CN109571502A - Robot allocator - Google Patents
Robot allocator Download PDFInfo
- Publication number
- CN109571502A CN109571502A CN201811649226.9A CN201811649226A CN109571502A CN 109571502 A CN109571502 A CN 109571502A CN 201811649226 A CN201811649226 A CN 201811649226A CN 109571502 A CN109571502 A CN 109571502A
- Authority
- CN
- China
- Prior art keywords
- robot
- addressee
- dispatching
- allocator
- pickup
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention provides a kind of robot allocators, the robot includes interaction portion and deepness image registration device, which comprises the robot passes through deepness image registration device in dispatching if encountering barrier on the way and judges whether the barrier is passerby；If the barrier is not passerby, detour passes through；If the barrier is passerby, the interactive portion is made to be promoted to the first predeterminated position, the interactive portion, which issues, requests the signal that gives way.Robot allocator according to the present invention, robot have blocked forward path in the people that dispatching encounters pedestrian on the way or plants oneself, it can be made to interact with passerby's generation by promoting interaction portion, passerby is allowed actively to give way.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot allocator.
Background technique
Extensive use has been obtained in multiple fields in robot allocator.In some scenes, such as indoor office
Scene, needs robot allocator to have human-computer interaction function, and this robot usually has the display for human-computer interaction
Screen.However, in order to allow the robot to it is stable moving and executing instruction, the height of robot is often lower.In such case
Under, robot is used between the display screen meeting and user of interaction cause user and robot interactive difficult there are certain distance.Separately
On the one hand, robot is frequently encountered passerby in dispatching on the way, for example pedestrian or the people to plant oneself have blocked the road to advance
Road, in this case, robot possibly can not pass through, and cause dispatching that can not carry out.
Summary of the invention
The present invention completes in view of above-mentioned current condition, its purpose is to provide a kind of robot allocator,
Promote the convenience of user and robot interactive and the success rate of dispatching.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of robot allocator, and the robot includes interaction portion and deepness image registration device,
The described method includes:
The robot passes through deepness image registration device in dispatching if encountering barrier on the way and judges the barrier
It whether is passerby；
If the barrier is not passerby, detour passes through；If the barrier is passerby, promote the interactive portion
To the first predeterminated position, the interactive portion, which issues, requests the signal that gives way.
In this case, robot has blocked forward path in the people that dispatching encounters pedestrian on the way or plants oneself,
It can be made to interact with passerby's generation by promoting interaction portion, passerby is allowed actively to give way.
Wherein, if the barrier is not passerby, detour passes through；If the barrier is passerby, make described
Interaction portion is promoted to the first predeterminated position, and the interactive portion, which issues, requests the signal that gives way, specifically further include:
If the robot can not pass through, the robot sends fault message to O&M terminal.Machine human hair as a result,
After raw failure, can independently it report an error to operation maintenance personnel, to be handled in time.
Wherein, the method also includes:
After the robot reaches dispatching destination address, establishes and communicate to connect with addressee.In this case, addressee
It could be aware that object has been sent to, it can timely pickup.
Wherein, it after the robot reaches dispatching destination address, establishes and communicates to connect with addressee, specifically further include:
The robot send the robot to the mobile terminal of the addressee where location information or described
Robot and the addressee establish call connection, and the location information of the robot is broadcasted to addressee.Addressee's root as a result,
According to the location information received, convenient for finding the robot pickup.
Wherein, it after the robot reaches dispatching destination address, establishes and communicates to connect with addressee, specifically further include:
The robot send the robot to the mobile terminal of the addressee where location information and pickup code,
Or the robot and the addressee establish call connection, to robot described in addressee's voice broadcast location information and
Pickup code.In this case, addressee can complete pickup according to robot location's information and pickup code.
