CN108621166A - The unmanned delivery system of multirobot and method - Google Patents
The unmanned delivery system of multirobot and method Download PDFInfo
- Publication number
- CN108621166A CN108621166A CN201810627679.5A CN201810627679A CN108621166A CN 108621166 A CN108621166 A CN 108621166A CN 201810627679 A CN201810627679 A CN 201810627679A CN 108621166 A CN108621166 A CN 108621166A
- Authority
- CN
- China
- Prior art keywords
- dispensing machine
- machine people
- hanging mechanisms
- queue
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/26—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for remote control, e.g. for releasing
-
- 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
-
- 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
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
Abstract
This application discloses multirobot delivery system and methods.The system includes：At least two dispensing machine people, each dispensing machine people include at least the first hanging mechanisms and the second hanging mechanisms for being located at its both ends；At least one robot queue is formed by least two dispensing machine people, robot queue includes part or all of dispensing machine people in sequentially connected at least two dispensing machine people；In robot queue between two adjacent dispensing machine, it is removably secured and is connect with the second hanging mechanisms of the second dispensing machine people in two dispensing machine people by the first hanging mechanisms of the first dispensing machine people in two adjacent dispensing machine people.According to the technical solution of the embodiment of the present application, by setting up robot queue, overcome and dispatching only executed by individual machine people in the prior art, cause to dispense it is less efficient, the problems such as energy waste.
Description
Technical field
Present application relates generally to robotic technology fields, and in particular to dispensing machine people's control technology field, more particularly to
The unmanned delivery system of multirobot and method.
Background technology
The application of robot gradually penetrates into all trades and professions of society, such as in the factory, the application of robot is just gradual
Penetrate into every field, such as logistics and storage field, household field etc..
With the development of logistics field, solution of the robot technology as resource optimization largely saves people
Power resource, improves work efficiency.Such as in logistics distribution work or sorting work of storing in a warehouse, artificial group is replaced with robot
Part, sorting.
But individual machine people independently executes dispatching work in the prior art, in resource distribution and dispatching efficiency etc.
Still Shortcomings.
Invention content
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of multirobot allocator and system, is come
Working efficiency of the robot in logistics distribution is improved, and saves the available energy of multiple robots.
In a first aspect, the embodiment of the present application provides a kind of multirobot delivery system, which includes：At least two match
Robot, each dispensing machine people is sent to include at least the first hanging mechanisms and the second hanging mechanisms for being located at its both ends；
Form at least one robot queue by least two dispensing machine people, robot queue include it is sequentially connected extremely
Part or all of dispensing machine people in few two dispensing machine people；
In robot queue between two adjacent dispensing machine, pass through the first dispatching in two adjacent dispensing machine people
The second hanging mechanisms of the second dispensing machine people in first hanging mechanisms of robot and two dispensing machine people are removably
It is fixedly connected.
Second aspect, the embodiment of the present application provide a kind of multirobot allocator, and this method is applied to include at least
The system of two dispensing machine people, each dispensing machine people include at least the first hanging mechanisms and second for being located at its both ends
Hanging mechanisms, this method include：
First dispensing machine people at least two dispensing machine people receives dispatching address list, and based on dispatching address column
Table determines that there are some or all of overlapping to match with the Distribution path of the first dispensing machine people at least two dispensing machine people
Robot is sent, is sent to other dispensing machine human hairs and lines up to ask, and controls the stretching of its first hanging mechanisms, wherein dispatching ground
Location list is used to identify the correspondence between dispensing machine people and package to be dispensed；
Other dispensing machine people, which receives, to line up to ask, control itself the second hanging mechanisms and the first dispensing machine people the
One hanging mechanisms are removably secured connection, so that the first dispensing machine people and other dispensing machine people form team of robot
Row collaboratively complete dispatching task.
The scheme of multirobot dispatching provided by the embodiments of the present application overcomes the prior art by setting up robot queue
In dispatching is only executed by individual machine people, cause to dispense it is less efficient, the problems such as energy waste.The embodiment of the present application passes through machine
Device people's queue improves dispatching efficiency, also the energy is provided by the row head of robot queue for entire robot queue, to save
The energy.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows the schematic block diagram of multirobot delivery system provided by the embodiments of the present application；
Fig. 2 shows the schematic block diagrams of the thread mechanism between Liang Ge robots provided by the embodiments of the present application；
Fig. 3 shows the schematic block diagram of the locking mechanism between Liang Ge robots provided by the embodiments of the present application；
Fig. 4 shows the schematic structure frame of the magnetic coil mechanism between Liang Ge robots provided by the embodiments of the present application
Figure；
Fig. 5 shows the schematic block diagram of dispensing machine people provided by the embodiments of the present application；
Fig. 6 shows that the embodiment of the present application provides the flow diagram of multirobot allocator；
Fig. 7 shows dispatching schematic diagram of a scenario provided by the embodiments of the present application.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, Fig. 1 shows the schematic structure frame of multirobot delivery system provided by the embodiments of the present application
Figure.
As shown in Figure 1, the multirobot delivery system includes：At least two dispensing machine people 101,102,103,104,
105,106,107, wherein each dispensing machine people includes at least the first hanging mechanisms for being located at its both ends and the second mounting
Mechanism.
Form at least one robot queue by least two dispensing machine people, robot queue include it is sequentially connected extremely
Part or all of dispensing machine people in few two dispensing machine people.
In robot queue between two adjacent dispensing machine, pass through the first dispatching in two adjacent dispensing machine people
The second hanging mechanisms of the second dispensing machine people in first hanging mechanisms of robot and two dispensing machine people are removably
It is fixedly connected.
In the embodiment of the present application, as shown in Figure 1, at least two dispensing machine people 101,102,103,104,105,106,
107, wherein dispensing machine people 101,103,105 can form the queue of the first robot, and dispensing machine people 102,104 can group
At the queue of the second robot, dispensing machine people 106,107 can form the queue of third robot.Here first, second, third,
Only as the queue of difference robot, limited not as sequence.
Dispensing machine people 103,101,105 is sequentially connected in the queue of first robot, dispensing machine people 101 and dispensing machine
It is removably secured connection between people 103, connection is removably secured between dispensing machine people 103 and dispensing machine people 105.Its
In, it is removably secured the second mounting that connection is the first hanging mechanisms and dispensing machine people 103 that dispensing machine people 101 stretches out
Mechanism coordinates, and forms blocking and is fixedly connected with what is realized.
