CN109110249A - A kind of dispensing machine people - Google Patents
A kind of dispensing machine people Download PDFInfo
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- CN109110249A CN109110249A CN201811060979.6A CN201811060979A CN109110249A CN 109110249 A CN109110249 A CN 109110249A CN 201811060979 A CN201811060979 A CN 201811060979A CN 109110249 A CN109110249 A CN 109110249A
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- control device
- cabinet
- robot
- information
- storing cabinet
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- 238000009826 distribution Methods 0.000 claims abstract description 31
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000003993 interaction Effects 0.000 claims description 8
- 230000009184 walking Effects 0.000 claims description 8
- 238000003475 lamination Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000010009 beating Methods 0.000 claims 1
- 238000005086 pumping Methods 0.000 claims 1
- 239000002699 waste material Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 12
- 238000012790 confirmation Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 210000004243 sweat Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D11/00—Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of plastics material
- B65D11/10—Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of plastics material of polygonal cross-section and all parts being permanently connected to each other
- B65D11/12—Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of plastics material of polygonal cross-section and all parts being permanently connected to each other of drawer-and-shell type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
- G07C9/00912—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses for safes, strong-rooms, vaults or the like
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
Abstract
The invention discloses a kind of dispensing machine people, it include: shell, storing cabinet, running gear, control device and cabinet mobile device, storing cabinet is mounted on the shell, running gear is arranged in housing bottom, control device is mounted in shell, cabinet mobile device one end is fixed on storing cabinet, and the cabinet mobile device other end is fixed on shell；Control device is electrically connected with running gear, cabinet mobile device respectively；By control device based on the received storing cabinet switching information generate move and based on the received distribution information generate travel commands, cabinet mobile device controls the folding of storing cabinet according to move, running gear is mobile according to the travel commands, shell is set to be moved to the technical solution of the address in distribution information, it solves the problems, such as manually to dispense low efficiency, waste of manpower resource, delivery efficiency is improved, human resources have been saved.
Description
Technical field
The present embodiments relate to robot technology more particularly to a kind of dispensing machine people.
Background technique
Current robot technology is like a raging fire, and the industrial robot in factory realizes production automation, the clothes in family
Business humanoid robot brings very more conveniences to people's lives, and there are also such as search and rescue robots, transportation robot etc.
Specialized robot, so that the work and life of people is constantly intelligent, automation.
In supermarket, often sees that staff pushes the commodity of a cart and is sent on each shelf, tire out to obtain work
Personnel are with a face streaming with sweat, and staff can also misremember the delivery location of cargo sometimes, cause inefficiency, and employ work people
Member, cost are very high.
Within the hospital, it usually can also see that some medical instruments are sent to each department, still, Mei Geke by medical staff
Medical instrument required for room is had nothing in common with each other, and dispatching is completed by manually very likely by medical instrument delivery error, and
Artificial dispatching speed is slow, and low efficiency is not able to satisfy hospital and efficiently operates.
It in office building, usually can also see that staff needs for some documents to be sent to each department, waste
A large amount of manpower and material resources.
Summary of the invention
The present invention provides a kind of dispensing machine people, solves the problems, such as manually to dispense low efficiency, waste of manpower resource.
In a first aspect, the embodiment of the invention provides a kind of dispensing machine people, comprising: shell, storing cabinet, walking dress
Set, control device and cabinet mobile device, the storing cabinet are mounted on the shell, the running gear is arranged described
Housing bottom, the control device are mounted in the shell, and cabinet mobile device one end is fixed on the storing cabinet
On, the cabinet mobile device other end is fixed on the housing；The control device respectively with the running gear, described
The electrical connection of cabinet mobile device；
The switching information of the control device storing cabinet based on the received generates move and according to reception
Distribution information generate travel commands, the cabinet mobile device controls opening for the storing cabinet according to the move
It closes, the running gear is mobile according to the travel commands, and the shell is made to be moved to the address in the distribution information.