Wherein, it after the robot reaches dispatching destination address, establishes and communicates to connect with addressee, the method is also wrapped
It includes:
If the object of the robot dispatching is removed within the first predetermined time, the robot is left；If described
The object of robot dispatching is not removed within first predetermined time, then call connection, notice are established with the addressee
Addressee's pickup.After the robot waits the predetermined time as a result, object is not removed yet, then calls addressee again
Pickup, with hoisting machine task efficiency.
Wherein, the object of robot dispatching is not removed within first predetermined time, then with the addressee
After the step of establishing call connection, notifying addressee's pickup, the method also includes:
If the object of the robot dispatching is removed within second scheduled time, the robot is left；If described
The object of robot dispatching is not removed within second predetermined time, then sends the mobile end of prompt information to addressee
End, the robot leaves.In this case, it solves due to user's non-pickup always and causes robot working time quilt
The problem of occupancy.
Wherein, the robot includes receiving cabin and hatchcover, and lifting platform is arranged in the receiving bilge portion, and the lifting platform is set
Set sensor；If the object of the robot dispatching is removed within the first predetermined time, the robot is left；If
The object of the robot dispatching is not removed within first predetermined time, then call connection is established with the addressee,
The step of notifying addressee's pickup, specifically further include:
After the load capacity of the sensor sensing to the lifting platform changes, the hatchcover is closed, the machine
People confirms that the object is removed.Robot can determine whether object is removed as a result, and cabin is automatically closed after object taking-up
Lid.
Wherein, after the load capacity of the sensor sensing to the lifting platform changes, the hatchcover is closed, described
Robot confirms the step of object is removed, and specifically includes:
After the load capacity of the sensor sensing to the lifting platform changes, whether the robot sending is completed
The standby signal of pickup；
After the robot receives the instruction that confirmation pickup is completed, the hatchcover is closed, and the robot confirms the object
Part is removed.In this case, hatchcover is turned off after user confirms to complete pickup, it is ensured that the completion of pickup step.
Wherein, after the load capacity of the sensor sensing to the lifting platform changes, the hatchcover is closed, described
Robot confirms the step of object is removed, and specifically includes:
If the hatchcover can not close, the robot sends fault message to O&M terminal.Event occurs for robot as a result,
It after barrier, can independently report an error to operation maintenance personnel, to be handled in time.
Provided robot allocator according to the present invention, robot encounter pedestrian in dispatching on the way or plant oneself
People blocked forward path, it can be made to generate with passerby by promoting interaction portion and interact, passerby's active is allowed to give way.
Detailed description of the invention
Fig. 1 shows the stereochemical structure signal of the robot of robot allocator involved in embodiments of the present invention
Figure；
Fig. 2 shows under the interaction mode of the robot of robot allocator involved in embodiments of the present invention
Schematic perspective view；
Fig. 3 shows the flow diagram of robot allocator involved in embodiments of the present invention；
Fig. 4 shows the flow diagram of another kind robot allocator involved in embodiments of the present invention；
Fig. 5 shows the flow diagram of another kind robot allocator involved in embodiments of the present invention；
Fig. 6 shows the flow diagram of another kind robot allocator involved in embodiments of the present invention；
Fig. 7 shows the flow diagram of another kind robot allocator involved in embodiments of the present invention.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 and Fig. 2 respectively illustrates the schematic perspective view of robot 1 according to the present invention.Robot 1 includes handing over
Mutual portion 10, inductor 20, receiving cabin 50, hatchcover 40 and deepness image registration device (RGBD).
As shown in figure 3, the present invention, which provides a kind of robot, send part method.Method includes:
301, whether robot 1 passes through deepness image registration device disturbance in judgement object in dispatching if encountering barrier on the way
For passerby.
If 302, barrier is not passerby, detour passes through.
If 303, barrier is passerby, interactive portion 10 is made to be promoted to the first predeterminated position, interaction portion 10 issues request and allows
Row signal.
In this case, robot 1 has blocked forward path in the people that dispatching encounters pedestrian on the way or plants oneself,
It can be made to interact with passerby's generation by promoting interaction portion 10, allow passerby actively to give way, improve the success rate being dispensed into.
