CN109623836A - Dispensing machine people - Google Patents
Dispensing machine people Download PDFInfo
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- CN109623836A CN109623836A CN201811526019.4A CN201811526019A CN109623836A CN 109623836 A CN109623836 A CN 109623836A CN 201811526019 A CN201811526019 A CN 201811526019A CN 109623836 A CN109623836 A CN 109623836A
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- control panel
- order
- dispensing machine
- machine people
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- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
-
- 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
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Economics (AREA)
- Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- Accounting & Taxation (AREA)
- Finance (AREA)
- Elevator Control (AREA)
Abstract
The embodiment of the invention discloses a kind of dispensing machine people.The dispensing machine people of the embodiment of the present invention includes mobile system, navigation positioning system, door drive system, the first control panel and the second control panel.Wherein, mobile system is for driving the robot mobile, navigation positioning system is used for navigator fix, door drive system is used to control the opening and closing of door, first control panel is for controlling the mobile system and door drive system, second control panel is for running computer instruction and the first control board communications to indirectly control the mobile system, the navigation positioning system and the door drive system, preferably, second control panel is additionally configured to interact with elevator control system to call elevator.As a result, the dispensing machine people that the manager of dispensing machine people can produce different robots manufacturer is managed collectively, while the function of dispensing machine people is increased, to promote the dispatching efficiency of dispensing machine people.
Description
Technical field
The present invention, which discloses, is related to field of computer technology, and in particular to a kind of dispensing machine people.
Background technique
With the continuous development of science and technology, the order means of distribution of electric business industry also becomes more and more diversified, such as based on
The means of distribution of unmanned plane, dispensing machine people etc..Being commonly used for the dispensing machine people that dispatching uses is bought from manufacturer, robot
's.The function of dispensing machine people is arranged different, the dispatching of uniform machinery people manufacturer production sometimes in different manufacturers, robot
The function of robot is also likely to be present difference, therefore for electric business enterprise, can generate can not be managed collectively dispensing machine people
The case where, to reduce the dispatching efficiency of dispensing machine people.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of dispensing machine people, so that manager's (example of dispensing machine people
Such as, electric business enterprise) the dispensing machine people of different robots manufacturer production can be managed collectively, while increasing dispensing machines
The function of device people, to promote the dispatching efficiency of dispensing machine people.
In a first aspect, the embodiment of the invention provides a kind of dispensing machine people, the robot includes:
Mobile system, for driving the robot mobile；
Navigation positioning system is used for navigator fix；
Door drive system, for controlling the opening and closing of door；
First control panel, for controlling the mobile system and door drive system；And
Second control panel, for running computer instruction and the first control board communications, to indirectly control the movement
System, the navigation positioning system and the door drive system；
Second control panel is additionally configured to interact with elevator control system to call elevator.
Preferably, second control panel is additionally configured to obtain elevator current location, and identifies the state of elevator chamber door.
Preferably, second control panel is additionally configured to the order information and elevator controlling of the dispatching order according to delivery
The dock floor of elevator is arranged in system interaction.
Preferably, second control panel is additionally configured to according to elevator dispatching information and the order dispatch instruction received
It is interacted with elevator control system and the mobile system and door control system is indirectly controlled by first control panel
System is to dispense dispatching target.
Preferably, second control panel is configured as receiving order dispatch instruction, receives assigned order information.
Preferably, the order information that second control panel is configured to respond to order delivery instructions is ordered with what is be assigned
Single information mismatches, and refusal is prompted to be delivered.
Preferably, second control panel is configured to respond to receive matched order delivery instructions, and generates storehouse
Door control instruction is sent to first control panel to control door drive system.
Preferably, second control panel is configured to respond to receive order delivery instructions, obtains the dispatching of delivery
The order information of order, and generate door control instruction and be sent to first control panel to control door drive system.
Preferably, second control panel is configured to respond to receive order taking-up instruction, obtains the order and takes
Corresponding storage silo position is instructed out, is generated corresponding door control instruction and is sent to first control panel, and more new state
Information.
Preferably, second control panel is configured as downloading cartographic information, and the cartographic information is transmitted to described
First control panel.
