CN111682610A - Robot distribution method - Google Patents
Robot distribution method Download PDFInfo
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- CN111682610A CN111682610A CN202010520847.8A CN202010520847A CN111682610A CN 111682610 A CN111682610 A CN 111682610A CN 202010520847 A CN202010520847 A CN 202010520847A CN 111682610 A CN111682610 A CN 111682610A
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- robot
- intelligent container
- electric quantity
- value
- threshold value
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
- H02J7/342—The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot distribution method, wherein in the process of carrying out distribution by a robot on an intelligent container, the robot and the intelligent container respectively detect the current electric quantity values of the robot and the intelligent container, and if the current electric quantity value of one of the robot and the intelligent container is lower than the preset electric quantity threshold value of the robot or the intelligent container, alarm information is sent to a scheduling management background; the dispatching management background acquires the current electric quantity value of the other party, and if the current electric quantity value of the other party is higher than the electric quantity threshold value of the other party, the dispatching management background sends a mutual charging instruction to the robot and the intelligent container, and the party with the current electric quantity value higher than the electric quantity threshold value charges the party with the current electric quantity value lower than the electric quantity threshold value; and if the current electric quantity value of the other party is also lower than the electric quantity threshold value, the dispatching management background sends a charging pile returning instruction to the robot, and the robot returns to charge the charging pile and then continues to execute the distribution task. The invention can ensure that the task interruption can not occur when one of the robot and the intelligent container has low electric quantity, thereby improving the distribution efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot distribution method.
Background
When the existing robot executes the distribution task, the receiving point may be temporarily unmanned or a plurality of persons may take objects in different time, so the robot and the container are designed to be separable, and the robot transports the container to the appointed point, then unloads the container, and continues to execute the next distribution task.
In the above scheme, the robot and the packing cupboard all adopt battery powered, and in the delivery transportation, if the condition of low electric quantity appears in robot or intelligent packing cupboard, then the delivery task is interrupted, need to return to fill electric pile at once and charge back and continue the delivery, so come and go back the round trip time and the latency of charging that fill electric pile once and lead to the delivery task delay, cause the delivery inefficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot distribution method which can ensure that the task is not interrupted when low electric quantity occurs in one of a robot and an intelligent container in the process of carrying the intelligent container by a robot and distributing the intelligent container and improve the distribution efficiency.
The invention is realized by the following technical scheme: a robot distribution method, in the distribution process of a robot bearing an intelligent container,
the robot and the intelligent container respectively detect the current electric quantity values of the robot and the intelligent container, and if the current electric quantity value of one of the robot and the intelligent container is lower than the preset electric quantity threshold value of the robot or the intelligent container, alarm information is sent to a scheduling management background;
the dispatching management background acquires the current electric quantity value of the other party, if the current electric quantity value of the other party is higher than the electric quantity threshold value of the other party, the dispatching management background sends a mutual charging instruction to the robot and the intelligent container, the robot and the intelligent container are charged mutually, and the party with the current electric quantity value higher than the electric quantity threshold value charges the party with the current electric quantity value lower than the electric quantity threshold value;
and if the current electric quantity value of the other party is also lower than the electric quantity threshold value, the dispatching management background sends a charging pile returning instruction to the robot, and the robot returns to charge the charging pile and then continues to execute the distribution task.
Further, when the robot and the intelligent container are charged mutually, and the current electric quantity value of one of the robot and the intelligent container is higher than the electric quantity threshold value of the robot or the intelligent container, the robot transports the intelligent container to the destination and then returns to the charging pile for charging.
Further, when the electric quantity of the robot is low in the distribution process, the robot and the intelligent container are charged mutually, the robot does not transport the intelligent container to the destination, and under the condition that the current electric quantity value of the intelligent container is lower than the electric quantity threshold value, the intelligent container sends out alarm information to the scheduling management background, the scheduling management background sends an instruction to enable the robot to return to charge the charging pile, and the robot continues to execute distribution tasks after charging to transport the intelligent container to the destination.