First hanging mechanisms and the second hanging mechanisms, such as can be thread mechanism, locking mechanism, magnetic coil mechanism
Deng.
As shown in Figure 1, the system can further include control centre 108.Control centre 108 and at least two dispenses
Robot signal connection, control centre are configured to respectively comment at least two dispensing machine people and package to be dispensed respectively
Point, obtain dispensing machine people scoring list and package scoring list；And according to dispensing machine people scoring list and package scoring row
The correspondence of table obtains corresponding dispatching address list, and sends it to dispensing machine people.
Control centre 108 keeps signal to connect with dispensing machine people 101,102,103,104,105,106,107.
When distribution task original state, the status information that each dispensing machine people reports is collected by control centre 108.The status information is for example
Can be dispensing machine people information about power or other be used to evaluate the information etc. of dispensing machine people's state.Information about power is for example
Can be the ratio of residual electric quantity or remaining capacity and configuration of robotic total electricity.Control centre 108 is according to all dispatchings
The status information that robot 101,102,103,104,105,106,107 reports scores.For example, each dispensing machine people
Total electricity is T milliamperes, can be scored dispensing machine people by residual electric quantity, and remaining capacity and total electricity can also be passed through
The percentage relation of amount scores.
It scores package to be dispensed, such as can be by first by package to be dispensed according to dispatching Address Aggregation
Afterwards, polymerization result is obtained, is then scored again polymerization result.Package to be dispensed is polymerize according to dispatching address,
The dispatching efficiency of dispensing machine people can be further increased.
On the basis of above-described embodiment, the embodiment of the present application furthermore provide realize dispensing machine people between removably
The realization method being fixedly connected.Referring to FIG. 2, Fig. 2 shows the screw threads between Liang Ge robots provided by the embodiments of the present application
The schematic block diagram of mechanism.
As shown in Fig. 2, dispensing machine people 103 and 101 includes the first hanging mechanisms 201 and the positioned at respective both ends
Two hanging mechanisms 202.First hanging mechanisms 201 and the second hanging mechanisms 202 are thread mechanism.
First hanging mechanisms 201 are nut, and inner surface is provided with internal thread.Second hanging mechanisms 202 are bolt, outside
External screw thread is arranged in surface.First hanging mechanisms 201 are fixedly connected with the first pushing handle telescopic control mechanism 205.
Positioned at the first hanging mechanisms 201 of dispensing machine people 103 and positioned at dispensing machine people A2The second hanging mechanisms 202
It cooperates, the second hanging mechanisms 202 is rotated by the rotation control mechanism 209 being connect with the second hanging mechanisms 202, with dispatching
First hanging mechanisms 201 of robot 103 form blocking.Second hanging mechanisms 202 and the second pushing handle telescopic control mechanism 206, which are fixed, to be connected
It connects, the second pushing handle telescopic control mechanism 206 is connect with rotation control mechanism 209, may be a fixed connection, or is removably connected
It connects, mechanical connection etc..
Second hanging mechanisms 202 are inserted into the first hanging mechanisms 201, and are rotated by rotation control mechanism 209, are second
Hanging mechanisms 202 form a fixed connection with the first hanging mechanisms 201.
The embodiment of the present application, by mounting control module (being not shown in Fig. 2) and the first pushing handle telescopic control mechanism 205, second
Pushing handle telescopic control mechanism 206 and rotation control 209 signal of control mechanism connection.Mounting control module is receiving centre management
After the control signal that module is sent, control letter is sent to the first pushing handle telescopic control mechanism 205 or the second pushing handle telescopic control mechanism 206
Number so that the first pushing handle telescopic control mechanism 205 or the second pushing handle telescopic control mechanism 206 mount machine by coupled corresponding first
It is released in structure 201 or 202 slave body of the second hanging mechanisms, and corresponding control signal is sent to rotation by mounting control module
Turn control mechanism 209 so that the first hanging mechanisms 202 being connected with the second pushing handle telescopic control mechanism 206 enter other dispensing machines
After in the first hanging mechanisms 201 of device people, rotation forms blocking.
Referring to FIG. 3, Fig. 3 shows the schematic of the locking mechanism between Liang Ge robots provided by the embodiments of the present application
Structure diagram.
As shown in figure 3, dispensing machine people 103 and 101 includes the first hanging mechanisms 301 and the positioned at respective both ends
Two hanging mechanisms 302.First hanging mechanisms 301 and the second hanging mechanisms 302 are locking mechanism.
First hanging mechanisms 301 are to have slotted cylindric mechanism, second square of the fluting and the second hanging mechanisms 302
Shape matches, and the second rectangle can be inserted in the slotted cylindric mechanism of tool.First hanging mechanisms 301 and the first extension and contraction control machine
Structure 305 is fixedly connected.
Second hanging mechanisms 302 are sheet mechanism, and the side which is connected with the second pushing handle telescopic control mechanism is the
One rectangle forms the second rectangle along the direction that pushing handle telescopic control mechanism is pushed out, and the second rectangle and the first rectangle are integrally formed,
The width of second rectangle is bigger than the width of the first rectangle.Second hanging mechanisms 302 and the second pushing handle telescopic control mechanism 306, which are fixed, to be connected
It connects.Second pushing handle telescopic control mechanism 306 is connect with rotation control mechanism 309, may be a fixed connection, or is removably connected
It connects, mechanical connection etc..
Positioned at the first hanging mechanisms 301 of dispensing machine people 103 and positioned at the second hanging mechanisms of dispensing machine people 101
302 cooperate, and the rotation that has in slotted cylindric mechanism, will be connect with the second hanging mechanisms 302 is inserted into the second rectangle
Turn control mechanism 309 to be rotated by 90 ° so that the first hanging mechanisms 301 formation of the second hanging mechanisms 302 and dispensing machine people 103
Blocking.
The embodiment of the present application, by mounting control module (being not shown in Fig. 3) and the first pushing handle telescopic control mechanism 305, second
Pushing handle telescopic control mechanism 306 and rotation control 309 signal of control mechanism connection.Mounting control module is receiving centre management
After the control signal that module is sent, control letter is sent to the first pushing handle telescopic control mechanism 305 or the second pushing handle telescopic control mechanism 306
Number so that the first pushing handle telescopic control mechanism 305 or the second pushing handle telescopic control mechanism 306 mount machine by coupled corresponding first
It is released in structure 301 or 302 slave body of the second hanging mechanisms, and corresponding control signal is sent to rotation by mounting control module
Turn control mechanism 309 so that the first hanging mechanisms 302 being connected with the second pushing handle telescopic control mechanism 306 enter other dispensing machines
After in the first hanging mechanisms 301 of device people, rotation forms blocking.