The dispensing machine people of the embodiment of the present invention includes mobile system, navigation positioning system, door drive system, the first control
Making sheet and the second control panel.Wherein, for mobile system for driving the robot mobile, navigation positioning system is fixed for navigating
Position, door drive system are used to control the opening and closing of door, and the first control panel is for controlling the mobile system and door driving system
System, the second control panel is for running computer instruction and the first control board communications to indirectly control the mobile system, institute
State navigation positioning system and the door drive system, it is preferable that second control panel is additionally configured to and elevator controlling system
System interaction is to call elevator.As a result, the dispensing machines that the manager of dispensing machine people can produce different robots manufacturer
Device people is managed collectively, while increasing the function of dispensing machine people, to promote the dispatching efficiency of dispensing machine people.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, the above and other purposes of the present invention, feature and
Advantage will be apparent from, in the accompanying drawings:
Fig. 1 is the structural block diagram of the dispensing machine people of the embodiment of the present invention；
Fig. 2 is the schematic diagram of the second control panel of the embodiment of the present invention；
Fig. 3 is another schematic diagram of the second control panel of the embodiment of the present invention；
Fig. 4 is a kind of process of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Figure；
Fig. 5 is another stream of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Cheng Tu；
Fig. 6 is another stream of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Cheng Tu；
Fig. 7 is the schematic diagram in building where the dispensing machine people of the embodiment of the present invention；
Fig. 8 is that the dispensing machine people of the embodiment of the present invention is moved to the schematic diagram of elevator stop position.
Specific embodiment
The present invention is disclosed below based on embodiment and is described, but the present invention discloses and is not restricted to these implementations
Example.It is detailed to describe some specific detail sections below in datail description disclosed by the invention.To those skilled in the art
Of the invention disclose can also be understood completely in the description of part without these details for member.It is disclosed by the invention in order to avoid obscuring
Essence, there is no narrations in detail for well known method, process, process, element and circuit.
In addition, it should be understood by one skilled in the art that provided herein attached drawing be provided to explanation purpose, and
What attached drawing was not necessarily drawn to scale.
Unless the context clearly requires otherwise, "include", "comprise" otherwise throughout the specification and claims etc. are similar
Word should be construed as the meaning for including rather than exclusive or exhaustive meaning；That is, be " including but not limited to " contains
Justice.
In description disclosed by the invention, it is to be understood that term " first ", " second " etc. are used for description purposes only,
It is not understood to indicate or imply relative importance.In addition, in description disclosed by the invention, it is unless otherwise indicated, " more
It is a " it is meant that two or more.
Being commonly used for the dispensing machine people that dispatching uses is bought from manufacturer, robot.Different manufacturers pair, robot
May be different in the function setting of dispensing machine people, dispensing machine people's function of the different batches of same manufacturer, the robot production
It is also likely to be present difference.For electric business enterprise, dispensing machine people can not be managed collectively, therefore will lead to dispensing machines
The management difficulty of device people is higher, to have an impact to dispatching efficiency.
Fig. 1 is the structural block diagram of the dispensing machine people of the embodiment of the present invention.As shown in Figure 1, the dispensing machine of the present embodiment
People includes mobile system 11, navigation positioning system 12, door drive system 13, the first control panel 14 and the second control panel 15.Its
In, for mobile system 11 for driving the robot mobile, navigation positioning system 12 is used for navigator fix, door drive system 13
For controlling the opening and closing of door, the first control panel 14 is for controlling mobile system 11 and door drive system 13, the second control panel
15 for running computer instruction and the first control board communications to indirectly control mobile system 11, navigation positioning system 12 and door
Drive system 13.It should be understood that mobile system 11, navigation positioning system 12, door drive system 13 and the first control panel 14
To be provided by manufacturer, robot, thus, it is only necessary to which dispensing machine people can be realized the function of mobile, navigator fix and door opening and closing
?.Second control panel 15 can voluntarily be accessed according to actual needs by the manager of dispensing machine people.Thus, it is possible to pass through the
Two control panels 15 control dispensing machine people completes different work according to different computer instructions, so as to increase dispatching
It is realized while the function of robot and unified, efficient management is carried out to whole dispensing machine people.