Dispensing machine people provided by the above embodiment, comprising: shell, storing cabinet, running gear, control device and cabinet
Mobile device, storing cabinet are mounted on shell, and running gear is arranged in housing bottom, and control device is mounted in shell, case
Body mobile device one end is fixed on storing cabinet, and the cabinet mobile device other end is fixed on shell；Control device respectively with
Running gear, the electrical connection of cabinet mobile device；By control device based on the received storing cabinet switching information generate movement
Instruction and based on the received distribution information generate travel commands, and cabinet mobile device controls storing cabinet according to move
Folding, running gear is mobile according to travel commands, so that shell is moved to the technical solution of the address in distribution information, solves people
Work dispenses the problem of low efficiency, waste of manpower resource, improves delivery efficiency, has saved human resources.
Detailed description of the invention
Fig. 1 is the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention one；
Fig. 2 is the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention two；
Fig. 3 is the bottom substance schematic diagram of the dispensing machine people in the embodiment of the present invention two；
Fig. 4 is the head the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention two；
Fig. 5 is the head appearance structural schematic diagram of the dispensing machine people in the embodiment of the present invention two；
Fig. 6 is the external front face schematic diagram of the dispensing machine people in the embodiment of the present invention two；
Fig. 7 is the external schematic rear view of the dispensing machine people in the embodiment of the present invention two.
It is marked in figure as follows:
10, shell；20, storing cabinet；201, drawer bucket；202, drawer panel；30, running gear；40, control device；
401, main body；402, movable motor；403, driving wheel；404, auxiliary wheel；50, cabinet mobile device；501, mobile mechanism；
5011, screw rod；5012, nut；502, mobile motor；503, slide rail；504, fixed guide rail；60, human-computer interaction device；
601, touch display screen；602, transmission mechanism；603, driving mechanism；70, route device；80, laser sensor；901, ultrasonic wave
Sensor；902, depth transducer；1001, charging spring lamination.
Specific embodiment
The present invention 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 the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element referred to as " is connected to " another element, it can be with
It is directly connected to another element or is connected indirectly on another element.
It is to be appreciated that the orientation of the instructions such as term " on ", "lower", "inner", "outside" " front ", " back side " or position are closed
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.
Embodiment one
Fig. 1 is the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention one, and the present embodiment is applicable to room
The case where interior dispatching cargo, as shown in Figure 1, dispensing machine people provided in an embodiment of the present invention mainly comprises the following structure: shell
10, storing cabinet 20, storing cabinet 20 install on the housing 10, running gear 30 be arranged in 10 bottom of shell, control device 40
It is mounted in shell 10,50 one end of cabinet mobile device is fixed on storing cabinet 20, and 50 other end of cabinet mobile device is fixed
On the housing 10；Control device 40 is electrically connected with running gear 30, cabinet mobile device 50 respectively.
The switching information of storing cabinet 20 generates and move and matches based on the received control device 40 based on the received
Breath of delivering letters generates travel commands.
In the present embodiment, distribution information refers to and dispenses relevant information, specifically, distribution information includes: sender
The information such as address, sender's contact method, address of the addressee, addressee's contact method and Item Information.Distribution information sender
When part is posted in terminal reservation, sender fills in distribution information by terminal.Further, terminal includes but is not limited to individual calculus
The intelligent terminals such as machine, smart phone, tablet computer.Further, distribution information is received the dispatching of terminal transmission by server
After information, distribution information is sent to dispensing machine people.
In the present embodiment, after dispensing machine people receives the dispatching task that server is sent, start to execute dispatching times
Business.The method of determination of dispensing machine people a kind of is provided.Server receives the distribution information that sender is sent by terminal, then really
Determine dispensing machine people.Further, dispensing machine people can be determined by sender address.Such as: it will be apart from sender address
Nearest robot is determined as dispensing machine people.Further, dispensing machine people can be determined by Item Information.Such as it can be with
Dispensing machine people is determined according to the type of article, type, volume.
Further, when robot is in walking states, sender can also intercept robot, click directly on touch display
" posting part " button in screen 601, robot stop walking, then input distribution information according to the prompt in robot.