Referring to FIG. 4, Fig. 4 shows showing for the magnetic coil mechanism between Liang Ge robots provided by the embodiments of the present application
Meaning property structure diagram.
As shown in figure 4, dispensing machine people 103 and 101 includes the first hanging mechanisms 401 and the positioned at respective both ends
Two hanging mechanisms 402.First hanging mechanisms 401 and the second hanging mechanisms 402 are magnetic coil mechanism.
First hanging mechanisms 401 and the second hanging mechanisms 402 are electromagnetic coil, respectively with the first pushing handle telescopic control mechanism
405 are fixedly connected with the second pushing handle telescopic control mechanism 406, the first hanging mechanisms 401 and the second hanging mechanisms 402, also logical with electric current
Disconnected control mechanism 409 is electrically connected.First hanging mechanisms 401 can also be corresponding by being respectively set with the second hanging mechanisms 402
Current switching control mechanism controls respective signal to generate different magnetic force.For example, positioned at the first of dispensing machine people 103
Hanging mechanisms 401 cooperate with the second hanging mechanisms 402 positioned at dispensing machine people 101, the first current switching control mechanism
The first hanging mechanisms 401 are controlled, the first magnetic force is generated, the second current switching control mechanism controls the second hanging mechanisms 402, generates
Second magnetic force, the first magnetic force and the second magnetic force attract each other to form blocking.
In the embodiment of the present application, by mounting control module (being not shown in Fig. 4) and the first pushing handle telescopic control mechanism 405, the
Two pushing handle telescopic control mechanisms 406 and rotation control 409 signal of control mechanism connection.Mounting control module is receiving central tube
After managing the control signal that module is sent, control is sent to the first pushing handle telescopic control mechanism 405 or the second pushing handle telescopic control mechanism 406
Signal so that the first pushing handle telescopic control mechanism 405 or the second pushing handle telescopic control mechanism 406 are mounted coupled corresponding first
Released in mechanism 401 or 402 slave body of the second hanging mechanisms, and by mount control module send corresponding control signal to
Current switching control mechanism 409 (or current switching control mechanism corresponding with each hanging mechanisms) so that the first mounting
Mechanism 401 and the second hanging mechanisms 402 generate the magnetic force to attract each other, to form blocking.
The embodiment of the present application is also mounted by mounting control module identification, controlling different hanging mechanisms to be automatically performed
Work.
In above-described embodiment, in the multirobot delivery system of at least two dispensing machine people composition, each dispensing machine
The configuration structure of people is roughly the same, according to the difference of the realization method of its mounting, can locally increase or decrease corresponding control mould
Block.Referring to FIG. 5, Fig. 5 shows the schematic block diagram of dispensing machine people provided by the embodiments of the present application.As shown in figure 5,
Each dispensing machine people, such as 101,102,103,104,105,106,107, the first hanging mechanisms 501 are included at least, second hangs
Connection mechanism 502, mounting locating module 503, mounting control module 504, the first pushing handle telescopic control mechanism 505, the second extension and contraction control machine
Structure 506, center management module 507, communication module 508.
Center management module 507, respectively between communication module 508, mounting locating module 503, mounting control module 504
Signal connects；
Signal between locating module 503 and mounting control module 504 is mounted to connect；
Mount the signal between the first pushing handle telescopic control mechanism 505, the second pushing handle telescopic control mechanism 506 respectively of control module 504
Connection；
First pushing handle telescopic control mechanism 505 is fixedly connected with the first hanging mechanisms 501；
Second pushing handle telescopic control mechanism 506 is fixedly connected with the second hanging mechanisms 502；
Center management module 507 is configured to receive dispatching address list from communication module 508, and according to dispatching address column
Table determines other dispensing machine people of composition robot queue；And control mounting locating module 503, mounting control module 504,
The first hanging mechanisms 501 and/or second of auxiliary are hung jointly for first extension and contraction control module 505 and/or the second extension and contraction control module 506
Connection mechanism 502 stretches out, so that the second mounting machine of the first hanging mechanisms of the first dispensing machine people and the second dispensing machine people
It is configured to stop.
Dispensing machine people can also be arranged according to the setting demand of different hanging mechanisms and fix company with pushing handle telescopic control mechanism
Connect rotation control mechanism, or the current switching control mechanism that setting is electrically connected with hanging mechanisms, by rotation control mechanism or
Current switching control mechanism control hanging mechanisms cooperatively form blocking, so that being established between adjacent dispensing machine people detachable
Ground is fixedly connected.
When being connected between member and member in robot queue, the second hanging mechanisms coordinate the first hanging mechanisms to form resistance
Gear, when member needs to detach from queue in robot queue, the second hanging mechanisms can be by opposite with blocking is formed
Direction screws out, or generates mutually exclusive magnetic force, to realize separation.
Dispensing machine people in the embodiment of the present application can also include：Mapping module, environmental perception module, obstacle avoidance module, fortune
Dynamic control module and positioning navigation module etc. realize the function module (being not shown in Fig. 5) needed for robot various functions, this
A little function modules realize the intelligent distribution of dispensing machine people jointly.
The embodiment of the present application, it is humanoid at robot by multiple dispensing machine in the system of the unmanned dispatching of multirobot
Queue, Optimized Operation dispense resource, to improve dispatching efficiency, save the energy.
Based on multirobot delivery system, the application also proposed based on a kind of multirobot distribution project, carry out efficiently spirit
Multiple dispensing machine people cooperations are dispatched livingly completes dispatching task.
Referring to FIG. 6, Fig. 6 shows that the embodiment of the present application provides the flow diagram of multirobot allocator.The party
Method be applied to include at least two dispensing machine people system, each dispensing machine people is including at least being located at the of its both ends
One hanging mechanisms and the second hanging mechanisms.
As shown in fig. 6,
Step 602, the first dispensing machine people at least two dispensing machine people receives dispatching address list, and is based on matching
Address list is sent to determine that there are some or all of with the Distribution path of the first dispensing machine people at least two dispensing machine people
The dispensing machine people of overlapping send to other dispensing machine human hairs and lines up to ask, and controls the stretching of its first hanging mechanisms,
In, dispatching address list is used to identify the correspondence between dispensing machine people and package to be dispensed；
Step 604, other dispensing machine people receives and lines up to ask, and controls itself the second hanging mechanisms and the first dispensing machines
The first hanging mechanisms of device people are removably secured connection, so that the first dispensing machine people and other dispensing machine people form machine
Dispatching task is collaboratively completed in device people's queue.