Specifically, mobile system 11 is used to drive the movement of dispensing machine people, may include driving device (for example, stepping
Motor, servo motor etc.), driving wheel, driven wheel etc., according to actual needs, mobile system 11 can also include other devices, example
Such as obtaining the detection device etc. of the speed, acceleration of dispensing machine people.Navigation positioning system 12 may include camera,
Infrared detection device etc., for carrying out navigator fix, avoiding barrier etc. according to the image information around dispensing machine people.Door
Drive system 13 is used to drive the opening and closing of the door of the storage silo of dispensing machine people, more specifically, can be according to the type of door
Drive door opening and closing.For example, door drive system can be by changing electromagnetic field intensity to drive storehouse if door is electromagnetic door
The opening and closing of door.Control panel is one kind of circuit board, and in the present embodiment, control panel can play control dispensing machine people and complete not
With the effect of work.First control panel 14 can directly control mobile system 11 and door drive system 13, more specifically
Ground, the first control panel 14 can control the moving direction of dispensing machine people, movement speed etc., can also be to control system of bin gate 13
Transmitting instruction, controls the opening and closing of door.
Second control panel executes different functions by running computer program instructions, enables dispensing machine people and electricity
Ladder interaction carries out to be moved between different floors in building interior by elevator and the mobile system of itself to user
The dispatching of sending objects.
Fig. 2 is the schematic diagram of the second control panel of the embodiment of the present invention.As shown in Fig. 2, the control panel: including at least one
Processor 201；And the memory 202 with the communication connection of at least one processor 201；And it is communicated to connect with scanning means
Communication component 203, communication component 203 sends and receivees data under the control of processor 201；Wherein, memory 202 stores
There is the instruction that can be executed by least one processor 201, instruction is executed by least one processor 201 to realize following step.
Specifically, which includes: one or more processors 201 and memory 202, is handled in Fig. 2 with one
For device 201.Processor 201, memory 202 can be connected by bus or other modes, to be connected by bus in Fig. 2
For.Memory 202 be used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software program,
Non-volatile computer executable program and module.Processor 201 is stored in non-volatile in memory 202 by operation
Software program, instruction and module, thereby executing the various function application and data processing of equipment, i.e. realization following step.
Memory 202 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；It storage data area can the Save option list etc..In addition, memory 202 can be with
It can also include nonvolatile memory, for example, at least disk memory, a flash memory including high-speed random access memory
Device or other non-volatile solid state memory parts.In some embodiments, it includes relative to processor that memory 202 is optional
201 remotely located memories, these remote memories can pass through network connection to external equipment.The example packet of above-mentioned network
Include but be not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more module is stored in memory 202, when being executed by one or more processor 201, is held
Arbitrary steps in the following embodiments of row.
Step provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect, the not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present application.
Optionally, the second control panel can also include display device, input/output (I/O) device etc..It should be understood that processing
Device 201, memory 202,203 display device of communication component and input/output (I/O) device etc. can by bus or its
He connects mode.
In an optional implementation, the second control panel can be operation Android or the electronics of IOS operating system is set
It is standby, the first control is connected to by industrial bus interface or general serial or parallel bus interface or wireless communication interface
Plate.Second control panel by application program (APP) Lai Shixian of the operation fuel charge in operating system according to intended service logic into
Row dispatching.
Fig. 3 is another schematic diagram of the second control panel of the embodiment of the present invention.As shown in figure 3, the second control panel is at least
Including communication unit 31, map download unit 32 and elevator interactive unit 33.
Wherein, communication unit 31 is used to communicate with server, user terminal, dispatching staff terminal etc., so as to
The order information of dispatching order is obtained from server, dispatching staff terminal, and reaches the destination address of order in dispensing machine people
Rear line terminal sends notice.Map download unit 32 is used for download online map, can will be pre- where dispensing machine people
The cartographic information determined in range is locally downloading, it is possible thereby to the movement routine of information control robot according to the map.Elevator is handed over
Mutual unit 33 enables elevator control system according to the message pair of dispensing machine people for interacting with elevator control system
Elevator is scheduled.