In the present embodiment, after dispensing machine people receives dispatching task, the distribution information that server is sent is received, and
It determines storing cabinet 20, while storing cabinet 20 being locked, i.e., before dispatching is completed, which is not receiving other
Dispatching task.In the present embodiment, the method that two kinds of storing cabinets 20 determine is provided.A kind of mode is, server is according to delivering letters
It ceases and determines storing cabinet 20, and generate one and corresponding with storing cabinet 20 post part password.By the volume of determining storing cabinet 20
Code and the corresponding control device 40 posted part password and be sent to dispensing machine people of storing cabinet 20, control device 40 is according to service
The storing cabinet 20 that device is sent post part coding and storing cabinet 20 is corresponding posts part password, will storage tank corresponding with coding
Body 20 locks.Another way is that distribution information is forwarded to control device 40 by server, and control device 40 is according to distribution information
Determine storing cabinet 20 and obtain the coding of storing cabinet 20, and generate one it is corresponding with storing cabinet 20 post part password, general
Storing cabinet 20 corresponding with coding locks.By the coding of determining storing cabinet 20 and storing cabinet 20, corresponding to post part close
Code is sent to server and is backed up.Meanwhile server or control device 40 generate a pickup password and are sent to pickup people
Terminal.
Further, above-mentioned to post part password and pickup password can be character password, such as: string number, letter or
The combination of number and letter.Preferably, sender's terminal can be sent to by Cryptographic at two dimensional code or bar code.If
Setting password is to guarantee the safety of article in order to ensure robot is during dispensing cargo.
Further, based on the received distribution information generate travel commands, refer to control device 40 according to distribution information with
And pre-stored navigation map is dispensing machine people planning path information.Further, control device 40 is according to routing information
Travel commands are generated, address of the dispensing machine people walking into distribution information is made.Wherein, dispensing machine people passes through built-in routing
Device receives the distribution information forwarded by server, and is sent to control device 40.In addition, the present embodiment provides another walkings
Generating mode is instructed, after server receives distribution information, pre-stored target area can be transferred according to distribution information
Map, and be dispensing machine people planning path information according to the map of target area and distribution information and be sent to dispensing machine
People after the control device 40 of dispensing machine people receives routing information, generates travel commands according to routing information.
Cabinet mobile device 50 controls the folding of storing cabinet 20 according to move, and running gear 30 is according to travel commands
It is mobile, so that shell 10 is moved to the address in distribution information.
In the present embodiment, after running gear 30 receives travel commands, make shell 10 by current according to travel commands
Position walking is to the address of sender.Further, dispensing machine people determines that dispensing machine people reaches by built-in positioning system
To sender address.
In the present embodiment, after dispensing machine people reaches sender address, sender passes through the touch of dispensing machine people
Display screen 601, click " posting part " button, control device 40 receive sender input post part information, pass through touch display screen
601 prompt senders input password.Further, when sender's terminal receives character password, user is in touch display screen 601
Character password is inputted, and confirms the information of sender.When sender's terminal receives two dimensional code or bar code, user passes through touching
Touch the two dimensional code of the scanning means end of scan of display screen 601 or the information of bar code confirmation sender.
Control device 40 matches the password that user inputs with the password that server is sent, if successful match, really
Recognizing the sender is reservation sender, automatically generates the enabling information of storing cabinet 20, control device 40 is according to storing cabinet 20
Enabling information generate first movement instruction, cabinet mobile device 50 according to move control storing cabinet 20 opening.
Sender places an article within after storing cabinet 20, in the letter of the input of touch display screen 601 " confirmation, which is placed, to be completed "
Breath after control device 40 receives the information that completion is placed in confirmation, automatically generates the shutdown information of storing cabinet 20, control dress
It sets 40 and second move is generated according to the shutdown information of storing cabinet 20, cabinet mobile device 50 is according to the second move control
The closing of storing cabinet 20 processed.