Further, when the electric quantity of the intelligent container is low in the distribution process, the robot and the intelligent container are charged mutually, the robot does not transport the intelligent container to the destination, the current electric quantity value of the intelligent container is lower than the electric quantity threshold value of the intelligent container, and under the condition that the current electric quantity value of the robot is lower than the electric quantity threshold value of the robot, the robot sends out alarm information to the scheduling management background, the scheduling management background sends out an instruction to enable the robot to return to charge the charging pile, and the robot continues to execute the distribution task after charging to transport the intelligent container to the destination.
Furthermore, the robot or the intelligent container has low electric quantity on one of the two sides and is interrupted in communication with the scheduling management background, and the robot and the intelligent container are directly connected in communication through communication equipment, so that interaction between electric quantity information and a charging process is realized.
Further, the mutual charging mode of the robot and the intelligent container is wired charging, and the outer surface of the robot bearing the intelligent container and the outer surface of the bottom of the intelligent container are both provided with contacts.
Furthermore, the robot and the intelligent container are charged in a wireless mode, induction coils are arranged on the inner surface of the robot bearing the intelligent container and the inner surface of the bottom of the intelligent container, wireless communication modules are arranged on the robot and the intelligent container respectively, and the robot and the intelligent container finish interaction of instruction information such as electric quantity information, a charging process and the like through the wireless communication modules.
The invention has the advantages of
Compared with the prior art, in the process that the robot bears the intelligent container to deliver, the robot detects the current electric quantity value of the robot, the intelligent container detects the current electric quantity value of the intelligent container, when the current electric quantity value of the robot is lower than the preset electric quantity threshold value of the robot and the current electric quantity value of the intelligent container is higher than the preset electric quantity threshold value of the intelligent container, the scheduling management background sends a mutual charging instruction to the robot and the intelligent container, at the moment, the robot is set to be in a charging mode, the intelligent container is set to be in a discharging mode, and the intelligent container supplies power to the robot; when the current electric quantity value of the intelligent container is lower than the preset electric quantity threshold value, and the current electric quantity value of the robot is higher than the preset electric quantity threshold value, the scheduling management background sends a mutual charging instruction to the robot and the intelligent container, the intelligent container is set to be in a charging mode at the moment, the robot is set to be in a discharging mode, the robot supplies power to the intelligent container, therefore, the robot and the intelligent container are charged mutually in a two-way mode, the robot is guaranteed to bear the intelligent container to carry out distribution, task interruption cannot occur when one of the robot and the intelligent container has low electric quantity, and distribution efficiency is improved.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a schematic diagram of a work flow of the robot during distribution when the power of the robot is low;
FIG. 3 is a schematic diagram of a work flow when the intelligent container is low in power during distribution.
Detailed Description
The present invention will be further described with reference to the following examples.
Referring to fig. 1, fig. 1 is a system architecture diagram of the present invention, which includes a server, a scheduling management background, a communication device, an intelligent container, and a robot, wherein,
a server: and the physical medium for running of the scheduling management background realizes the system running and the database running of the scheduling management background.
A scheduling management background: unified management to robot and intelligent packing cupboard is realized.
The communication device: the wireless communication networking capability is provided, and various wireless communication modes (such as WiFi, Ethernet, 4G communication, 433MHz communication and the like) can be adopted.
The robot comprises: the intelligent container is responsible for transporting the intelligent container to carry out unmanned distribution tasks, and the intelligent container has an autonomous navigation and obstacle avoidance function.
The intelligent container: and the robot is used for storing articles and carrying out unmanned distribution in combination with the robot.