It should be understood that according to actual needs, the second control panel can also include other units, so that dispensing machine people's energy
Enough there are more functions.
Dispensing machine people is when in delivery status is waited, and optionally, the second control panel 15 is configured as receiving order tune
Degree instruction, receives assigned order information.Dispensing machine people can instruct according to the order dispatch of server and obtain quilt as a result,
The dispatching target of the order of distribution.
Fig. 4 is a kind of process of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Figure.As shown in figure 4, dispensing machine people is when in delivery status is waited, the method can be by the processing of the second control panel 15
Device is executed to realize:
Step S401 receives order dispatch instruction.
Step S402 obtains assigned order information.
Server can send order dispatch instruction to the second control panel 15, by scheduled dispatching Order splitting to the second control
Making sheet 15.After second control panel 15 receives order dispatch instruction, it can be instructed according to order dispatch and obtain assigned order
Information (that is, information of dispatching order).Wherein, order information may include the destination address of order note identification and order.Ying Li
Solution, order information can also include the corresponding terminal iidentification of order and the corresponding user information of terminal iidentification etc..
Step S403 receives order delivery instructions.
Step S404 obtains the order information of order delivery instructions.
Dispatching personnel can send order delivery to the second control panel 15 of dispensing machine people by dispatching staff terminal and refer to
It enables.After second control panel 15 receives order delivery instructions, the order information of available order delivery instructions.It should be understood that ordering
The order information of single delivery instructions includes at least order note identification.
Step S405, judges whether the order information of order delivery instructions matches with assigned order information.
In the order information (that is, second order information) of order delivery instructions and assigned order information (that is, the
One order information) mismatch when, enter step S406.Otherwise, S407 is entered step.
Step S406 prompts refusal to be delivered.
When the first order information and the second order information mismatch, the second control panel 15 can prompt refusal to be handed over
It pays.Dispatching personnel can send order delivery instructions to other dispensing machine human hairs after receiving prompt to be matched.
Step S407 generates door control instruction and is sent to the first control panel.
When the first order information matches (that is, receiving matched order delivery instructions) with the second order information, the
Two control panels 15 can be generated door control instruction and be sent to the first control panel 14 to control door drive system 13, to make
Obtaining dispatching personnel can be put into dispatching target in storehouse.
Optionally, the second control panel 15 can also to dispatching personnel terminal send prompting message, prompt order matching at
Function.As a result, dispensing machine people can instruct according to order dispatch obtains order information, and to the corresponding dispatching of order information
Target is dispensed.
Fig. 5 is another stream of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Cheng Tu.Optionally, as shown in figure 5, dispensing machine people is when in delivery status is waited, the method can be by the second control panel
15 processor is executed to realize:
Step S501 receives order delivery instructions.
In the order dispatch instruction for being not received by server transmission, in the dispensing machine people for waiting delivery status
It can receive the order delivery instructions that dispatching staff terminal sends.Specifically, dispatching staff terminal is received by the second control panel 15
The order delivery instructions of transmission.
Step S502 obtains the information of the dispatching order of delivery.
It wherein, include the information of dispatching order in order delivery instructions, therefore the second control panel 15 can be handed over according to order
Pay the information that instruction directly acquires dispatching order.The information of dispatching order may include the mark for dispensing order, dispatching order
Destination address etc..It should be understood that the information of dispatching order can also include the corresponding terminal iidentification of dispatching order and terminal iidentification pair
The user information etc. answered.
It should be understood that the second control panel 15 can be according to dispatching if only including the mark of dispatching order in order delivery instructions
The mark of order obtains the corresponding destination address of dispatching order from server.
Step S503 generates door control instruction and is sent to the first control panel.
After the information for obtaining the dispatching order delivered, the second control panel 15 can be generated door control instruction and be sent to first
Control panel 14 is to control door drive system 13.