When control device 40 receives the information that confirmation storing cabinet 20 is closed, control device 40 is controlled according to travel commands and is gone
Walking apparatus 30 makes robot be moved to address of the addressee.Further, dispensing machine people is matched by built-in positioning system determination
Robot is sent to reach address of the addressee.
In the present embodiment, after dispensing machine people reaches address of the addressee, addressee passes through the touch of dispensing machine people
Display screen 601, clicks " pickup " button, and control device 40 receives the pickup information of pickup people input, passes through touch display screen
601 prompt pickup people input pickup password.Further, when pickup people's terminal receives character password, pickup people is aobvious in touch
Display screen 601 inputs character password, and confirms the information of sender.When pickup people's terminal receives two dimensional code or bar code, take
Part people confirms the information of pickup people by the two dimensional code or bar code of the scanning means end of scan of touch display screen 601.
Control device 40 matches the pickup password that pickup people inputs with the pickup password that server is sent, if matching
Success then confirms that pickup people is reservation pickup people, automatically generates the enabling information of storing cabinet 20, control device 40 is according to storage
The enabling information of object cabinet 20 generates first movement instruction, and cabinet mobile device 50 controls storing cabinet 20 according to move
It opens.
After article is taken out the article of storing cabinet 20 by sender, in the input of touch display screen 601, " confirmation pickup is complete
At " information, control device 40 receive confirmation pickup complete information after, automatically generate storing cabinet 20 shutdown letter
Breath, control device 40 generate the second move according to the shutdown information of storing cabinet 20, and cabinet mobile device 50 is according to second
The closing of move control storing cabinet 20.
Further, when storing cabinet 20 is not all in use, the precontract task of priority processing sender.And pass through machine
The current position judgement of device people is preferentially to send part or preferential pickup.
When control device 40 receives the information that confirmation storing cabinet 20 is closed, determining this time dispatching task is completed.
Present embodiments provide a kind of dispensing machine people, comprising: shell, storing cabinet, running gear, control device and case
Body mobile device, storing cabinet are mounted on the shell, and running gear is arranged in housing bottom, and control device is mounted on shell
Interior, cabinet mobile device one end is fixed on storing cabinet, and the cabinet mobile device other end is fixed on shell；Control device point
It is not electrically connected with running gear, cabinet mobile device；By control device based on the received storing cabinet switching information generate
Move and based on the received distribution information generate travel commands, and cabinet mobile device controls storage tank according to move
The folding of body, running gear is mobile according to the travel commands, and shell is made to be moved to the technical solution of the address in distribution information,
It solves the problems, such as manually to dispense low efficiency, waste of manpower resource, improves delivery efficiency, saved human resources.
Embodiment two
The present embodiment advanced optimizes dispensing machine people on the basis of the various embodiments described above.
Fig. 2 is the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention two；As shown in Fig. 2, cabinet is mobile
Device 50 includes: mobile mechanism 501, mobile motor 502, slide rail 503 and fixed guide rail 504；One end of mobile mechanism 501
It is fixed on storing cabinet 20,501 other end of mobile mechanism is fixed on the housing 10；Mobile motor 502 respectively with mobile mechanism
501, control device 40 connects；Slide rail 503 is set to drawer bucket 201 outside adjacent with drawer panel；Fixed guide rail 504
It is set to shell 10 inside opposite with slide rail 503；Mobile motor 502 is according to the move control of the control device 40
Mobile mechanism 501 processed moves horizontally；Mobile mechanism 501 pushes slide rail 503 to move horizontally on fixed guide rail 504, with reality
Existing drawer bucket 201 opens or closes.The switching information of the storing cabinet 20 includes: the opening imformation of the storing cabinet 20
With the closing information of the storing cabinet 20；The control device 40 is generated according to the opening imformation of the storing cabinet 20 to advance
Move, and generated according to the closing information of storing cabinet 20 and retreat move.Cabinet mobile device 50 is filled according to control
The advance move of 40 transmissions is set, storing cabinet 20 is pushed to be moved to open position；The retrogressing sent according to control device 40
Move pushes storing cabinet 20 to be moved to closed position.