In the process of carrying the intelligent container by the robot for distribution,
the robot and the intelligent container respectively detect the current electric quantity values of the robot and the intelligent container, and if the current electric quantity value of one of the robot and the intelligent container is lower than the preset electric quantity threshold value of the robot or the intelligent container, alarm information is sent to a scheduling management background;
the dispatching management background acquires the current electric quantity value of the other party, and if the current electric quantity value of the other party is higher than the electric quantity threshold value of the other party, the dispatching management background sends a mutual charging instruction to the robot and the intelligent container, and the party with the current electric quantity value higher than the electric quantity threshold value charges the party with the current electric quantity value lower than the electric quantity threshold value;
and if the current electric quantity value of the other party is also lower than the electric quantity threshold value, the dispatching management background sends a charging pile returning instruction to the robot, and the robot returns to charge the charging pile and then continues to execute the distribution task.
Referring to fig. 2, the specific working steps when the robot is low in power during the distribution process are as follows:
in the process of carrying the intelligent container by the robot for distribution,
s1, the robot detects the current electric quantity value of the robot and the intelligent container detects the current electric quantity value of the intelligent container.
S2: and the robot judges whether the current electric quantity value is lower than the electric quantity threshold value or not according to the detected current electric quantity value, and if so, the robot sends alarm information to a scheduling management background.
The electric quantity threshold of the robot is a preset electric quantity threshold of the robot, and the scheduling management background carries out information interaction with the robot through the communication equipment.
S3: the dispatching management background is communicated with the intelligent container to obtain the current electric quantity value of the intelligent container and the electric quantity threshold value of the intelligent container, whether the current electric quantity value of the intelligent container is higher than the electric quantity threshold value of the intelligent container or not is judged according to the current electric quantity value of the intelligent container, if not, the dispatching management background sends a return charging pile instruction to the robot, the robot returns to charge the charging pile and then continues to execute a distribution task, if yes, the dispatching management background sends a mutual charging instruction to the robot and the intelligent container, the intelligent container is set to be in a discharging mode, the robot is set to be in a charging mode, and the robot starts to charge.
The electric quantity threshold value of the intelligent container is set by the intelligent container, and the scheduling management background performs information interaction with the intelligent container through the communication equipment.
S4: when the robot and the intelligent container are charged mutually, and under the condition that the current electric quantity value of the intelligent container is higher than the electric quantity threshold value of the intelligent container, the robot returns to charge the charging pile after the robot transports the intelligent container to the destination.
S5, when the robot and the intelligent container are charged mutually, the robot does not transport the intelligent container to the destination, and the current electric quantity value of the intelligent container is lower than the electric quantity threshold value, the intelligent container sends alarm information to the scheduling management background, the scheduling management background sends an instruction to enable the robot to return to the charging pile for charging, and the robot returns to the charging pile for charging and then continues to execute the distribution task.
Wherein, in the mutual charging of robot and intelligent packing cupboard, and the robot transport the process of intelligent packing cupboard when, robot and intelligent packing cupboard respectively constantly detect the current electric quantity value of updating its own.
Referring to fig. 3, the specific working steps when the intelligent container is low in power during distribution are as follows:
in the process of carrying the intelligent container by the robot for distribution,
s5, the robot detects the current electric quantity value of the robot and the intelligent container detects the current electric quantity value of the intelligent container.
S6: and the intelligent container judges whether the current electric quantity value is lower than the electric quantity threshold value or not according to the detected current electric quantity value, and if so, the intelligent container sends out high-warning information to the scheduling management background.
S7: the dispatching management background is communicated with the robot to obtain a current electric quantity value of the robot and an electric quantity threshold value of the robot, whether the current electric quantity value of the robot is higher than the electric quantity threshold value of the robot or not is judged according to the current electric quantity value of the robot, if not, the dispatching management background sends a command of returning to charge a pile to the robot, the robot returns to charge the pile and then continues to execute a delivery task, if yes, the dispatching management background sends a mutual charging command to the robot and an intelligent container, the intelligent container is set to be in a charging mode, the robot is set to be in a discharging mode, and the intelligent container starts to be charged.