Specifically, the second control panel 15 when receiving the order delivery instructions of terminal transmission, match by available delivery
The order information of order is sent, and generates door control instruction, so that door drive system 13 opens door so that dispatching
Dispatching target can be put into storehouse by personnel.Optionally, the second control panel 15 can also send prompt to the terminal of dispatching personnel
Message prompts order successful match.As a result, dispensing machine people can also be rear when being not received by order dispatch instruction
It is continuous that corresponding dispatching target is dispensed according to order information.
For example, the second control panel of dispensing machine people receive terminal 1 transmission order 1 order delivery instructions, second
Control panel obtains the order information of order 1, and controls door drive system and open the dispatching target that door receives order 1.Wait
In process to be delivered, the second control panel receives the order dispatch instruction of the order 2 of server transmission, thus waits order 2
Delivery.After the order dispatch instruction for receiving order 2, the order that the second control panel receives the order 3 of the transmission of terminal 2 is delivered
Instruction is mismatched with the order information of the order 2 of delivery, and the second control panel can prompt the dispatching personnel refusal for holding terminal 2
It is delivered.Second control panel receives the order delivery instructions of the order 2 of the transmission of terminal 3, the order with the order 2 of delivery again
Information matches, the second control panel can prompt the dispatching personnel's successful match for holding terminal 3, and control door drive system opening
The dispatching target of door reception order 2.
Fig. 6 is another stream of the control method of dispensing machine people in another optional implementation of the embodiment of the present invention
Cheng Tu.Optionally, as shown in fig. 6, dispensing machine people is when in delivery status is waited, the method can be by the second control panel
15 processor is executed to realize:
Step S601 receives order and takes out instruction.
Server can indicate in the locker that the dispatching target of each order is put into dispatching region by dispatching personnel.Dispatching
When robot needs to take out dispatching target from the storage silo of locker, server can be to the second control panel of dispensing machine people
15, which send order, takes out instruction.
Step S602 obtains order and takes out the corresponding storage silo position of instruction.
Wherein, the location information of the locker in order taking-up instruction where the storage silo including dispatching order, therefore the
Two control panels 15 directly can take out instruction according to order and obtain the corresponding storage silo position of order taking-up instruction.Preferably, it orders
Single take out can also include the information for dispensing order in instruction, and specifically, the information for dispensing order may include dispatching order
Mark, destination address of dispatching order etc..It should be understood that the information of dispatching order can also include the corresponding terminal mark of dispatching order
Know user information corresponding with terminal iidentification etc..
Step S603 generates corresponding door control instruction and is sent to the first control panel.
Second control panel 15 control dispensing machine people reaches order taking-up and corresponding storage bin is instructed to postpone, and can be generated
Door control instruction is sent to the first control panel 14 to control door drive system 13 to open door.Dispensing machine people as a result,
It can receive the dispatching target transported from the storing bin transfer of locker.
Step S604, more new state information.
After receiving the corresponding dispatching target of order taking-up instruction, the second control panel 15 can be to corresponding dispatching order
Status information is updated.Preferably, state updating information can also be sent to server by the second control panel 15, so that service
Device obtains the status information of newest order.
For example, the order that the second control panel of dispensing machine people receives order 1 takes out instruction, control dispensing machine people is moved
It moves the storage silo position of order 1 and controls door drive system and open the dispatching target that door receives order 1.In order 1
After dispatching target receives successfully, the second control panel can also be to for " dispatching, " by the state information updating of order 1
The state updating information of server transmission order 1.
When dispensing machine people needs boarding to dispense during dispatching, the second control panel 15 is configured as and elevator
Control system interaction is to call elevator.Dispensing machine people can be interacted by the second control panel 15 with elevator control system.
Specifically, dispensing machine people can send the first information to server by the second control panel 15, with tell the server itself mark
Knowledge, itself current floor and ladder request.Server can be according to the first information that each dispensing machine human hair is sent at least one
Elevator is scheduled, and sends elevator dispatching information to corresponding second control panel 15 according to the mark of dispensing machine people, to accuse
Know that dispensing machine people waits the elevator identification taken.Second control panel 15 can be according to elevator dispatching information to elevator control system
Elevator call request is sent, dispensing machine people can have the function of calling elevator as a result,.Meanwhile dispensing machine people is without matching
The mechanical arm for calling elevator is set, the manufacturing cost and use cost of dispensing machine people is reduced.