Specifically, mobile mechanism 501 can have screw rod 5011 and nut 5012 to constitute.One end of screw rod 5011 and mobile electricity
Machine 502 connects, and the bottom outside of the drawer bucket 201 is arranged in nut 5012.When mobile motor 502 receives move
When, drive screw rod 5011 is positive perhaps to reversely rotate to drive nut 5012 forward or move backward, and then realize drawer
Bucket 201 moves horizontally.
In the present embodiment, when control device 40 receives the enabling information of storing cabinet 20, according to storing cabinet 20
Enabling information generate advance move, mobile motor 502 controls screw rod 5011 and rotates in the forward direction according to advance move,
It drives nut 5012 to move forward, pushes slide rail 503 to move horizontally on fixed guide rail 504, to realize drawer bucket 201
It opens.
Further, when control device 40 receives the shutdown information of storing cabinet 20, according to the shutdown of storing cabinet
Information generates the second move, and mobile motor 502 is reversely rotated according to move, control screw rod 5011 is retreated, and drives spiral shell
Mother 5012 moves backward, and pushes slide rail 503 to move horizontally on fixed guide rail 504, to realize the closing of drawer bucket 201.
Further, as shown in Fig. 2, storing cabinet 20 is drawer type, for storing the article of dispatching, drawer panel 202
It is set to the side of robot shell 10.
In the present embodiment, the quantity of storing cabinet 20 can be according to the space and carrying primary articles that robot is run
Volume designs, and the volume of storing cabinet 20 can be identical or not identical.As shown in Fig. 2, dispensing machine people includes 3 storages
Object cabinet 20, and the volume of 3 storing cabinets 20 is not also identical, design in this way is to be able to more reasonably use dispensing machine
The inner space of people.
Fig. 3 is the bottom substance schematic diagram of the dispensing machine people in the embodiment of the present invention two；As shown in figure 3, running gear
30 include main body 401, movable motor 402 and driving wheel 403, and movable motor 402 is mounted in main body, and driving wheel 403 is mounted on
401 bottom of main body；Movable motor 402 realizes advance, retrogressing and the steering of robot for driving wheel 403.Further, originally
Include 2 driving wheels 403 in embodiment, further includes 3 auxiliary wheels 404.Preferably, driving wheel 403 is band suspension driving wheel, auxiliary
Helping wheel 404 is universal wheel.
Fig. 4 is the head the schematic diagram of the section structure of the dispensing machine people in the embodiment of the present invention two；Fig. 5 is implementation of the present invention
The head appearance structural schematic diagram of dispensing machine people in example two；As shown in Figure 4 and Figure 5, the head of dispensing machine people is provided with
The top of robot is arranged in human-computer interaction device 60, human-computer interaction device 60；Human-computer interaction device 60 includes: touch display screen
601, transmission mechanism 602 and driving mechanism 603；Touch display screen 601 is fixed on the support end of transmission mechanism 602, touches display
The information of 601 reception user's input of screen is simultaneously sent to control device 40, shows the status information of robot；Driving mechanism 603 with
Transmission mechanism 602 connects, and drive transmission device 602 drives the touch screen to rotate.
In the present embodiment, status information includes: the behaviour in service, operating status and dispensing machine people of each storing cabinet 20
Electricity etc..
In the present embodiment, when dispensing machine people walks to sender or pickup people address, control device 40 is generated
Driving signal, is sent to driving mechanism 603, and 603 drive transmission device 602 of driving mechanism drives touch screen rotation, makes touch screen
Turn to the upright state angled with horizontal plane.Further, camera 604 is installed at the top of touch display screen 601.
The camera 604 scan the two dimensional code of sender or receiver terminal perhaps bar code to obtain sender or addressee
People's information.