In the embodiment of the present application, the first dispensing machine people for example can be as shown in Figure 1, at least two dispensing machine people
Any one in 101,102,103,104,105,106,107.Alternatively, the dispensing machine people determined according to certain ranking results.
Certain sequence can be sorted according to dispensing machine people's remaining capacity, either sort or press according to dispatching address list
According to remaining capacity and dispatching distance ratio sequence etc..
For example, sorting according to dispensing machine people's remaining capacity, dispensing machine list is obtained, it may be determined that the dispensing machine
It is located at the first dispensing machine people in list as the first dispensing machine people, it for example can be by residual electric quantity to sort here
Or remaining capacity accounts for the value sequence of total electricity percentage, sequence from low to high or from high to low.
It is located at the first dispensing machine people in the dispatching address list as the first dispensing machine people alternatively, determining.This is matched
Address list is sent to wait matching with according to dispatching address distance sequence for identifying the dispensing machine people after sorting according to remaining capacity
Correspondence between the package sent.Wherein, package to be dispensed for example can be according to the result after the cluster of dispatching address.
For example, dispensing machine people 101,102,103,104,105,106,107 sorts from low to high according to remaining capacity
The result is that { 103,101,102,107,104,105,106 }, package S to be dispensed1, S2, S3, S4, S5, S6, S7, S8, S9, S10,
S11, S12It is { S according to the result after the cluster of dispatching address3, S5, { S1, S2, { S4, { S6, S9, { S7, S8, { S10, S11,
S12, according still further to dispatching address from closely sorting to remote (position relative to control centre), obtain { S4, { S3, S5, { S1, S2,
{S6, S9, { S7, S8, { S10, S11, S12}.Then corresponding dispatching address list, as shown in table 1 below.
| Dispensing machine people | Package to be dispensed | Cluster address |
| 103 | {S4} | Section 1 |
| 101 | {S3, S5} | Section 2 |
| 102 | {S4} | Section 3 |
| 107 | {S1, S2} | Section 4 |
| 104 | {S6, S9} | Section 5 |
| 105 | {S7, S8} | Section 6 |
| 106 | {S10, S11, S12} | Section 7 |
Table 1
Dispatching address list is received in the first dispensing machine people, at least two dispensing machines are determined based on dispatching address list
There are partly overlapping dispensing machine people with the Distribution path of the first dispensing machine people in device people.For example, the first dispensing machine people
It is 103, the dispatching address of cluster is section 1, and the dispatching address of the cluster of other dispensing machine people 101 is section 2, dispensing machines
The dispatching address of the cluster of device people 105 is section 6, according to the Distribution path that map datum generates, from dispatching starting point to dispatching
Cluster address is that whole path of terminal is properly termed as Distribution path.
Fig. 7 shows dispatching schematic diagram of a scenario provided by the embodiments of the present application.As shown in fig. 7, dispensing machine people's 103 matches
Send path L1, the Distribution path L with dispensing machine people 1012With partly overlapping, i.e., in first disengaged position P1Before, it dispenses
There is common driving path between robot 103 and dispensing machine people 101.In second disengaged position P2Before, dispensing machine
The case where people 105 partly overlaps with dispensing machine people 101,103 there is also Distribution path, i.e. dispensing machine people 105 and dispensing machines
Device people 103,101 is in first disengaged position P1Before, Distribution path is overlapped, in second disengaged position P2Before, dispensing machine
People 105 is Chong Die with the Distribution path of dispensing machine people 101, in second disengaged position P2Only match in path between section 6
Robot 105 is sent to dispense alone.
After the determination of dispensing machine people 103 and its Distribution path are there are partly overlapping dispensing machine people 101,105, to
Dispensing machine people 101,105, which sends, to line up to ask.First dispensing machine people can control the stretching of its first hanging mechanisms, wait for it
The second hanging mechanisms of his dispensing machine people reach precalculated position, or reach the first dispensing machine people in other dispensing machine people
When executing the precalculated position of mounting, the first hanging mechanisms of control stretch out.
Other dispensing machine people 101 or 105, receive the first dispensing machine people 103 transmission line up request after, can control
It makes its second hanging mechanisms and is removably secured with the first hanging mechanisms of the first dispensing machine people 103 and is connect.Wherein, dispensing machines
Device people 101 or 105 receive the first dispensing machine people 103 transmission line up request after, can pass through identification dispense address list
In oneself present position decide whether to make an immediate response and line up to ask, whether can also receive other row by preset time range
Team's request lines up to ask to decide whether to make an immediate response.Dispensing machine people 101 or 105 sends to the first dispensing machine people 103
It after lining up request response, is moved to 103 position of the first dispensing machine people, until arriving at the first dispensing machine people executes mounting
Precalculated position.For example, dispensing machine people 101 and 105 arrives at simultaneously, respectively with 103 interactive information of the first dispensing machine people
Afterwards, it may be determined that execute the sequencing of mounting.
According to sequencing, the dispatching address of dispensing machine people 101 is section 2, and the dispatching address of dispensing machine people 105 is
Section 6.If dispensing machine people 101 first arrives at the precalculated position of the execution mounting of the first dispensing machine people 103, dispensing machine
People 101 controls its second hanging mechanisms and stretches out, and completes dispensing machine people's 101 under being controlled in the mounting control module of itself
Second hanging mechanisms and the first hanging mechanisms of dispensing machine people 103 form blocking, and the two is connected.Waiting and dispensing machines
The dispensing machine people 105 that device people 101 connects sends out after dispensing machine people 101 and 103 completes connection to dispensing machine people 101
It send and lines up to ask or respond the message for lining up to ask, complete to mount with dispensing machine people 101, form blocking, thus by dispensing machines
Device people 103,101,105, it connects in a certain order, the queue of composition robot.Wherein, it sends and lines up to ask, such as
Can by row head (in queue be located at the first dispensing machine people), into queue, other members send, to, according to it is each at
Member's in response to determining that connection, can also be by member in queue according to the sequence of negotiation, to preceding team member adjacent thereto (close to row
The dispensing machine people in head direction) it sends and lines up to ask, actively complete mounting.
In conjunction with the function module of Fig. 5 dispensing machine people described, the operation principle of dispensing machine people is further described.