Optionally, the second control panel 15 is additionally configured to obtain elevator current location, and identifies the state of elevator chamber door.Tool
Body, the second control panel 15 can be by interacting with server, and server can send elevator tune to the second control panel 15
Information is spent, to inform that dispensing machine people waits the mark of the predetermined elevator taken of the elevator identification taken acquisition, the second control panel
15 can obtain the current location of the predetermined elevator taken according to the mark of elevator, and the second control panel 15 can be predetermined as a result,
The elevator of seating reaches dispensing machine people current floor before by indirectly controlling mobile system 11 to control dispensing machine people
It is moved to stop position of the elevator in dispensing machine people's current floor of predetermined seating.Dispensing machines are reached in the predetermined elevator taken
When device people's current floor, image information that the second control panel 15 can also be got according to the camera in navigation positioning system 12
Or the state of infrared detection device identification elevator chamber door, it is prepared in the elevator chamber door opening time control of the elevator and send robot entrance should
Elevator, dispensing machine people can have identification and take the function of elevator as a result,.
Specifically, the available image information of the second control panel 15, and image information is split, feature extraction, it obtains
The key point or set of keypoints in image information are taken, so that various identifications are carried out according to set of keypoints, as elevator chamber door is known
Not, Path Recognition, obstacle recognition etc., for example, can be according to " Zhang Handong, Xie Wei are known based on the robot target of image procossing
Not with electric information institute, positioning system Anhui University of Technology, Anhui Maanshan 243002 " in record method to elevator case
Door, path, barrier etc. are identified.
Fig. 7 is the schematic diagram in building where the dispensing machine people of the embodiment of the present invention.As shown in fig. 7, there are at one in building
It is robot 71,71 current floor of robot is at 1 layer in the dispensing machine people of dispatching state.There is also multiple elevators in building,
The predetermined elevator taken of middle robot 71 is elevator 72, and 72 current floor of elevator is at 4 layers.Fig. 8 is the dispatching of the embodiment of the present invention
Robot is moved to the schematic diagram of elevator stop position.Such as scheming as shown in figure 8, the second control panel 15 can control robot 71
Position 81 shown in 3 waits elevator 22, and wherein position 81 is stop position of the elevator 72 at 1 layer.1 layer of (tool is reached in elevator 72
Body, in-position 81) after, the second control panel 15 can identify the state of the chamber door of elevator 72, and beat in the chamber door of elevator 72
Robot 71 is controlled after opening and enters elevator 72, so that robot 71 can take elevator 72.
Optionally, the second control panel 15 is additionally configured to order information and the elevator controlling system of the dispatching order according to delivery
System interaction, is arranged the dock floor of elevator.Specifically, the second control panel 15 can send the second information to server, to inform
The destination address for each dispatching order delivered in server storage silo, server can be true according to the destination address of each dispatching order
The destination of fixed each dispatching order, and elevator dispatching is sent to corresponding second control panel 15 according to the mark of dispensing machine people
Information is to inform that dispensing machine people respectively dispenses the destination of order.Second control panel 15 can be according to elevator dispatching information to electricity
Terraced control system sends third message, so that the dock floor of elevator be arranged.Subsequent, the second control panel 15 can also be by elevator
The image of dock floor matched with the destination of each dispatching order, to be identified to elevator dock floor,
When elevator dock floor and the destination successful match of dispatching order, the second control panel 15 can also identify the shape of elevator chamber door
State is moved to floor by indirectly controlling mobile system 12 when elevator chamber door is opened to control dispensing machine people out of elevator
In.Dispensing machine people can have the function of across floor dispatching order as a result,.
It should be understood that the second control panel 15 can also determine respectively according to the destination address for each dispatching order delivered in storage silo
The destination of order is dispensed, and sends third message to elevator control system, so that the dock floor to elevator is reserved.