In some instances, passerby can be the pedestrian or static people for stopping 1 travelling route of robot.
In the present embodiment, interaction portion 10 can have display screen 11.Display screen 11 can show that request is given way signal.
In some instances, display screen 11 can show the expression or text that request is given way.In some instances, request give way signal can
To be the voice signal or instruction modulating signal of the sending of robot 1.
It promotes certain altitude specifically, the first predeterminated position can be interactive portion 10 and overturns the position after predetermined angle
It sets.The first elevating mechanism (not shown) is fixed in interaction portion 10.First elevating mechanism is for promoting interactive portion 10.
In some instances, as shown in Figure 1, interaction portion 10 may include close to 1 bottom of robot first end 12 and with
The opposite second end 13 of first end 12.First elevating mechanism promotes 10 to the first predeterminated position of interaction portion, what first end 12 was promoted
Height is greater than the height that second end 13 is promoted.In this case, interaction portion 10 may be implemented to overturn to its direction of improvement default
Angle.
In the present embodiment, after deepness image registration device (RGBD) recognizes the face information of passerby, interaction is promoted
Portion 10.In some instances, lower part of the body feature of the deepness image registration device (RGBD) to the pedestrian for blocking the forward road of robot
It is detected, after identifying feature, promotes interaction portion 10.
In the present embodiment, step 302, step 303, specifically further include:
If robot 1 can not pass through, robot 1 sends fault message to O&M terminal.
It after robot 1 breaks down as a result, can independently report an error to operation maintenance personnel, to be handled in time.
In some instances, O&M terminal can be to provide the server of O&M service, cloud, operation maintenance personnel mobile end
End equipment etc..After robot 1 sends fault message to O&M terminal, robot can independently be back to preset location.It is default
Place can be the servicing area of robot 1.
In the present embodiment, as shown in figure 4, the method also includes:
304, it after robot 1 reaches dispatching destination address, establishes and communicates to connect with addressee.
In this case, addressee could be aware that object has been sent to, can timely pickup.
It is understood that communication connection can be the mobile phone that robot puts through mobile phone people.Addressee connect mobile phone or
Access failure mobile phone can be understood as establishing communication connection.Communication connection is established, it is short to addressee's transmission to be also possible to robot
Letter or wechat etc. means of communication.
In some instances, dispatching destination address can be robot and need to dispense the address information gone to.
In the present embodiment, step 304 is specific further include:
Location information from robot 1 to the mobile terminal distribution of machine people 1 of addressee or robot 1 and addressee where
People establishes call connection, and the location information of robot 1 is broadcasted to addressee.
Addressee is according to the location information received as a result, convenient for finding robot 1 and pickup.
In the present embodiment, step 304 is specific further include:
Location information from robot 1 to the mobile terminal distribution of machine people of addressee and pickup code or robot where
Call connection is established with addressee, to the location information and pickup code of addressee's voice broadcast robot 1.
In this case, addressee can complete pickup according to the location information and pickup code of robot 1.
In the present embodiment, as shown in figure 5, after step 304, the method also includes:
If 305, the object that robot 1 dispenses is removed within the first predetermined time, robot 1 is left.
If 306, the object that robot 1 dispenses is not removed within the first predetermined time, call is established with addressee and is connected
It connects, notifies addressee's pickup.
After robot waits the predetermined time as a result, object is not removed yet, then calls addressee's pickup again, to be promoted
Machine task efficiency.
In the present embodiment, the first predetermined time can be 3min.It can be understood that the first predetermined time can also be with
It is other times.In the present embodiment, after robot 1 and addressee establish communication connection, 3min, the addressee in 3min are waited
Call connection is then established in the non-pickup of people with addressee, notifies addressee's pickup secondary.
In the present embodiment, as shown in fig. 6, after step 306, the method also includes:
If 307, the object of robot dispatching is removed within second scheduled time, robot is left.
If 308, the object of robot dispatching is not removed within second scheduled time, prompt information is sent to addressee
Mobile terminal, robot leaves, and executes other tasks.