S8: when the robot and the intelligent container are charged mutually, under the condition that the current electric quantity value of the robot is higher than the electric quantity threshold value of the robot, the robot transports the intelligent container to the destination, and the robot transports the intelligent container to return to charge the charging pile.
S9: when the robot and the intelligent container are charged mutually, the current electric quantity value of the intelligent container is lower than the electric quantity threshold value of the intelligent container, the robot does not transport the intelligent container to the destination, and under the condition that the current electric quantity value of the robot is lower than the electric quantity threshold value of the robot, the robot sends alarm information to the scheduling management background, the scheduling management background sends an instruction to enable the robot to return to charge the charging pile, and the robot returns to charge the charging pile and then continues to execute a distribution task.
In the distribution process, when the current electric quantity value of the robot is lower than a preset electric quantity threshold value and the current electric quantity value of the intelligent container is higher than the preset electric quantity threshold value, the scheduling management background sends a mutual charging instruction to the robot and the intelligent container, the robot is set to be in a charging mode, the intelligent container is set to be in a discharging mode, and the intelligent container supplies power to the robot; when the current electric quantity value of the intelligent container is lower than the preset electric quantity threshold value, and the current electric quantity value of the robot is higher than the preset electric quantity threshold value, the scheduling management background sends a mutual charging instruction to the robot and the intelligent container, the intelligent container is set to be in a charging mode at the moment, the robot is set to be in a discharging mode, the robot supplies power to the intelligent container, therefore, the robot and the intelligent container are charged mutually in a two-way mode, the robot or the intelligent container cannot be interrupted when one of the robot and the intelligent container has low electric quantity in the process of delivering the robot loaded intelligent container, and the delivery efficiency is improved.
When the robot bears the intelligent container to execute the distribution task, the intelligent container enters a low power consumption mode, only data monitoring and data communication are reserved, and electric quantity is saved. After the robot and the intelligent container are separated, the intelligent container returns to a normal working mode.
In the distribution process, under the condition that the electric quantity of one of the robot or the intelligent container is low, the robot or the intelligent container cannot communicate with a scheduling management background (such as an elevator/other signal shielding places), the robot and the intelligent container are directly communicated through communication equipment, and the interaction between the electric quantity information and the charging process is realized. In the distribution process, if the current electric quantity value of the robot is lower than the electric quantity threshold value of the robot and the current electric quantity value of the intelligent container is higher than the electric quantity threshold value of the intelligent container, the robot sends a mutual charging instruction to the intelligent container to request the intelligent container to charge the robot, otherwise, the robot charges the intelligent container, in the mutual charging process of the robot and the intelligent container, when the respective current electric quantity values of the intelligent container and the robot are lower than the respective electric quantity threshold values of the intelligent container and the robot, the robot does not transport the intelligent container to the destination, and the robot returns to charge the charging pile and then continues to execute the distribution task.
The robot and the intelligent container are charged in a wired mode, and contacts (for realizing charging and charging instruction transmission) are arranged on the outer surface of the robot bearing the intelligent container and the outer surface of the bottom of the intelligent container.
When the robot drags the intelligent container, the charging contact on the robot and the charging contact on the intelligent container are fully contacted, when the robot and the intelligent container do not receive the instruction of mutual charging, the contacts do not supply power, when the electric quantity is low when one of the robot and the intelligent container appears, the robot and the intelligent container receive the instruction of mutual charging, the mutual charging instruction information transmission is carried out through the contacts, the power supply state mode of the robot and the intelligent container is adjusted, and then the charging is carried out through the contacts. And after the charging is finished, the contact is disconnected for supplying power.