Optionally, the second control panel 15 is additionally configured to be handed over according to the order dispatch instruction received with elevator control system
Mutually, and by the first control panel 14 mobile system 11 and control system of bin gate 13 are indirectly controlled to match to dispatching target
It send.Second control panel 15 can be instructed according to order dispatch and be carried out with elevator control system when receiving order dispatch instruction
Interaction, dispensing machine people can have calling elevator, identification elevator and the function of taking elevator as a result,.Meanwhile second control panel
15 indirectly control mobile system 11 and control system of bin gate 13 by the first control panel 14, and dispensing machine people is moved simultaneously
Door is opened when user obtains dispatching target, dispensing machine people can have the function across floor dispatching as a result,.
Optionally, the second control panel 15 is configured to respond to reach the target position of dispatching order, to dispatching order pair
The terminal answered sends notice.Second control panel 15, can be with behind the target position that control dispensing machine people is moved to dispatching order
Notice is sent to the corresponding terminal of dispatching order.Thus, it is possible to which user is made to obtain the dispatching target for dispensing order according to notice.
Specifically, short massage notice can be sent to the corresponding terminal of dispatching order, net can also be sent to the corresponding terminal of dispatching order
Network notice.It, can also be in the form of phone to matching it should be understood that the second control panel is not limited in the above described manner notify user
The corresponding terminal of order is sent to be notified.
Preferably, the second control panel 15 is additionally configured to downloading cartographic information, and cartographic information is transmitted to the first control
Plate 14.Optionally, cartographic information can be by dispensing machine people or the previously-scanned map corresponding region of other equipment (in this implementation
Example in, that is, the preset range where dispensing machine people) actual environment obtain.The second control panel 15 can be by leading as a result,
Positioning system 12 of navigating obtains the location information of dispensing machine people, and according to the cartographic information planning dispatching stored in the first control panel
The movement routine of robot, at the same with mobile system 11 cooperate, allow dispensing machine people according to planning movement routine into
Row movement.Dispensing machine people information can dispense in different dispatching regions according to the map as a result,.
The dispensing machine people of the embodiment of the present invention includes mobile system, navigation positioning system, door drive system, the first control
Making sheet and the second control panel.Wherein, for mobile system for driving the robot mobile, navigation positioning system is fixed for navigating
Position, door drive system are used to control the opening and closing of door, and the first control panel is for controlling the mobile system and door driving system
System, the second control panel is for running computer instruction and the first control board communications to indirectly control the mobile system, institute
State navigation positioning system and the door drive system, it is preferable that second control panel is additionally configured to and elevator controlling system
System interaction is to call elevator.As a result, the dispensing machines that the manager of dispensing machine people can produce different robots manufacturer
Device people is managed collectively, while increasing the function of dispensing machine people, to promote the dispatching efficiency of dispensing machine people.
The embodiment of the invention discloses A1, a kind of dispensing machine people, the robot includes:
Mobile system, for driving the robot mobile；
Navigation positioning system is used for navigator fix；
Door drive system, for controlling the opening and closing of door；
First control panel, for controlling the mobile system and the door drive system；And
Second control panel, for running computer instruction and the first control board communications, to indirectly control the movement
System, the navigation positioning system and the door drive system；
Second control panel is additionally configured to interact with elevator control system to call elevator.
In A2, dispensing machine people as described in a1, second control panel is additionally configured to obtain elevator current location, and
Identify the state of elevator chamber door.
In A3, dispensing machine people as described in a1, second control panel is additionally configured to the dispatching order according to delivery
Order information interacted with elevator control system, the dock floor of elevator is set.
In A4, dispensing machine people as described in a1, second control panel is additionally configured to according to the elevator tune received
Degree information and order dispatch instruction interact with elevator control system and indirectly control the movement by first control panel
System and the control system of bin gate are to dispense dispatching target.
In A5, dispensing machine people as described in a1, second control panel is configured as receiving order dispatch instruction, receives
Assigned order information.
In A6, dispensing machine people as described in a5, second control panel is configured to respond to order delivery instructions
Order information and assigned order information mismatch, and refusal is prompted to be delivered.
In A7, dispensing machine people as described in a5, second control panel is configured to respond to receive matched order
Single delivery instructions, and generate door control instruction and be sent to first control panel to control the door drive system.
In A8, dispensing machine people as described in a1, second control panel is configured to respond to receive order delivery
Instruction, obtains the order information of the dispatching order of delivery, and generates door control instruction and be sent to first control panel to control
Make the door drive system.
In A9, dispensing machine people as described in a1, second control panel is configured to respond to receive order taking-up
Instruction, obtains the order and takes out and instruct corresponding storage silo position, generates corresponding door control instruction and is sent to described the
One control panel, and more new state information.
In A10, dispensing machine people as described in a1, second control panel is configured as downloading cartographic information, and by institute
It states cartographic information and is transmitted to first control panel.
In A11, the dispensing machine people as described in A10, reality that the cartographic information passes through previously-scanned map corresponding region
Border environment obtains.
In A12, dispensing machine people as described in a1, second control panel is configured to respond to reach dispatching order
Target position sends notice to the corresponding terminal of the dispatching order.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of dispensing machine people, which is characterized in that the robot includes:
Mobile system, for driving the robot mobile；
Navigation positioning system is used for navigator fix；
Door drive system, for controlling the opening and closing of door；
First control panel, for controlling the mobile system and the door drive system；And
Second control panel, for run computer instruction and it is described first control board communications, with indirectly control the mobile system,
The navigation positioning system and the door drive system；
Second control panel is additionally configured to interact with elevator control system to call elevator.
2. dispensing machine people according to claim 1, which is characterized in that second control panel is additionally configured to obtain electricity
Terraced current location, and identify the state of elevator chamber door.
3. dispensing machine people according to claim 1, which is characterized in that second control panel is additionally configured to according to friendship
The order information for the dispatching order paid is interacted with elevator control system, and the dock floor of elevator is arranged.
4. dispensing machine people according to claim 1, which is characterized in that second control panel is additionally configured to basis and connects
The elevator dispatching information and order dispatch that receive are instructed to be interacted and to pass through first control panel indirect with elevator control system
The mobile system and the control system of bin gate are controlled to dispense to dispatching target.
5. dispensing machine people according to claim 1, which is characterized in that second control panel is configured as receiving order
Dispatch command receives assigned order information.
6. dispensing machine people according to claim 5, which is characterized in that second control panel is configured to respond to order
The order information of single delivery instructions and assigned order information mismatch, and refusal is prompted to be delivered.
7. dispensing machine people according to claim 5, which is characterized in that second control panel is configured to respond to connect
Matched order delivery instructions are received, and generates door control instruction and is sent to first control panel to control the door and drive
Dynamic system.
8. dispensing machine people according to claim 1, which is characterized in that second control panel is configured to respond to connect
Order delivery instructions are received, the order information of the dispatching order of delivery is obtained, and generates door control instruction and is sent to described the
One control panel is to control the door drive system.
9. dispensing machine people according to claim 1, which is characterized in that second control panel is configured to respond to connect
It receives order and takes out instruction, obtain the order and take out the corresponding storage silo position of instruction, generate corresponding door control instruction
It is sent to first control panel, and more new state information.
10. dispensing machine people according to claim 1, which is characterized in that second control panel is configured as downloading ground
Figure information, and the cartographic information is transmitted to first control panel.
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| CN201811526019.4A CN109623836A (en) | 2018-12-13 | 2018-12-13 | Dispensing machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811526019.4A CN109623836A (en) | 2018-12-13 | 2018-12-13 | Dispensing machine people |
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| CN110378648A (en) * | 2019-07-09 | 2019-10-25 | 河南省吉立达机器人有限公司 | Unmanned dispatching carrier dispatches system and method |
| CN110647129A (en) * | 2019-10-30 | 2020-01-03 | 广东博智林机器人有限公司 | Robot scheduling method, elevator scheduling method and system |
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| CN111413963A (en) * | 2020-02-20 | 2020-07-14 | 上海交通大学 | Multifunctional robot autonomous distribution method and system |
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