In this case, it solves and the robot working time is caused occupied to ask due to user's non-pickup always
Topic.
In the present embodiment, the second predetermined time can be 5min.It can be understood that the first predetermined time can also be with
It is other times.In the present embodiment, after robot 1 and addressee establish call connection, 5min, the addressee in 5min are waited
The non-pickup of people, then robot leaves.And the non-pickup success of addressee is prompted, robot 1 has been moved off.
In the present embodiment, as shown in Fig. 2, robot 1 includes receiving cabin 50 and hatchcover 40.Accommodate the setting of 50 bottom of cabin
Lifting platform 51.Sensor is arranged in lifting platform 51.
In the present embodiment, step 305 and step 306, specifically further include:
After the load capacity of sensor sensing to lifting platform 51 changes, hatchcover 40 is closed, and robot 1 confirms the object
Part is removed.
Robot 1 can determine whether object is removed as a result, and hatchcover 40 is automatically closed after object taking-up.
In some instances, sensor can be load cell.The pressure that sensor measurement lifting platform 51 is born occurs
When variation, the control system of robot 1 is fed back to.In some instances, the load capacity of sensor sensing to lifting platform 51 is sent out
After changing, and within a preset time, the load capacity that sensor sense should not arrive lifting platform 51 changes, and hatchcover 40 closes
It closes.In this case, it leaves client's enough time for and completes pickup.Preset time can be 30s.It is understood that default
Time can be other time.
In the present embodiment, as shown in fig. 7, after the load capacity of sensor sensing to lifting platform 51 changes, cabin
Lid 40 is closed, and robot 1 confirms the step of object is removed, specifically includes:
701, after the load capacity of sensor sensing to lifting platform 51 changes, whether the sending of robot 1 completes pickup
Standby signal.
702, after robot receives the instruction that confirmation pickup is completed, hatchcover 40 is closed, and robot 1 confirms that the object is taken
Out.
In this case, hatchcover is turned off after user confirms to complete pickup, it is ensured that the completion of pickup step.
In some instances, after the load capacity of sensor sensing to lifting platform 51 changes, the display of display screen 11 is mentioned
Show signal.Standby signal may include completing pickup option and unfinished pickup option.User selects to complete pickup option, hatchcover
40 close.User selects not completing pickup option, and hatchcover 40 continues to be kept open.
In some instances, after the load capacity of sensor sensing to lifting platform 51 changes, display screen 11 can be shown
Show that hatchcover 40 closes the signal of countdown.In this case, user is facilitated to know the shut-in time of hatchcover 40, facilitate user and
When pickup.
In some instances, after the load capacity of sensor sensing to lifting platform 51 changes, robot 1 can be issued
Voice prompting signal.User can be confirmed by voice completes pickup, or informs that robot 1 does not complete pickup.
In the present embodiment, after the load capacity of sensor sensing to lifting platform 51 changes, hatchcover 40 is closed, machine
Device people confirms the step of object is removed, and specifically includes:
If hatchcover 40 can not close, robot 1 sends fault message to O&M terminal.
It after robot 1 breaks down as a result, can independently report an error to operation maintenance personnel, to be handled in time.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of robot allocator, the robot includes interaction portion and deepness image registration device, which is characterized in that institute
The method of stating includes:
The robot passes through whether deepness image registration device judges the barrier on the way in dispatching if encountering barrier
For passerby；
If the barrier is not passerby, detour passes through；If the barrier is passerby, the interactive portion is made to be promoted to
One predeterminated position, the interactive portion, which issues, requests the signal that gives way.
2. robot allocator as described in claim 1, which is characterized in that if the barrier is not passerby,
Detour passes through；If the barrier is passerby, the interactive portion is made to be promoted to the first predeterminated position, the interactive portion, which issues, to be asked
The signal that gives way is sought, specifically further include:
If the robot can not pass through, the robot sends fault message to O&M terminal.