Each dispensing machine people further includes：Center management module, communication module, mounting locating module, mounting control mould
Block, pushing handle telescopic control mechanism.
Dispensing machine people 103 controls its first hanging mechanisms and stretches out, including：
Communication module receives dispatching address list, and sends it to center management module；
Center management module receives dispatching address list from communication module, and is determined according to dispatching address list and matched with first
Sending the Distribution path of robot 103, there are partly overlapping other dispensing machine people, such as 101,105；And it is tied based on determining
Fruit, which generates, lines up to ask, and is sent to communication module.
Then, the center management module of dispensing machine people 103 be additionally operable to control mounting locating module, mounting control module,
Extension and contraction control module jointly auxiliary the first hanging mechanisms stretch out so that the first hanging mechanisms of the first dispensing machine people and other
The second hanging mechanisms of dispensing machine people are removably secured connection；
What the communication module reception center management module of dispensing machine people 103 was sent lines up to ask, and sends it to other
Dispensing machine people.
Other dispensing machine people 101,105, by the center management module of itself control the second hanging mechanisms of itself with
The first hanging mechanisms of first dispensing machine people are removably secured connection, may include：
The center management module of other dispensing machine people lines up to ask from the communication module of itself reception, control mounting positioning
The second hanging mechanisms of auxiliary stretch out jointly for module, mounting control module, extension and contraction control module, so that the first dispensing machine people
First hanging mechanisms are removably secured with the second hanging mechanisms of other dispensing machine people and connect.
In the embodiment of the present application, based on dispatching address list determine at least two dispensing machine people with the first dispensing machines
Before the Distribution path of device people is there are partly overlapping dispensing machine people, this method further includes：
Step 601, the first dispensing machine people receives dispatching address list, which is according to dispensing machine people
What the correspondence of scoring list and package scoring list generated, wherein dispensing machine people scoring list and package scoring list is
What control centre respectively scored at least two dispensing machine people and package to be dispensed.
In step 601, in order to obtain dispensing machine people scoring list and package scoring list, control centre is respectively to extremely
The step of few two dispensing machine people and package to be dispensed score can also include：
At least two dispensing machine people are subjected to marking and queuing according to the remaining capacity information of dispensing machine people, generate dispatching
Robot scoring list；
Clustering processing is carried out according to the dispatching address of package to be dispensed, then by cluster result relative to control centre
Distance carries out marking and queuing, generates package scoring list.
It, can be according to robot residue after control centre obtains the remaining capacity information of robot in the embodiment of the present application
Ratio between charge value or the remaining capacity and its total electricity of dispensing machine people evaluates robot.If dispensing machine people's
Respective total electricity setting is identical, then by comparing the residual electric quantity of dispensing machine people, then can obtain dispensing machine people and comment
Divide list.If the respective total electricity setting of dispensing machine people is different, by comparing dispensing machine people remaining capacity with
Ratio between the total electricity of setting can then obtain dispensing machine people scoring list.
The application in order to further Optimized Operation manage resource, can also by package to be dispensed according to dispatching ground
Location carries out clustering processing, and then cluster result scores relative to the distance in control as far and near standard, is wrapped up
Scoring list.Wherein, cluster refers to that package to be dispensed condenses together according to the dispatching affiliated section in address.For example, { S3,
S5Dispatching address belong to section 2, { S10, S11, S12Dispatching address belong to section 7.
In step 604, the first dispensing machine people and other dispensing machine people form robot queue, collaboratively complete to match
Task is sent, can also include：
Team's head of robot queue provides power supply for each dispensing machine people in robot queue；
Team's head control robot queue executes dispatching task according to queue Distribution path, which includes at least
One disengaged position, when robot platoon driving to the first disengaged position, team head be detached from from robot queue, team head along
The destination address of oneself moves on or tail of the queue is detached from from robot queue, and tail of the queue continues along the destination address of oneself
Advance；
Team head from robot queue be detached from after, in robot queue with the adjacent dispensing machine people of team as newly
Team's head；
Alternatively, in tail of the queue after being detached from robot queue, make with the adjacent dispensing machine people of tail of the queue in robot queue
For new tail of the queue.
In the embodiment of the present application, dispatching task is completed in robot queue cooperation, can be optimized dispensing machine people's resource, be carried
Height dispatching efficiency, saves the energy.It initiates robot queue to set up, such as can be when control centre distributes task, by dispensing machines
Device people lines up to ask according to the dispatching address list of reception to determine to send to which dispensing machine human hair, to set up team of robot
Row.Such as can be that dispensing machine people meets with other dispensing machine people on the way in dispatching, it is in communication with each other, receives the dispatching of transmission
Address list, or interaction dispense address by way of come decide whether initiate line up to ask, to set up robot queue.
During robot queue executes dispatching task, the first dispensing machine artificial 103, the cluster address of dispatching
For section 1, the cluster address that other dispensing machine people 101 dispenses is section 2, and the cluster address that dispensing machine people 105 dispenses is
Section 6, the Distribution path generated according to map datum.From dispatching starting point to using the cluster address of dispatching as whole road of terminal
Diameter is properly termed as Distribution path.There are at least one disengaged positions in Distribution path, as shown in Figure 7.
As shown in fig. 7, the Distribution path L2 of dispensing machine people 101, the Distribution path L with dispensing machine people 1031Part weight
It is folded, i.e., in first disengaged position P1Before, there is common driving path between dispensing machine people 101 and dispensing machine people 103.
In second disengaged position P2Before, there is also Distribution paths to partly overlap with dispensing machine people 101,103 by dispensing machine people 105
The case where, i.e. dispensing machine people 103 and dispensing machine people 101,105 is in first disengaged position P1Before, there is matching for overlapping
Path is sent, in second disengaged position P2Before, dispensing machine people 101 has Chong Die Distribution path with dispensing machine people 105,
In second disengaged position P2Only have dispensing machine people 105 to dispense alone in path between section 6.
In the embodiment of the present application, it substantially may include two parts, first part, machine that dispatching task is completed in robot queue
The building process of device people's queue, for example, determining the Distribution path with the first dispensing machine people 101 in the first dispensing machine people 103
After partly overlapping dispensing machine people 101,105, is sent to dispensing machine people 101,105 and line up to ask.First dispatching
Robot can control the stretching of its first hanging mechanisms, the second hanging mechanisms of other dispensing machine people is waited for reach pre-determined bit
It sets, or when other dispensing machine people reaches the first dispensing machine people and executes the precalculated position of mounting, control the first mounting machine
Structure stretches out.
