized in that receive belong to receive Office Service please
After the Office Service of the office device to work is asked to ask, the office device is controlled to start Office Service function immediately,
The telecontrol equipment is controlled to carry the office device simultaneously and is moved to target institute position；After reaching the target location, control
It makes the office device and examines whether the Office Service instruction performs completion, if performing completion, prompt user's pickup.
7. autonomous formula office procedure as claimed in claim 6, which is characterized in that it is described reception Office Service request i.e. into
The office device of row work includes printing device, and the Office Service instruction includes print service instruction, taken according to the office
Business instruction controls the office device to perform corresponding operating, provides Office Service to the user and includes：
The printing device is controlled to receive the file to be printed that server is sent and starts printing function, controls the telecontrol equipment
It carries the printing device and is moved to target location；
After the printing device is moved to target location, the printing device is controlled to detect whether the file to be printed prints
It completes, if printing is completed, prompts user's pickup, detection user whether complete by pickup, if pickup is completed, described in control
Telecontrol equipment carries the printing device and leaves the target location.
8. autonomous formula office procedure as claimed in claim 7, which is characterized in that described to be instructed according to the Office Service
The office device is controlled to perform corresponding operating, Office Service is provided to the user and further includes：
Generation printing pickup password, after the printing device is moved to target location and prints the completion file to be printed,
User is prompted to input pickup password, whether correct, defeated if the pickup password is correct if detecting pickup password input by user
Go out mimeograph documents, otherwise do not export mimeograph documents.
9. autonomous formula office procedure as claimed in claim 5, which is characterized in that receive and belong to arrival target location again
After the Office Service instruction of the office device to work, the telecontrol equipment is controlled to carry the office device and is moved to target
Position after reaching the target location, controls the office device to start Office Service function, the office device is controlled to examine
It tests whether to finish receiving and treats office duties, if treating that office duties finish receiving, control and done described in the telecontrol equipment carrying
Public device leaves the target location.
10. autonomous formula office procedure as claimed in claim 9, which is characterized in that the arrival target location carries out again
The office device of work includes shredded paper equipment, and the Office Service instruction includes shredded paper service order, described according to the office
Service order controls the office device to perform corresponding operating, provides Office Service to the user and includes：
The telecontrol equipment is controlled to carry the shredded paper equipment and is moved to target location,
After the shredded paper equipment is moved to target location, start paper shredding function, user is prompted to be put into waste paper to be comminuted, detect institute
It states whether waste paper to be comminuted crushes completion, is completed if crushed, the telecontrol equipment is controlled to carry the shredded paper equipment and is left
The target location.
11. a kind of autonomous formula office system, which is characterized in that the system comprises：Server and at least one autonomous shifting
Dynamic formula office equipment, the server and each autonomous formula office equipment wirelessly communicate；
The server, for receiving the Office Service request that mobile terminal is wirelessly sent, the Office Service please
It asks and carries target position information and Office Service instruction；Obtain each autonomous formula office equipment idle state and
A suitable autonomous formula office equipment is determined in current location by algorithm globally optimal, and to described in determining
Autonomous formula office equipment forwards the Office Service request；
The autonomous formula office equipment, for scanning the environmental information around itself, according to the environmental information structure scanned
SLAM birds-eye views are built, and the SLAM birds-eye views are sent to server；Receive the doing from mobile terminal of server forwarding
Public service request, the Office Service request carry target position information and Office Service instruction；According to itself initial position
Coordinate, the target location coordinate and the SLAM birds-eye views plan itself travelling route, according to the travelling route of the planning
Shift to target location；The office device is controlled to perform corresponding operating according to Office Service instruction, provide office to the user
Service.
12. autonomous formula office system as claimed in claim 11, which is characterized in that the autonomous formula office is set
It is standby, it is additionally operable to, in the request of the Office Service from mobile terminal for not receiving server forwarding, carry out according to predetermined paths
Patrol.
13. autonomous formula office system as claimed in claim 12, which is characterized in that the server is additionally operable to institute
It states SLAM birds-eye views and is sent to mobile terminal, so that user checks that the position of autonomous formula office equipment is believed by mobile terminal
Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810061022.7A CN108170149A (en) | 2018-01-22 | 2018-01-22 | A kind of autonomous formula office procedure and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810061022.7A CN108170149A (en) | 2018-01-22 | 2018-01-22 | A kind of autonomous formula office procedure and system |
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| CN108170149A true CN108170149A (en) | 2018-06-15 |
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| CN201810061022.7A Pending CN108170149A (en) | 2018-01-22 | 2018-01-22 | A kind of autonomous formula office procedure and system |
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| CN (1) | CN108170149A (en) |
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