3. robot allocator as described in claim 1, which is characterized in that the method also includes:
After the robot reaches dispatching destination address, establishes and communicate to connect with addressee.
4. robot allocator as claimed in claim 3, which is characterized in that the robot reaches dispatching destination address
Afterwards, it establishes and communicates to connect with addressee, specifically further include:
The robot send the robot to the mobile terminal of the addressee where location information or the machine
People and the addressee establish call connection, and Xiang Suoshu addressee broadcasts the location information of the robot.
5. robot allocator as claimed in claim 3, which is characterized in that the robot reaches dispatching destination address
Afterwards, it establishes and communicates to connect with addressee, specifically further include:
The robot send the robot to the mobile terminal of the addressee where location information and pickup code, or
The robot and the addressee establish call connection, the location information of robot described in Xiang Suoshu addressee's voice broadcast and
Pickup code.
6. robot allocator as claimed in claim 3, which is characterized in that the robot reaches dispatching destination address
Afterwards, it establishes and communicates to connect with addressee, the method also includes:
If the object of the robot dispatching is removed within the first predetermined time, the robot is left；If the machine
The object of people's dispatching is not removed within first predetermined time, then establishes call with the addressee and connect, described in notice
Addressee's pickup.
7. robot allocator as claimed in claim 6, which is characterized in that the object of robot dispatching is described the
After the step of not being removed in one predetermined time, then establishing call connection with the addressee, notify addressee's pickup,
The method also includes:
If the object of the robot dispatching is removed within second scheduled time, the robot is left；If the machine
The object of people's dispatching is not removed within second predetermined time, then sends the mobile terminal of prompt information to addressee, institute
Robot is stated to leave.
8. robot allocator as claimed in claim 6, which is characterized in that the robot includes accommodating cabin and hatchcover,
Lifting platform is arranged in the receiving bilge portion, and sensor is arranged in the lifting platform；If the object of robot dispatching is the
It is removed in one predetermined time, then the robot leaves；If the object of the robot dispatching is in first predetermined time
The step of not being removed inside, then establishing call connection with the addressee, notify addressee's pickup, specifically further include:
After the load capacity of the sensor sensing to the lifting platform changes, the hatchcover is closed, and the robot is true
Recognize the object to be removed.
9. robot allocator as claimed in claim 8, which is characterized in that the sensor sensing to the lifting platform
After load capacity changes, the hatchcover is closed, and the robot confirms the step of object is removed, and is specifically included:
After the load capacity of the sensor sensing to the lifting platform changes, whether the robot sending completes pickup
Standby signal；
After the robot receives the instruction that confirmation pickup is completed, the hatchcover is closed, and the robot confirms the object quilt
It takes out.
10. robot allocator as claimed in claim 8, which is characterized in that the sensor sensing to the lifting platform
Load capacity change after, the hatchcover is closed, and the robot confirms the step of object is removed, specific to wrap
It includes:
If the hatchcover can not close, the robot sends fault message to O&M terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649226.9A CN109571502A (en) | 2018-12-30 | 2018-12-30 | Robot allocator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649226.9A CN109571502A (en) | 2018-12-30 | 2018-12-30 | Robot allocator |
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| CN109571502A true CN109571502A (en) | 2019-04-05 |
Family
ID=65914973
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| CN201811649226.9A Pending CN109571502A (en) | 2018-12-30 | 2018-12-30 | Robot allocator |
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Cited By (4)
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| WO2020229451A1 (en) * | 2019-05-16 | 2020-11-19 | Starship Technologies Oü | Method, robot and system for interacting with actors or item recipients |
| CN113829349A (en) * | 2021-10-09 | 2021-12-24 | 北京云迹科技有限公司 | Robot delivery method and device, electronic equipment and storage medium |
| WO2022127439A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市普渡科技有限公司 | Robot obstacle avoidance processing method and apparatus, device, and computer readable storage medium |
| CN115042210A (en) * | 2022-07-25 | 2022-09-13 | 河南云迹智能技术有限公司 | Robot article delivery method and device |
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