Further, dispensing machine people further include: route device 70, route device 70 respectively with control device 40 and terminal
Communication connection；The routing information that received terminal is sent is forwarded to the control device 40 by route device；Routing information is by posting
Part people address or address of the addressee；The navigation map of target area is previously stored in control device 40, according to routing information and
Navigation map generates travel commands, and is sent to running gear 30；The target area is the delivery region of the robot.
Preferably, navigation map can specifically include the sender address in characterization target area and pickup people's address name
Data and characterization reach guidance path data, target area and sender address and pickup people address name specifically can roots
It is configured according to actual needs, such as target area can be the indoor spaces such as some office building, hospital.
Further, robot further include: laser sensor 80, laser sensor 80 is set to the side on chassis, in machine
When device people is mobile, location information is sent to control to determine the location information of robot by the barrier around real time scan
Device 40；Control device 40 corrects travel commands according to the location information that laser sensor 80 is sent in real time.
Laser sensor 80 scans the two-dimensional environment for establishing target area, is done according to environment profile with the navigation map prestored
Location matches realize the position positioning of robot.By the way that laser sensor 80 is arranged, convenient for the place of accurate statistical machine people
Position facilitates management and allotment.
In the present embodiment, a kind of method of base station location, i.e. base station location are also provided, base station location system includes target area
Base station in domain and the receiver being installed in robot, receive that mounted base station is believed in the target area by receiver
Breath, calculates the position of robot, in conjunction with other sensors information, obtains the robot current position.
Further, Fig. 6 is the outside schematic diagram of the dispensing machine people in the embodiment of the present invention two；Fig. 7 is of the invention real
Apply the external schematic rear view of the dispensing machine people in example two.As shown in fig. 6, robot further include: obstacle avoidance apparatus；Obstacle avoidance apparatus
Including ultrasonic sensor 901 and depth transducer 902；Ultrasonic sensor 901 is set to the side of shell 10, depth sensing
Device 902 is set to the side on chassis.
As shown in Figure 6 and Figure 7, ultrasonic sensor 901 is set to the side of shell.Preferably, on robot chassis
Two ultrasonic sensors are respectively set in front, the adjacent position of charging spring lamination 1001.It is arranged two at the back side on robot chassis
A ultrasonic sensor.In the front on robot chassis, two ultrasonic sensors are arranged in the shoulder of shell.It needs to illustrate
It is that the front of robot refers to the housing side for being provided with drawer panel.
Ultrasonic sensor 901 detects short distance barrier, and the real-time range information of robot and barrier is sent
To control device 40, depth transducer 902 is used to detect the depth information of the robot, and real-time deep information is sent to
Control device 40；Specifically, depth information refer to the step that the depth transducer of robot is sensed depth distance or
The signal generated when depth distance when difference in height.
Control device 40 generates halt instruction according to the depth information, and controls running gear and stop movement, and again
Correct travel commands.Specifically, there are the depth letters that when step or dead level, depth transducer 902 is generated in front of robot
Breath is weak signal or no signal.When the depth information that control device 40 receives be weak signal or no signal, then illustrate machine
There are step or dead level in front of device people, robot cannot be travelled by original routing information.Control device 40 generates halt instruction,
It controls running gear 30 and stops movement, and correct travel commands again.When being that level land does not have step and dead level in front of robot,
The normal signal that depth transducer 902 generates, control device 40 without control, walk according to routing information by robot.
Further, as shown in fig. 6, robot further include: automatic charge device (not shown)；Automatic charge device
100 include at least: charging spring lamination 1001；Charging spring lamination 1001 is set to the side on chassis；Automatic charge device works as the machine
When people's electricity is less than setting value, charging spring lamination 1001 is connect, to robot by Automatic-searching charging base with the charging base
It charges.
Further, interaction light can be set in the side of robot, when robot storing cabinet all in use,
Interactive light is lighted, the information of trunkful is transmitted to sender.