After the completion of establishment, robot queue receives instruction and starts to execute dispatching task, according to the Distribution path of generation, when
When robot queue reaches the disengaged position of the Distribution path generated, the dispensing machine people positioned at the head of robot queue passes through
Instruction or other communication interactions are carried out with other robot in queue, to inform that it will be detached.Then, it is dynamic to execute separation
Make.
Its separating action sets up the mode of robot queue on the contrary, such as the first dispensing machine people with above-mentioned dispensing machine people
The first hanging mechanisms between 103 and dispensing machine people 101 and the second hanging mechanisms will under the control of mounting control module
Second hanging mechanisms screw out from the first hanging mechanisms or generate the magnetic force to repel each other therewith so that two dispensing machine people point
From.After dispensing machine people 103 detaches with 101, dispensing machine people 103 continues to complete dispatching according to original Distribution path L1
Task, that is, the package carried are dispensed into section 1 according to dispatching address.
The Distribution path L1 of dispensing machine people 103 has with the Distribution path L2 of dispensing machine people 101 and partly overlaps, i.e.,
Before first disengaged position P1, there is common driving path between dispensing machine people 101 and dispensing machine people 103.
Before two disengaged position P2, there is also the partly overlapping feelings of Distribution path with dispensing machine people 101,103 by dispensing machine people 105
Condition, i.e. dispensing machine people 105 and dispensing machine people 103,101 are before first disengaged position P1, Distribution path overlapping, the
Before two disengaged position P2, dispensing machine people 105 is Chong Die with the Distribution path of dispensing machine people 101, and position is detached at second
Setting the path between P2 and section 6 only has dispensing machine people 105 to dispense alone.
The corresponding dispensing machine people in each disengaged position, robot queue, according to the judgement of Distribution path as a result, to
Dispensing machine human hair adjacent thereto goes out to be detached from the request of queue, and completes above-mentioned disengaging.Dispensing machine people after disengaging according to
Oneself original destination address or Distribution path continue to execute dispatching task.
After package is sent to destination address by all robots, control centre position is returned to.It is controlled returning
In the way at center, each dispensing machine people can be considered forms queue return control centre of robot again, to further save
Save the energy.After arriving at control centre, entire dispatching task terminates.
In the embodiment of the present application, dispatching task is completed by robot queue cooperation, improves dispatching efficiency, further
Save the energy in delivery process.
It should be noted that although describing the operation of the method for the present invention with particular order in the accompanying drawings, this is not required that
Or imply and must execute these operations according to the particular order, it could the realization phase or have to carry out operation shown in whole
The result of prestige.On the contrary, the step of describing in flow chart, which can change, executes sequence.Additionally or alternatively, it is convenient to omit certain
Multiple steps are merged into a step and executed, and/or a step is decomposed into execution of multiple steps by step.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from aforementioned invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of multirobot delivery system, which is characterized in that the system includes：At least two dispensing machine people, it is each described
Dispensing machine people includes at least the first hanging mechanisms and the second hanging mechanisms for being located at its both ends；
At least one robot queue is formed by at least two dispensing machine people, the robot queue includes being sequentially connected
At least two dispensing machine people in part or all of dispensing machine people；
In the robot queue between two adjacent dispensing machine, pass through the first dispatching in two adjacent dispensing machine people
First hanging mechanisms of robot and the second hanging mechanisms of the second dispensing machine people in described two dispensing machine people are removable
It is fixedly connected with unloading.
2. system according to claim 1, which is characterized in that the system further includes：
Control centre, the control centre connect at least two dispensing machine people's signal, and the control centre is configured to
It is scored respectively at least two dispensing machine people and package to be dispensed respectively, obtains dispensing machine people scoring list
With package scoring list；And according to the dispensing machine people score list and it is described package scoring list correspondence obtain with
Corresponding dispatching address list, and send it to the dispensing machine people.
3. system according to claim 1 or 2, which is characterized in that each described dispensing machine people further includes：Central tube
Manage module, communication module, mounting locating module, mounting control module, the first pushing handle telescopic control mechanism, the second pushing handle telescopic control mechanism；
The center management module, respectively with the communication module, the mounting locating module, the mounting control module signal
Connection；
The mounting locating module is connect with the mounting control module signal；
The mounting control module is connect with first pushing handle telescopic control mechanism, the second pushing handle telescopic control mechanism signal；
First pushing handle telescopic control mechanism is fixedly connected with first hanging mechanisms；
Second pushing handle telescopic control mechanism is fixedly connected with second hanging mechanisms；
The center management module is configured to receive dispatching address list from the communication module, and according to the dispatching address
List determines other dispensing machine people of composition robot queue；And the control mounting locating module, mounting control module,
First extension and contraction control module and/or the second extension and contraction control assist first hanging mechanisms and/or the second mounting machine jointly
Structure stretches out, so that the first hanging mechanisms of the first dispensing machine people are hung with described the second of the second dispensing machine people
It picks and is configured to stop.
4. system according to claim 3, which is characterized in that the hanging mechanisms include following at least one：Rib machine
Structure, magnetic coil mechanism, locking mechanism.
5. system according to claim 4, which is characterized in that the hanging mechanisms are thread mechanism or the locking mechanism
When, each described dispensing machine people further includes rotation control module, the rotation control module and the pushing handle telescopic control mechanism
It is fixedly connected, is connect with the mounting control module signal；
The rotation control module is configured to receive the rotation control signal of the mounting control module, and rotation described second is hung
Connection mechanism is formed with first hanging mechanisms to be stopped, to be fixedly connected described in realization.
6. system according to claim 4, which is characterized in that when the hanging mechanisms are magnetic coil mechanism, each
The dispensing machine people further includes current switching control module, the current switching control module and second hanging mechanisms electricity
Connection, and connect with the mounting control module signal；
The current switching control module is configured to receive the current switching control signal of the mounting control module, controls institute
It states the second hanging mechanisms and generates the magnetic force mutually attracted with first hanging mechanisms, to be fixedly connected described in realization.