The robot and the intelligent container are charged wirelessly, the robot bears the inner surface of the intelligent container and the inner surface of the bottom of the intelligent container and are provided with induction coils, the robot and the intelligent container are respectively provided with a wireless communication module (such as Bluetooth), the robot and the intelligent container finish the interaction of instruction information such as electric quantity information and a charging process through the wireless communication module, when the robot or the intelligent container has low electric quantity, the robot and the intelligent container receive a mutual charging instruction through the wireless communication module respectively, a transmitting end and a receiving end of the induction coil are configured according to the electric quantity state, then the wireless charging is carried out, and after the charging is finished, the induction coil stops working.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A robot distribution method is characterized in that in the process of distributing by a robot bearing an intelligent container,
the robot and the intelligent container respectively detect the current electric quantity values of the robot and the intelligent container, and if the current electric quantity value of one of the robot and the intelligent container is lower than the preset electric quantity threshold value of the robot or the intelligent container, alarm information is sent to a scheduling management background;
the dispatching management background acquires the current electric quantity value of the other party, if the current electric quantity value of the other party is higher than the electric quantity threshold value of the other party, the dispatching management background sends a mutual charging instruction to the robot and the intelligent container, the robot and the intelligent container are charged mutually, and the party with the current electric quantity value higher than the electric quantity threshold value charges the party with the current electric quantity value lower than the electric quantity threshold value;
and if the current electric quantity value of the other party is also lower than the electric quantity threshold value, the dispatching management background sends a charging pile returning instruction to the robot, and the robot returns to charge the charging pile and then continues to execute the distribution task.
2. The robot distribution method of claim 1, wherein when the robot and the intelligent container are charged with each other and the current electric quantity value of one of the robot and the intelligent container is higher than the electric quantity threshold value, the robot transports the intelligent container to the destination and returns to the charging pile for charging.
3. The robot distribution method of claim 2, wherein when the robot has low power during distribution, the robot and the intelligent container are charged with each other, the robot does not transport the intelligent container to the destination, and when the current power value of the intelligent container is lower than the power threshold value, the intelligent container sends an alarm message to the scheduling management background, the scheduling management background sends an instruction to allow the robot to return to the charging pile for charging, and the robot continues to execute the distribution task after charging to transport the intelligent container to the destination.
4. The robot distribution method of claim 2, wherein when the intelligent container is low in power during distribution, the robot and the intelligent container are charged with each other, the robot does not transport the intelligent container to the destination, the current power value of the intelligent container is lower than the power threshold value, and when the current power value of the robot is lower than the power threshold value, the robot sends alarm information to the scheduling management background, the scheduling management background sends an instruction to allow the robot to return to the charging pile for charging, and the robot continues to execute a distribution task after charging to transport the intelligent container to the destination.
5. A robot distribution method as claimed in any one of claims 1 to 4, wherein the robot or the intelligent container has low power and the communication with the scheduling management background is interrupted, and the robot and the intelligent container directly establish communication connection through the communication device to realize the interaction between the power information and the charging process.
6. The robot distribution method of claim 5, wherein the robot and the intelligent container are charged by wire, and the outer surface of the robot carrying the intelligent container and the outer surface of the bottom of the intelligent container are provided with contacts.
7. The robot distribution method according to claim 5, wherein the robot and the intelligent container are charged wirelessly, the inner surface of the robot carrying the intelligent container and the inner surface of the bottom of the intelligent container are both provided with induction coils, the robot and the intelligent container are respectively provided with a wireless communication module, and the robot and the intelligent container complete the interaction of the power information, the charging process and other instruction information through the wireless communication module.
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| CN202010520847.8A CN111682610A (en) | 2020-06-09 | 2020-06-09 | Robot distribution method |
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| CN202010520847.8A CN111682610A (en) | 2020-06-09 | 2020-06-09 | Robot distribution method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179491A (en) * | 2021-04-29 | 2021-07-27 | 北京云迹科技有限公司 | Multi-network communication method, device, robot and storage medium |
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Address after: 510000 201, building a, No.19 nanxiangsan Road, Huangpu District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU SAITE INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510000 Room 303, 36 Kaitai Avenue, Huangpu District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU SAITE INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Application publication date: 20200918 |