Present embodiments provide a kind of dispensing machine people, comprising: shell, storing cabinet, running gear, control device and case
Body mobile device, storing cabinet are mounted on the shell, and running gear is arranged in housing bottom, and control device is mounted on shell
Interior, cabinet mobile device one end is fixed on storing cabinet, and the cabinet mobile device other end is fixed on shell；Control device point
It is not electrically connected with running gear, cabinet mobile device；By control device based on the received storing cabinet switching information generate
Move and based on the received distribution information generate travel commands, and cabinet mobile device controls storage tank according to move
The folding of body, running gear is mobile according to the travel commands, and shell is made to be moved to the technical solution of the address in distribution information,
It solves the problems, such as manually to dispense low efficiency, waste of manpower resource, improves delivery efficiency, saved human resources.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of dispensing machine people characterized by comprising shell, storing cabinet, running gear, control device and cabinet move
Dynamic device, the storing cabinet are mounted on the shell, and the running gear setting is in the housing bottom, the control dress
It sets and is mounted in the shell, cabinet mobile device one end is fixed on the storing cabinet, the cabinet mobile device
The other end is fixed on the housing；The control device is electrically connected with the running gear, the cabinet mobile device respectively；
The control device generates move and based on the received distribution information according to the switching information of the storing cabinet
Travel commands are generated, the cabinet mobile device controls the folding of the storing cabinet, the walking according to the move
Device is mobile according to the travel commands, and the shell is made to be moved to the address in the distribution information.
2. dispensing machine people according to claim 1, which is characterized in that the cabinet mobile device include: mobile mechanism,
Mobile motor, slide rail and fixed guide rail；
One end of the mobile mechanism is fixed on the storing cabinet, and mobile mechanism's other end is fixed on the shell
On；The mobile motor is connect with the mobile mechanism, the control device respectively；The slide rail is set to and the pumping
On the outside of the adjacent drawer bucket of drawer panel；The fixed guide rail is set to the case inside opposite with the slide rail；
The mobile motor controls the mobile mechanism according to the move of the control device and moves horizontally；
The mobile mechanism pushes the slide rail to move horizontally on the fixed guide rail, to realize beating for the drawer bucket
On or off is closed.
3. dispensing machine people according to claim 1, which is characterized in that the switching information of the storing cabinet includes: institute
State the opening imformation of storing cabinet and the closing information of the storing cabinet；
The control device generates advance move according to the opening imformation of the storing cabinet, and according to the storing cabinet
Closing information generate retreat move.
The advance move that the cabinet mobile device is sent according to the control device pushes the storing cabinet to be moved to
Open position；According to the retrogressing move that the control device is sent, the storing cabinet is pushed to be moved to closed position.
4. dispensing machine people according to claim 1, which is characterized in that the running gear include main body, movable motor,
Driving wheel, the movable motor are mounted in the main body, and driving wheel is mounted on the bottom part body；
The advance, retrogressing and steering that the movable motor is used to that the driving wheel to be driven to realize the robot.
5. dispensing machine people according to claim 4, which is characterized in that the robot further include: route device, it is described
Route device is communicated to connect with the control device and terminal respectively；
The routing information that received terminal is sent is forwarded to the control device by the route device；The routing information is by posting
Part people address or address of the addressee；
The navigation map of target area is previously stored in the control device, according to the routing information and the navigation map
Travel commands are generated, and are sent to running gear；The target area is the delivery region of the robot.
6. dispensing machine people according to claim 5, which is characterized in that the robot further include: laser sensor, institute
The side that laser sensor is set to chassis is stated, when the robot is mobile, the barrier around real time scan is to determine
The location information of robot is stated, and the location information is sent to the control device；
The control device corrects travel commands according to the location information that the laser sensor is sent in real time.
7. dispensing machine people according to claim 6, which is characterized in that the robot further include: obstacle avoidance apparatus；It is described
Obstacle avoidance apparatus includes ultrasonic sensor and depth transducer；
The ultrasonic sensor is set to the side of the shell, and the depth transducer is set to the side on the chassis；
The ultrasonic sensor detects short distance barrier, and the real-time range information of robot and the barrier is sent
To the control device, the depth transducer is used to detect the depth information of the robot, and the real-time deep is believed
Breath is sent to the control device；
The control device generates halt instruction according to the depth information, and controls running gear and stop movement, and repair again
Positive travel commands.
8. dispensing machine people according to claim 1, which is characterized in that the robot further include: human-computer interaction device,
The top of the robot is arranged in the human-computer interaction device；The human-computer interaction device includes: touch display screen, driver
Structure and driving mechanism；
The touch display screen is fixed on the support end of the transmission mechanism, and the touch display screen receives the information of user's input
And it is sent to control device, show the status information of the robot；
The driving mechanism is connect with the transmission mechanism, and the transmission mechanism is driven to drive the touch screen rotation.
9. dispensing machine people according to claim 1, which is characterized in that the storing cabinet is drawer type, for storing
The article of dispatching, including drawer bucket and drawer panel, the drawer panel are set to the side of the robot shell.
10. dispensing machine people according to claim 1, which is characterized in that the robot further include: automatic charging dress
It sets；The automatic charge device includes at least: charging spring lamination；The charging spring lamination is set to the side on chassis；
The automatic charge device is when the robot electric quantity is less than setting value, Automatic-searching charging base, by the charging
Elastic slice is connect with the charging base, is charged to the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811060979.6A CN109110249A (en) | 2018-09-12 | 2018-09-12 | A kind of dispensing machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811060979.6A CN109110249A (en) | 2018-09-12 | 2018-09-12 | A kind of dispensing machine people |
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| CN109110249A true CN109110249A (en) | 2019-01-01 |
Family
ID=64859271
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811060979.6A Pending CN109110249A (en) | 2018-09-12 | 2018-09-12 | A kind of dispensing machine people |
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| CN (1) | CN109110249A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109877850A (en) * | 2019-04-01 | 2019-06-14 | 福州大学 | One kind being based on indoor intelligent delivery service system and device and its working method |
| CN110189483A (en) * | 2019-06-03 | 2019-08-30 | 顺丰科技有限公司 | Robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium |
| CN110223422A (en) * | 2019-05-30 | 2019-09-10 | 日立楼宇技术（广州）有限公司 | Method, apparatus, robot and the system of the current gate inhibition of robot |
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112396744A (en) * | 2019-08-15 | 2021-02-23 | 纳恩博（北京）科技有限公司 | Method and device for passing interception device, storage medium and electronic device |
| CN112476446A (en) * | 2020-11-19 | 2021-03-12 | 郑州科技学院 | Intelligent delivery robot |
| CN113044496A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Storage mechanism who opens door |
| CN113359734A (en) * | 2021-06-15 | 2021-09-07 | 苏州工业园区报关有限公司 | Logistics auxiliary robot based on AI |
| CN114770544A (en) * | 2022-05-10 | 2022-07-22 | 苏州优智达机器人有限公司 | Distribution robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877850A (en) * | 2019-04-01 | 2019-06-14 | 福州大学 | One kind being based on indoor intelligent delivery service system and device and its working method |
| CN110223422A (en) * | 2019-05-30 | 2019-09-10 | 日立楼宇技术（广州）有限公司 | Method, apparatus, robot and the system of the current gate inhibition of robot |
| CN110189483A (en) * | 2019-06-03 | 2019-08-30 | 顺丰科技有限公司 | Robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium |
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112396744A (en) * | 2019-08-15 | 2021-02-23 | 纳恩博（北京）科技有限公司 | Method and device for passing interception device, storage medium and electronic device |
| CN113044496A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Storage mechanism who opens door |
| CN112476446A (en) * | 2020-11-19 | 2021-03-12 | 郑州科技学院 | Intelligent delivery robot |
| CN113359734A (en) * | 2021-06-15 | 2021-09-07 | 苏州工业园区报关有限公司 | Logistics auxiliary robot based on AI |
| CN114770544A (en) * | 2022-05-10 | 2022-07-22 | 苏州优智达机器人有限公司 | Distribution robot |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Applicant before: SUZHOU BOZHONG ROBOT Co.,Ltd. |