7. a kind of multirobot allocator, which is characterized in that this method is applied to include that at least two dispensing machine people are
System, each dispensing machine people include at least the first hanging mechanisms and the second hanging mechanisms for being located at its both ends, the party
Method includes：
First dispensing machine people in at least two dispensing machine people receives dispatching address list, and based on the dispatching
Location list is determined to exist with the Distribution path of the first dispensing machine people in at least two dispensing machine people and be partly overlapped
Dispensing machine people, sent to other described dispensing machine human hairs and line up to ask, and control its first hanging mechanisms stretching,
In, the dispatching address list is used to identify the correspondence between the dispensing machine people and package to be dispensed；
Other dispensing machine people lines up to ask described in receiving, and controls the second hanging mechanisms of itself and first dispensing machines
The first hanging mechanisms of device people are removably secured connection, so that the first dispensing machine people and other described dispensing machine
People forms robot queue, collaboratively completes dispatching task.
8. the method according to the description of claim 7 is characterized in that each described dispensing machine people further includes：Centre management
Module, communication module, mounting locating module, mounting control module, pushing handle telescopic control mechanism；And described its first hanging mechanisms of control
It stretches out, including：
The communication module receives the dispatching address list, and sends it to the center management module；
The center management module receives the dispatching address list from the communication module, and according to the dispatching address list
Determine that there are some or all of overlapping other dispensing machine people with the Distribution path of the first dispensing machine people；And base
Line up to ask described in generating in the definitive result, is sent to the communication module；Control the mounting locating module, mounting control
Molding block, extension and contraction control module assist first hanging mechanisms to stretch out jointly, so that the of the first dispensing machine people
One hanging mechanisms are removably secured with second hanging mechanisms of other dispensing machine people and connect；
The communication module receives the described of center management module transmission and lines up to ask, and sends it to other described dispatchings
Robot.
9. method according to claim 7 or 8, which is characterized in that control second hanging mechanisms of itself with it is described
The first hanging mechanisms of first dispensing machine people are removably secured connection, including：
The center management module of other dispensing machine people from the communication module of itself receive described in line up to ask, described in control
Mounting locating module, mounting control module, extension and contraction control module assist second hanging mechanisms to stretch out jointly, so that described
The first hanging mechanisms of first dispensing machine people and second hanging mechanisms of other dispensing machine people are removably solid
Fixed connection.
10. the method according to the description of claim 7 is characterized in that described in being determined based on the dispatching address list at least
In two dispensing machine people with the Distribution path of the first dispensing machine people there are partly overlapping dispensing machine people before, should
Method further includes：
The first dispensing machine people receives the dispatching address list, and the dispatching address list is commented according to dispensing machine people
The correspondence of list and package scoring list is divided to generate, the dispensing machine people scoring list and package scoring list are institutes
State what control centre respectively scored at least two dispensing machine people and package to be dispensed.
11. according to the method described in claim 9, it is characterized in that, the control centre is respectively at least two dispatching
Robot and package to be dispensed score, including：
At least two dispensing machine people is subjected to marking and queuing according to the remaining capacity information of the dispensing machine people, is generated
The dispensing machine people scoring list；
Clustering processing is carried out according to the dispatching address of the package to be dispensed, then by the cluster result relative to the control
The distance at center processed carries out marking and queuing, generates the package scoring list.
12. the method according to the description of claim 7 is characterized in that the first dispensing machine people and other described dispensing machines
Device people forms robot queue, collaboratively completes dispatching task, including：
Team's head of the robot queue provides power supply for each dispensing machine people in the robot queue；
Team's head controls the robot queue and executes dispatching task, the queue Distribution path packet according to queue Distribution path
At least one disengaged position is included, when the robot platoon driving is to the first disengaged position, team head is from the robot
It is detached from queue, team's head is moved on along the destination address of oneself or the tail of the queue is from the robot queue
It is detached from, the tail of the queue is moved on along the destination address of oneself；
The team head from the robot queue be detached from after, in the robot queue with the adjacent dispensing machines of the team
Device people is as new team's head；
Alternatively, in the tail of the queue after being detached from the robot queue, it is adjacent with the tail of the queue in the robot queue
Dispensing machine people is as new tail of the queue.
13. the method according to the description of claim 7 is characterized in that the hanging mechanisms are thread mechanism or the locking machine
When structure, and second hanging mechanisms are removably secured with the first hanging mechanisms of the first dispensing machine people and connect, packet
It includes：
Second hanging mechanisms are extend out to the adjoining position with first hanging mechanisms；
The rotation control module of other dispensing machine people receives it and mounts the rotation control signal that control module is sent, control
It is secured to the pushing handle telescopic control mechanism rotation of connection, is hindered so that second hanging mechanisms are formed with first hanging mechanisms
It keeps off, is fixedly connected described in realization.
14. and described the method according to the description of claim 7 is characterized in that when the hanging mechanisms are magnetic coil mechanism
Second hanging mechanisms are removably secured with the first hanging mechanisms of the first dispensing machine people and connect, including：
Second hanging mechanisms are extend out to the adjoining position with first hanging mechanisms；
The current switching control module being electrically connected with second hanging mechanisms is connect with the mounting control module signal；
The current switching control module of other dispensing machine people receives it and mounts the current switching control that control module is sent
Signal controls the current switching in second hanging mechanisms being connected electrically, so that it is generated mounts machine with described first
The magnetic force that structure mutually attracts is fixedly connected described in realization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627679.5A CN108621166A (en) | 2018-06-15 | 2018-06-15 | The unmanned delivery system of multirobot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627679.5A CN108621166A (en) | 2018-06-15 | 2018-06-15 | The unmanned delivery system of multirobot and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621166A true CN108621166A (en) | 2018-10-09 |
Family
ID=63691880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810627679.5A Pending CN108621166A (en) | 2018-06-15 | 2018-06-15 | The unmanned delivery system of multirobot and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621166A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109636188A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Order allocator and electronic equipment, dispensing machine people and movement system |
| CN109740882A (en) * | 2018-12-21 | 2019-05-10 | 宜宝科技（北京）有限公司 | Data processing method and device for Physical examination car |
| CN109733133A (en) * | 2018-12-18 | 2019-05-10 | 南京理工大学 | A kind of flexible trailer auxiliary alignment and drawn |
| CN111766859A (en) * | 2019-05-29 | 2020-10-13 | 北京京东尚科信息技术有限公司 | Method, device, equipment, system and storage medium for controlling distribution robot |
| CN111784244A (en) * | 2020-06-29 | 2020-10-16 | 济南浪潮高新科技投资发展有限公司 | Intelligent distribution method, device and system based on cloud management |
| CN112077849A (en) * | 2020-09-11 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Medical delivery robot based on high in clouds management and control |
| CN112537703A (en) * | 2020-03-31 | 2021-03-23 | 深圳优地科技有限公司 | Robot elevator taking method and device, terminal equipment and storage medium |
| CN113147288A (en) * | 2021-06-04 | 2021-07-23 | 安徽工程大学 | Dual-drive dual-configuration space reconfigurable automobile |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010055444A (en) * | 2008-08-29 | 2010-03-11 | Hitachi Industrial Equipment Systems Co Ltd | Robot system |
| CN103518137A (en) * | 2011-05-13 | 2014-01-15 | 贝克曼考尔特公司 | System and method including laboratory product transport element |
| WO2015177477A1 (en) * | 2014-05-22 | 2015-11-26 | Commissariat à l'énergie atomique et aux énergies alternatives | Method for automatic rebalancing of a fleet of motor vehicles of a vehicle sharing system |
| EP3034334A2 (en) * | 2014-12-18 | 2016-06-22 | A&A Logistik-Equipment GmbH & Co. KG | Conveyor train with coupling kinematics |
| CN107000208A (en) * | 2014-12-16 | 2017-08-01 | 亚马逊技术股份有限公司 | The robot crawl of article in inventory system |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN208602590U (en) * | 2018-05-21 | 2019-03-15 | 顺丰科技有限公司 | Unmanned dispensing machine people |
| CN208744836U (en) * | 2018-06-15 | 2019-04-16 | 顺丰科技有限公司 | Multirobot delivery system |
-
2018
- 2018-06-15 CN CN201810627679.5A patent/CN108621166A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010055444A (en) * | 2008-08-29 | 2010-03-11 | Hitachi Industrial Equipment Systems Co Ltd | Robot system |
| CN103518137A (en) * | 2011-05-13 | 2014-01-15 | 贝克曼考尔特公司 | System and method including laboratory product transport element |
| WO2015177477A1 (en) * | 2014-05-22 | 2015-11-26 | Commissariat à l'énergie atomique et aux énergies alternatives | Method for automatic rebalancing of a fleet of motor vehicles of a vehicle sharing system |
| CN107000208A (en) * | 2014-12-16 | 2017-08-01 | 亚马逊技术股份有限公司 | The robot crawl of article in inventory system |
| EP3034334A2 (en) * | 2014-12-18 | 2016-06-22 | A&A Logistik-Equipment GmbH & Co. KG | Conveyor train with coupling kinematics |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN208602590U (en) * | 2018-05-21 | 2019-03-15 | 顺丰科技有限公司 | Unmanned dispensing machine people |
| CN208744836U (en) * | 2018-06-15 | 2019-04-16 | 顺丰科技有限公司 | Multirobot delivery system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109636188A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Order allocator and electronic equipment, dispensing machine people and movement system |
| CN109733133A (en) * | 2018-12-18 | 2019-05-10 | 南京理工大学 | A kind of flexible trailer auxiliary alignment and drawn |
| CN109740882A (en) * | 2018-12-21 | 2019-05-10 | 宜宝科技（北京）有限公司 | Data processing method and device for Physical examination car |
| CN111766859A (en) * | 2019-05-29 | 2020-10-13 | 北京京东尚科信息技术有限公司 | Method, device, equipment, system and storage medium for controlling distribution robot |
| CN111766859B (en) * | 2019-05-29 | 2021-10-15 | 北京京东乾石科技有限公司 | Method, device, equipment, system and storage medium for controlling distribution robot |
| CN112537703A (en) * | 2020-03-31 | 2021-03-23 | 深圳优地科技有限公司 | Robot elevator taking method and device, terminal equipment and storage medium |
| CN112537703B (en) * | 2020-03-31 | 2023-01-20 | 深圳优地科技有限公司 | Robot elevator taking method and device, terminal equipment and storage medium |
| CN111784244A (en) * | 2020-06-29 | 2020-10-16 | 济南浪潮高新科技投资发展有限公司 | Intelligent distribution method, device and system based on cloud management |
| CN112077849A (en) * | 2020-09-11 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Medical delivery robot based on high in clouds management and control |
| CN113147288A (en) * | 2021-06-04 | 2021-07-23 | 安徽工程大学 | Dual-drive dual-configuration space reconfigurable automobile |
| CN113147288B (en) * | 2021-06-04 | 2023-03-07 | 安徽工程大学 | Dual-drive dual-configuration space reconfigurable automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108621166A (en) | The unmanned delivery system of multirobot and method | |
| US20230271783A1 (en) | Warehousing management system and method | |
| DE102020114577B4 (en) | CONTROL AND CONTROL METHOD FOR ROBOT SYSTEM | |
| CN109492934A (en) | Warehouse logistics method | |
| CN110902246A (en) | Virtual stereo storage system and method | |
| DE102020100610A1 (en) | CONTROL AND CONTROL METHOD FOR ROBOTIC SYSTEM | |
| CN110989582A (en) | Automatic avoidance type intelligent scheduling method for multiple AGV based on path pre-occupation | |
| CN208744836U (en) | Multirobot delivery system | |
| CN111311116B (en) | Intelligent park-based vehicle scheduling method, device, equipment and storage medium | |
| CN113253715B (en) | Hybrid scheduling method and system for unmanned forklift and AGV | |
| CN109991988A (en) | A kind of robot dispatching method, robot and storage medium | |
| EP3522085A1 (en) | Cross-storage transportation control method, apparatus and system | |
| CN110456746A (en) | A kind of real-time scheduling method of multi items swinging cross automated production | |
| CN108527367A (en) | A kind of description method of multirobot work compound task | |
| CN107976918A (en) | Task switching method and related device | |
| CN111661532B (en) | Storage container sorting method, storage container sorting device, storage container sorting equipment and storage medium | |
| Uludağ | GridPick: A high density puzzle based order picking system with decentralized control | |
| CN113924172B (en) | Sorting system, mobile robot, method for operating a sorting system, computer program product and computer readable medium | |
| CN110270998A (en) | Robot dispatching method, electronic equipment and computer readable storage medium | |
| CN110488827A (en) | AGV control method, terminal device and storage medium based on Food Recruiment In Ants behavior | |
| KR20230088895A (en) | Goods classification system and method | |
| CN116605574A (en) | Parameter configuration and collaborative scheduling platform for large-scale robot picking system | |
| CN113435808B (en) | AGV comprehensive scheduling method and system based on RFID technology | |
| CN114866592A (en) | Guide rail type mobile sharing charger robot management system and management method | |
| CN113762597A (en) | Intelligent AGV (automatic guided vehicle) scheduling system and method based on cloud platform management |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |