CN112566044B

CN112566044B - Method and system for updating information of automatic distribution equipment in network-free state

Info

Publication number: CN112566044B
Application number: CN202110223425.9A
Authority: CN
Inventors: 袁俊超; 陈桂芳; 赖志林; 周江涛
Original assignee: Guangzhou Saite Intelligent Technology Co Ltd
Current assignee: Guangzhou Saite Intelligent Technology Co Ltd
Priority date: 2021-03-01
Filing date: 2021-03-01
Publication date: 2021-06-18
Anticipated expiration: 2041-03-01
Also published as: CN112566044A

Abstract

The method and the system for updating the information of the automatic distribution equipment in the network-free state comprise the following steps: the network server assigns one or two distribution robots to form a tour interconnection group at regular time, and each distribution device updates the device information in the position state table in real time; when the network is disconnected, each distribution device establishes a plurality of interconnection groups based on the near field communication technology, and selects a master device and a slave device in the interconnection groups; after the network is disconnected, the patrol interconnection group collects and updates a position state table according to a preset patrol route, and the main equipment of each interconnection group is responsible for synchronously updating each distribution equipment in the interconnection group; after the network is recovered, the network server arranges the interconnection group information uploaded by all the main devices, and sends the interconnection group information to each distribution device for updating, and each distribution device recovers the normal use state. The invention can make the automatic distribution equipment keep basic information intercommunication after the network is disconnected, and can make the customer continue to use the distribution system according to the limited non-instant information.

Description

Method and system for updating information of automatic distribution equipment in network-free state

Technical Field

The invention relates to the field of automatic distribution, in particular to an information updating method and system of automatic distribution equipment in a network-free state.

Background

One existing automated distribution scheme is to manually or automatically store the articles in a storage cabinet (also called a conveyor), the goods are then transferred by the dispensing robot (or dispensing trolley) from the stowage bins into the storage space of the dispensing robot, or the articles are transferred from the storage cabinet to a detachable and movable distribution cabinet (also called an intelligent cabinet), then the distribution cabinet is transferred to the robot, finally the robot finishes the distribution of the articles or the distribution cabinet, the articles are directly transferred to the storage cabinet at the destination station after reaching the distribution destination, or the distribution cabinet is detached, the articles in the distribution cabinet are automatically transferred to the storage cabinet, the delivery or goods taking process does not need personnel to wait for the arrival of the distribution robot, the distribution robot does not need to wait for the storage or goods taking of the personnel, and the personnel and the distribution robot only need to store and take the goods from the storage cabinet at the delivery station or the receiving station.

In the distribution schemes, the distribution robots need to be connected with the storage cabinets and the distribution cabinets, the storage cabinets and the distribution cabinets need to be connected with each other, the distribution robots, the storage cabinets and the distribution cabinets need to be connected with the network all the time, the network server can obtain information such as task states of the robots, positions of the robots and the intelligent cabinets and available spaces of transmission devices, and the automatic distribution equipment such as the distribution robots, the storage cabinets and the distribution cabinets can be scheduled with tasks through the information. However, when the system is operated on the actual site, the network is disconnected due to reasons of equipment, maintenance needs and the like, so that the whole set of automatic distribution equipment cannot be used continuously, the experience of customers is affected, and the working efficiency of the whole distribution system is reduced.

Disclosure of Invention

The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and to provide an information updating method for an automatic distribution device based on short-range communication in a no-network state, and an information updating system for an automatic distribution device implementing the method, so that the automatic distribution device can maintain basic information intercommunication after a network is disconnected, and can allow a client to continue using the distribution system according to limited non-instant information.

The invention is realized by the following technical scheme:

an information updating method of automatic distribution equipment in a network-free state comprises the following steps:

updating the position state table: the method comprises the steps that a position state table records equipment information of all distribution equipment in a system, wherein the equipment information comprises equipment labels, equipment types, equipment positions, equipment storage states, equipment task states, interconnection time and table updating time of the equipment; each distribution device is configured with a position state table, and each distribution device updates the device information in the position state table in real time. Under the normal state of the network, the network server collects and updates the information in real time and sends the information to each distribution device in the system, and after the network is disconnected, each distribution device can only update the corresponding information on the position state table and cannot share the information; the distribution equipment comprises a distribution robot, a distribution cabinet and a storage cabinet.

And (3) constructing a tour interconnection group: under the normal state of the network, the network server assigns one or two delivery robots in the system at regular time to form a circulating interconnection group, and updates the members of the circulating interconnection group in real time according to the position and state information of the delivery robots, preferably the idle delivery robots.

Interconnection nearby: when the network is disconnected, the distribution equipment in the system forms a plurality of interconnected groups based on the near field communication technology, and the distribution equipment in each interconnected group can directly or indirectly carry out near field communication. The distribution devices in the interconnected group can exchange information through a near field communication technology, such as determining a network state, modifying time to synchronize each position state table to be latest information according to the table of the position state table, and the like.

Master-slave device allocation: selecting a master device and a slave device in each interconnection group according to a preset rule, wherein the master device directly or indirectly collects and arranges interconnection group information of the interconnection group and synchronizes an updated position state table to the slave devices in the interconnection group; the interconnection group information includes information in the location state tables on all the distribution devices in the interconnection group.

And (3) itinerant collection and updating: after the network is disconnected, the distribution robots in the itinerant interconnection groups collect information of all interconnection groups on the itinerant route according to the preset itinerant route, synchronously update the position state tables, synchronously update the latest position state tables to all the interconnection groups, obtain the latest position state tables after the itinerant traversal and the finishing, return the latest position state tables to all the interconnection groups one by one along the preset itinerant route, and update the latest position state tables to all the interconnection groups one by one during the return process; and each distribution device in the interconnection group realizes the collection of interconnection group information and the update of the position state table through near field communication. The step of collecting updates on the tour may set a certain time interval.

And (3) recovering the normal state: after the network is recovered, each interconnection group master device is responsible for uploading interconnection group information for updating the interconnection group to the network server, the network server obtains a latest position state table after sorting all the interconnection group information, and sends the latest position state table to each distribution device for updating, and each distribution device recovers a normal use state.

Further, the method for the tour collection update comprises the following steps:

after the network is disconnected, traversing each floor from a low floor to a high floor by the itinerant interconnection group according to a preset itinerant route, sequentially passing through the storage cabinets of each floor, carrying out near-distance communication with the storage cabinets, collecting interconnection group information of the interconnection group where each storage cabinet is located through the storage cabinets, transmitting the latest position state table to the main equipment of the interconnection group through the storage cabinets, and synchronously updating the position state table to the interconnection group through the main equipment; meanwhile, in the process of the tour, the system carries out close-range communication with distribution robots or distribution cabinets along the way, collects interconnection group information of interconnection groups where the distribution robots or the distribution cabinets are located through the distribution robots or the distribution cabinets, transmits the latest position state table to the main equipment of the interconnection groups through the distribution robots or the distribution cabinets, and synchronously updates the position state table to the interconnection groups through the main equipment.

The latest position state table is obtained after the highest floor is reached, then each floor is traversed from the high floor to the low floor according to a preset itinerant route, the steps of collecting and updating are the same as the steps above, the storage cabinets of each floor are sequentially passed through, the storage cabinets are in close-range communication with the storage cabinets, the storage cabinets are used for collecting interconnection group information of interconnection groups where the storage cabinets are located, and the latest position state table is synchronously updated to the interconnection groups; meanwhile, the system performs near field communication with distribution robots or distribution cabinets along the way, collects interconnection group information of interconnection groups where the distribution robots or the distribution cabinets are located through the distribution robots or the distribution cabinets, and synchronously updates the latest position state table to the interconnection groups through the distribution robots or the distribution cabinets.

The collection and the update of the information in each interconnection group depend on the distribution equipment (a storage cabinet, a distribution robot or a distribution cabinet) which is in close range communication with the patrol group in the interconnection group, the information is uploaded to the master equipment of the interconnection group through the distribution equipment, the master equipment updates the information to each slave equipment, the master equipment collects the equipment information of each slave equipment during collection and sends the equipment information to each slave equipment after integration, and the patrol equipment can obtain the interconnection group information through close range communication with any equipment of the interconnection group.

Further, the method for the network server to assign one or two delivery robots in the system to form the tour interconnection group is as follows: the network server assigns delivery robots close to delivery points to form a circuit interconnection group; when only one delivery robot is near a delivery point, assigning the delivery robot to independently form a circuit interconnection group; when a plurality of delivery robots are arranged near delivery points, one of the delivery robots is designated as a main itinerant device, the other delivery robot is designated as a slave itinerant device, an itinerant interconnection group is formed by the main itinerant device and the slave itinerant devices, and the main itinerant device is responsible for collecting and updating information of a position state table on the slave itinerant devices. And the delivery robots in the itinerant interconnection group normally execute delivery tasks when the network is normal, and execute itinerant tasks as members in the itinerant interconnection group only when the network is disconnected.

Further, when a circuit interconnection group is composed of a master circuit device and a slave circuit device, a method of circuit collection update is:

after the network is disconnected, the master itinerant equipment activates the slave itinerant equipment to be in a waiting state at regular time, the master itinerant equipment collects information of all interconnection groups on an itinerant route according to a preset itinerant route, synchronously updates a position state table, synchronously updates the latest position state table to all the interconnection groups, obtains the latest position state table after the itinerant traversal and then arranges the latest position state table (including updating the information of the distribution robots in the itinerant interconnection groups into the position state table), returns along the preset itinerant route, and updates the latest position state table to all the interconnection groups one by one during the return. And finally, the master itinerant device returns to the starting point to update the position state table on the slave itinerant device, and cancels the waiting state of the slave itinerant device.

If the slave itinerant equipment is not cancelled in the waiting state for more than the preset time, which indicates that the master itinerant equipment does not return, the slave itinerant equipment is automatically changed into new master itinerant equipment, and another delivery robot is assigned to be the new slave itinerant equipment and is activated to be in the waiting state; and then the new main itinerant equipment re-executes the tasks of collecting and updating the information of each interconnection group of the original main itinerant equipment according to the preset itinerant route.

If the new master itinerant equipment finds the original master itinerant equipment in the itinerant process and the original master itinerant equipment still runs, the new master itinerant equipment updates the collected information of each interconnection group to the original master itinerant equipment and returns to the starting point, the qualification and the itinerant waiting state of the slave itinerant equipment are cancelled, and the new master itinerant equipment is restored to the original slave itinerant equipment.

If the new main itinerant device finds the original main itinerant device during itinerant, but the original main itinerant device cannot move due to the reasons of being stuck and the like, the new main itinerant device cancels the qualification of the main itinerant device of the original main itinerant device, and continues to complete the remaining tasks of collecting and updating information of each interconnected group.

If the new main itinerant device does not find the original main itinerant device (due to power failure and the like) after the information of each interconnection group is collected, the new main itinerant device marks the information that the original main itinerant device loses response on the position state table, and continues to complete the remaining task of updating the information of each interconnection group, and the information is updated to each distribution device in the system at the same time.

Further, when the network is disconnected, the method for each distribution device to establish the interconnection group based on the near field communication technology includes:

each distribution device independently sends a detection signal at regular time, and detects whether the distribution devices meeting the conditions exist nearby; each distribution device returns a response signal if receiving a detection signal from the vicinity; if the distribution equipment receives the response signals from other distribution equipment, the distribution equipment which sends the detection signals and the distribution equipment which returns the response signals can establish an interconnection relationship; if no response signal is received, indicating that no other devices that can be interconnected are nearby, the distribution device alone establishes an interconnection group. All distribution equipment which can directly or indirectly establish the interconnection relationship in a certain range are formed into an interconnection group.

Further, when a certain distribution device in the interconnection group detects (sends a signal with feedback) a new device or a new interconnection group, the new device or the new interconnection group is added into the interconnection group to form a new interconnection group; and when the number of the devices in the interconnection group changes, reselecting a new main device according to a preset rule, and synchronizing the interconnection group information in the interconnection group.

Further, each distribution device is also configured with a node topology table, when the network is normal, the node topology table is stored in each device and does not work, when the network is disconnected to establish an interconnection group, each device maintains and updates the respective node topology table, and the node topology table includes the following information: the serial number of the current equipment, the number of slave nodes, a slave node serial number list, whether the current equipment is the master equipment of the interconnection group or not and the number of communication layers with the master equipment; when the current equipment establishes an interconnection relationship with other equipment, the current equipment is a master node, and the other equipment is a slave node; the slave node number refers to the number of devices establishing an interconnection relationship with the current device; the number of layers communicating with the master device refers to the number of interconnection relationships established between the current device and the master device. And in an interconnection group, selecting the equipment with the maximum number of slave nodes in the node topology table as a key node.

Further, the equipment storage state in the position state table includes whether the delivery robot is loaded with a delivery cabinet, whether an article is in the delivery cabinet, a storage position of the article in the delivery cabinet, whether an article is in the storage cabinet, and a storage position of the article in the storage cabinet; the device task state in the position state table is that the device is in an idle state, a distribution task state, an interconnection state, a circuit detection state or a response losing state.

Further, the preset rule allocated by the master device and the slave device is as follows:

when the devices in the interconnection group are the same devices (such as all distribution robots), selecting key nodes as main devices and the rest as slave devices according to the node topology table; when a plurality of key nodes exist in the interconnection group, selecting equipment with the smallest floor number in which the equipment is located in the key nodes as main equipment, and selecting other equipment as slave equipment; and if the floor numbers are the same, selecting the equipment with the minimum equipment number as the main equipment, and the other equipment as the slave equipment.

When the devices in the interconnected group are different devices (like a distribution robot and a distribution cabinet), selecting the device with the lowest mobility as a main device and the other devices as slave devices according to the mobility of each distribution device; if the lowest mobility equipment has a plurality of devices, selecting key nodes from the lowest mobility equipment as main equipment and the rest as slave equipment according to the node topology table; and if the number of the key nodes with the lowest mobility is multiple, selecting the equipment with the smallest floor number as the main equipment, and if the floor numbers are the same, selecting the equipment with the smallest equipment number as the main equipment. The mobility of the device is in the order from high to low: the distribution robot that carries out the task > the distribution robot that is idle > the distribution cabinet that pulls the state > the distribution cabinet that parks the state > the locker.

Further, the near field communication technology is 433M wireless communication, local area network WIFI, bluetooth or infrared.

The system comprises distribution equipment and a network server, wherein the distribution equipment comprises a distribution robot, a distribution cabinet and a storage cabinet.

Each distribution device is internally provided with a near field communication module, an information interaction module, a position state table, a node topology table, a battery module and a program control module.

The position state table records equipment information of all equipment, wherein the equipment information comprises equipment labels, equipment types, equipment positions, equipment storage states, equipment task states, interconnection time and table updating time of the equipment; and each distribution device updates the respective device information in the position state table in real time.

The node topology table is used for recording the following information by each distribution device when the network is disconnected and an interconnection group is established: the serial number of the current equipment, the number of slave nodes, a slave node serial number list, whether the current equipment is the master equipment of the interconnection group or not and the number of communication layers with the master equipment; when the current equipment establishes an interconnection relationship with other equipment, the current equipment is a master node, and the other equipment is a slave node; the slave node number refers to the number of devices establishing an interconnection relationship with the current device; the number of layers communicating with the master device refers to the number of interconnection relationships established between the current device and the master device.

The near field communication module is used for being closely interconnected with other distribution equipment within a certain range.

The information interaction module is used for carrying out information communication with other distribution equipment which are interconnected in a close range, and collecting information and issuing information.

And the battery module is used for supplying power to each distribution device.

The program control module is used for the program operation of the distribution equipment to execute the tasks of information collection, updating, master-slave equipment distribution and master-slave itinerant equipment distribution.

The distribution robot is provided with a positioning module, a moving module and a traction mechanism, wherein the positioning module is used for positioning the distribution robot, the moving module is used for moving to execute a tour collection updating task, and the traction mechanism is used for drawing the distribution cabinet.

The network server is in communication connection with each distribution device in a normal network state, collects, updates and synchronizes the position state table on each distribution device, and assigns distribution robots in the system at regular time to form a circuit interconnection group.

By using the technical schemes of a position state table, a nearby interconnection, master-slave equipment, a patrol interconnection group, a patrol collection and update and the like, the automatic distribution equipment can still keep basic information intercommunication after the network is disconnected, and a client can continue to use a distribution system according to limited non-instant information; the members of the itinerant interconnection group are served by a delivery robot which can realize the moving function, so that the members can make the best use of things and make the best use of things according to the conditions, the main itinerant equipment and the auxiliary itinerant equipment are arranged under the condition that the conditions allow, the auxiliary itinerant equipment avoids the situation that the main itinerant equipment cannot fulfill duties due to possible accidents, and when the auxiliary itinerant equipment needs to fulfill duties, the auxiliary itinerant equipment can be reassigned to new auxiliary itinerant equipment, so that the whole information updating system can be ensured to normally operate; based on near interconnection of a near field communication technology, by establishing interconnection groups, and arranging the master equipment and the slave equipment for internal information interaction in the interconnection groups, the information interaction is carried out among the interconnection groups, and the efficiency of itinerant collection and updating is improved.

The distribution equipment is provided with the node topology table, the node topology table is maintained when the network is disconnected and the interconnection group is established, the main equipment of the interconnection group is selected according to the mobility, the node topology table, the floor number, the equipment number and the like of the equipment, the establishment range of the interconnection group is expanded to the maximum extent, and the information interaction efficiency in the interconnection group is enhanced. The method for collecting and updating data in a circulating way enables information to be collected and data to be fused and updated at the same time, information real-time performance is enhanced, the data are collected and updated from low to high and then updated from high to low, full coverage of the data is achieved, the effective utilization rate of the data is high, the probability of encountering other distribution robots and distribution cabinets in the circulating process is high, and the updating missing probability is low. Meanwhile, the itinerant equipment only communicates with the main equipment without directly reaching the main equipment position of each interconnection group, and only communicates with any equipment in the interconnection group, so that the itinerant updating efficiency is improved.

Drawings

FIG. 1 is a general flow block diagram of the present invention.

Fig. 2 is a network connection diagram of each distribution device in an interconnection group according to an embodiment of the present invention.

FIG. 3 is a flow chart of the present invention for immediate interconnection and master-slave device assignment.

FIG. 4 is a schematic diagram of the space allocated for the nearby interconnect and the master-slave device in the present invention.

Fig. 5 is a flowchart of the operation of the circuit collection update of the main circuit device in the present invention.

Fig. 6 is a flowchart of the operation of collecting updates from the circuit of the circuit device in the present invention.

Reference numerals: 1-a storage cabinet; 2-a distribution cabinet; 3-a delivery robot; 4-a delivery point; 5-elevator.

Detailed Description

An information updating method for an automatic distribution device in a network-free state is shown in fig. 1, and includes the following steps:

1. location state table update

The location state table records equipment information of all distribution equipment in the system, and the equipment information comprises equipment labels, equipment types, equipment locations, equipment storage states, equipment task states, interconnection time and table updating time of the equipment. The location state table may use the device label fixed when each distribution device leaves the factory as the dividing and indexing basis, and the location state table is updated and maintained by the network server.

Each distribution device is provided with the position state table, and each distribution device updates the corresponding device information in the position state table in real time according to the sensor, the memory and the like installed in the distribution device. And under the normal state of the network, the network server collects, updates and synchronously issues the data to each distribution device in the system in real time. After the network is disconnected, the network server cannot maintain the updated location state table, but each distribution device can still update the corresponding device information in the location state table stored by the distribution device.

The distribution equipment comprises a distribution robot, a distribution cabinet and a storage cabinet. In some automated distribution systems, only a distribution robot and a locker may be included, for the case where the distribution robot is directly docked with the locker. Of course, the present invention is applicable to other types of automated distribution systems, but should include at least one mobile device, such as a distribution robot or a distribution cart, for information collection, sharing, and updating among other devices.

As an example, the device storage status in the location status table may include information such as whether the delivery robot is equipped with a delivery cabinet, whether there is an article on the delivery robot, a storage location of the article on the delivery robot, whether there is an article in the delivery cabinet, a storage location of the article in the delivery cabinet, whether there is an article in the storage cabinet, and a storage location of the article in the storage cabinet.

The task state of the device in the location state table may include that the device is in an idle state, a task delivery state, an interconnection state, a tour detection state, or a response loss state.

Formation of tour interconnection group

In a normal state of the network, the network server assigns one or two delivery robots in the system at regular time to form a circuit interconnection group, preferably assigns idle delivery robots in the system to form a circuit interconnection group, and the establishment of the circuit interconnection group prepares for automatic delivery equipment information updating in a network disconnection state. In the automatic distribution process, the real-time position, the storage state, the task state and the like of the distribution robot in the system can be changed in real time, and based on actual requirements, the members in the routing interconnection group need to be changed in real time according to the real-time state of the distribution robot in the system.

As one embodiment, the method for the network server to assign one or two delivery robots in the system to form the cyclic interconnection group includes:

the network server assigns the delivery robots close to the delivery point to form a circuit interconnection group, and preferentially assigns the idle robots near the delivery point. When only one delivery robot is near a delivery point, assigning the delivery robot to independently form a circuit interconnection group; when a plurality of delivery robots are arranged near delivery points, one of the delivery robots is designated as a main itinerant device, the other delivery robot is designated as a slave itinerant device, the slave itinerant device can be any delivery robot which can reach the range of the main itinerant device, an idle robot is preferred, and a robot close to the main itinerant device can be selected for time and labor saving. The main itinerant equipment and the subordinate itinerant equipment form an itinerant interconnection group, and the main itinerant equipment is responsible for collecting and updating information of a position state table on the subordinate itinerant equipment. The slave itinerant equipment is set to avoid the problem that information cannot be connected in series due to the fact that the master itinerant equipment is stuck and the like, and the purpose of enhancing the stability of the system is achieved. The slave itinerant device may be designated by the master itinerant device according to the distance, the idle state of the robot, and the like before the master itinerant device performs the itinerant collection update at the time of the network outage, and preferably, a delivery robot that is idle and close to the slave itinerant device is designated as the slave itinerant device.

When the network is normally connected, the delivery robot of the routing interconnection group executes normal delivery tasks just as other robots in the system, and the delivery robot is just used as a member of the routing interconnection group for standby. Whether it is the slave roving apparatus designated by the web server or the slave roving apparatus designated by the master roving apparatus, when the network is disconnected, the slave roving apparatus as a member of the roving interconnection group will no longer perform ordinary delivery tasks.

Interconnection nearby

When the network is disconnected, the distribution equipment in the system forms a plurality of interconnected groups based on the near field communication technology, and the distribution equipment in each interconnected group can directly or indirectly carry out near field communication. Each distribution device in the interconnected group can exchange information in real time based on the near field communication technology, such as determining the network state, modifying time according to the table of the position state table to synchronize each position state table to be the latest information, and the like. The proximity interconnect divides all devices in the system into interconnected groups that can communicate in respective circles. An interconnect group may include one or more distribution devices. The distribution equipment in one interconnected group can directly or indirectly communicate with each other to receive and transmit data, one distribution equipment can be connected with another distribution equipment through other intermediate distribution equipment, namely the equipment can be considered to indirectly communicate with another equipment, and the two equipment can be in the same interconnected group. Taking an interconnection group in fig. 2 as an example, device a and device B may communicate in a short distance, device a and device E may communicate in a short distance, device B and device E may not communicate in a short distance due to a long distance, but device B and device E may communicate through device a, and device a, device B, and device E may be regarded as the same interconnection group. As shown in fig. 2, device a, device B … …, device F, and both devices can communicate with each other through a direct or indirect relationship, thus forming an interconnection group.

The short-distance communication technology can adopt the existing technology and method, and the corresponding communication mode can be 433M wireless communication, local area network WIFI, Bluetooth or infrared and the like. The range of the area of the interconnected group depends on the communication distance of the near field communication technology.

As one embodiment, when the network is disconnected, the method for each distribution device to establish the interconnection group based on the near field communication technology includes:

as shown in fig. 3, each distribution device independently sends a "detect nearby device" signal at regular time, and detects whether there is a distribution device in the vicinity that meets the conditions; each distribution device returns a 'device response' signal if receiving a detection signal from the vicinity; if the distribution equipment sending the detection signal receives the response signal sent back from other distribution equipment, the distribution equipment sending the detection signal and the distribution equipment returning the response signal can establish an interconnection relationship; all distribution equipment which can directly or indirectly establish the interconnection relationship in a certain range are formed into an interconnection group. If no response signal is received, which indicates that no other devices which can be interconnected are nearby, the device alone establishes an interconnection group.

After the network is disconnected, the distribution equipment in the system continues to operate, for example, the distribution robot and the distribution cabinet carried on the distribution robot still operate in real time, and the position changes in real time, so that each interconnection group is an unstable structure and is in real-time updating. Therefore, when the devices in the interconnection group send a probe signal and no response signal is returned or a new response signal is returned, it indicates that the number of the devices in the interconnection group is changed. When a certain distribution device in the interconnection group detects (sends out a signal with new feedback) a new device or a new interconnection group, the new device or the new interconnection group is added into the interconnection group to form a new interconnection group.

Master slave device allocation

And selecting the master equipment and the slave equipment in each interconnection group according to a preset rule, wherein the master equipment directly or indirectly collects and arranges the interconnection group information of the interconnection group and synchronizes the updated position state table to the slave equipment in the interconnection group. The interconnection group information includes information in the location status tables of all distribution devices in the interconnection group.

The successful establishment of the interconnection group is represented as successful handshake in program communication, data can be directly or indirectly transmitted and received among devices in the interconnection group, each slave device can directly transmit a position state table of the slave device to the master device for comparison or indirectly transmit the position state table to the master device through other slave devices, the position state table is a summary table of information of all devices, the master device determines whether the data of each table of the master device is latest according to the last modification time of each sub-table on the position state table, if not, the data of each table is replaced by the latest table data (obtained from the slave device), and after the last comparison is finished, the information on the position state table is transmitted back to the slave device through near field communication; and the slave device directly covers the original data of the slave device, and then the updating is finished.

As one embodiment, each distribution device is further configured with a node topology table, when the network is normal, the node topology table stored in each device does not work, when the network is disconnected, and when an interconnection group is established, each device maintains and updates its respective node topology table, where the node topology table includes the following information: the serial number of the current equipment, the number of the slave nodes, a list of the serial numbers of the slave nodes, whether the current equipment is the master equipment of the interconnection group, and the number of communication layers with the master equipment. The above concept is illustrated as follows: when the current equipment establishes an interconnection relationship with other equipment, the current equipment is a master node, and the other equipment is a slave node; the slave node number refers to the number of devices establishing an interconnection relationship with the current device; the number of layers communicating with the master device refers to the number of interconnection relationships established between the current device and the master device. And in an interconnection group, selecting the equipment with the maximum number of slave nodes in the node topology table as a key node. Taking the interconnection group shown in fig. 2 as an example, the number of slave nodes of the device a is 4, the number of slave nodes of the device B is 3, the numbers of slave nodes of the device C and the device D are both 2, and the numbers of slave nodes of the device E and the device F are 1, so the device a is a key node. As seen from the master node of device a, device B, device C, device D, and device E are one-layer slave nodes (one communication distance from the master node a), and device F is a two-layer slave node (two communication distances from the master node a and one slave node D). The selection of the master and slave devices in the interconnection group can be based on the actual establishment of a selection rule, and as one implementation mode, the master and slave node devices can be determined according to the floor, the device label, the node topological table and the movement attribute. The preset rule for master-slave device allocation may specifically be:

And if the distribution equipment is an interconnection group consisting of only one distribution equipment, the distribution equipment is the main equipment and performs information interaction with the equipment outside the group.

Taking the automatic distribution system in a building containing a plurality of floors in fig. 4 as an example, the automatic distribution system comprises a distribution robot 3, a distribution cabinet 2 and a storage cabinet 1 which are distributed on each floor, the storage cabinet 1 is fixedly arranged, the distribution robot 3 transports the distribution cabinet 2, a distribution point 4 is arranged on the first floor, and each floor is connected through an elevator 5. A, B, C, D interconnection groups are formed according to a nearby interconnection method, the interconnection group A simultaneously comprises distribution cabinets 2 and storage cabinets 1, the storage cabinets 1 are selected as main equipment due to the lowest mobility of the storage cabinets 1, and the storage cabinets 1 on the third layer are selected as main equipment due to the fact that three storage cabinets 1 are arranged, and the number of slave nodes connected with the storage cabinet in the middle is the largest and is a key node; the interconnecting group B only has one distribution device, namely a storage cabinet 1, and the storage cabinet 1 is the main device of the interconnecting group; the interconnected group C comprises two storage cabinets 1, the number of slave nodes is the same, and the storage cabinet 1 with a small floor number is selected as main equipment; the interconnection group D includes both the delivery robot 3 and the delivery cabinets 2, and the delivery cabinets 2 in the parked state are selected as the master because the mobility of the delivery cabinets 2 in the parked state is the lowest. Group E in fig. 3 is a routing interconnection group, and includes two delivery robots 3, the delivery robot 3 located at the second floor is a master routing device, and the delivery robot 3 located near the delivery point 4 is a slave routing device.

When the number of devices in the interconnection group changes, a new master device needs to be reselected according to a preset rule (such as the rule mentioned above), and interconnection group information in the interconnection group needs to be synchronized.

The tour interconnection group is also an interconnection group in a sense that when only one delivery robot exists in the tour interconnection group, the tour interconnection group automatically updates the self information in the position state table; when the itinerant interconnection group consists of two robots serving as a master itinerant device and a slave itinerant device, the master itinerant device is the master device, the slave itinerant device is the slave device, and the master itinerant device is responsible for collecting and updating information of a position state table on the slave itinerant device.

If the master circuit device or the slave circuit device is added into other interconnection groups in the moving process (executing the task of circuit collection updating), the master circuit device or the slave circuit device can become the master device or the slave device of the interconnection group according to a preset rule, and when the master device becomes the master device, the master device is responsible for collecting or updating information of other devices in the interconnection group; when it is a slave, it synchronizes its information to the master within the interconnected group and collects or updates the information on the master. In this embodiment, since the tour device is a delivery robot, and is a device with high mobility, in order to simplify the determination operation, it may be directly and clearly defined, and when other interconnection groups detect that it is a master tour device or a slave tour device, it is not taken as a member in the interconnection group, and it only serves as a collection and distribution of intermediate information, similar to a contact person.

Itinerant collection update

After the network is disconnected, the distribution robots in the itinerant interconnection groups collect information of all interconnection groups on the itinerant route according to the preset itinerant route, synchronously update the position state tables, synchronously update the latest position state tables to all the interconnection groups, obtain the latest position state tables after the itinerant traversal and the finishing, return the latest position state tables to all the interconnection groups one by one along the preset itinerant route, and update the latest position state tables to all the interconnection groups one by one during the return process; and each distribution device in the interconnection group realizes the collection of interconnection group information and the update of the position state table through near field communication.

The predetermined itinerary can be any pre-specified itinerary, or can be planned in real time according to the real-time location of the main device, in principle covering as much as possible all areas of the system, in order to be able to traverse all the distribution devices in the system.

As one embodiment, the method for cyclically collecting updates is more specifically as follows:

The route on the same floor can follow a certain traversal route, and all the storage cabinets need to be traversed, and all the distribution equipment on the floor can be found as far as possible.

The method completes the fusion and the update of data while collecting information, so that the real-time performance of the information is enhanced, meanwhile, the information is collected and updated from low to high, the interconnection group at the lower layer collects early, the updated data is less, the interconnection group at the higher layer collects more data which is updated later, and then the data is updated from high to low, thereby achieving the characteristic of full coverage of the data and having high effective utilization rate of the data. Meanwhile, the probability of encountering other distribution robots and distribution cabinets in the itinerant process becomes high. Meanwhile, the robot is required to pass through the interconnection group along the way during distribution, so that the information interaction updating frequency is high, and the updating missing probability is not high. The itinerant equipment only communicates with the main equipment without directly reaching the main equipment position of each interconnection group, and only communicates with any equipment in the interconnection group, so that the itinerant efficiency is improved.

And the collection and the issue of the information in each interconnection group depend on the close range communication among the devices in the interconnection group, taking the interconnection group shown in fig. 2 as an example, if the mobility of each device is the same, the device a is selected as the main device of the interconnection group because the device a is the key node. The data collection process of the interconnection group is as follows: the master device A does not send own state table information, the slave device F sends an information uploading instruction and uploads own state table information, and if the other slave devices receive the information uploading instruction, the distance hierarchy between D and A is smaller than that of F, D forwards the F information to A; when D uploads the own state information, B receives the information of D, but the distance levels of B and D, A are the same, then B does not need to forward the data of D. When the device a finishes collecting and integrating data, a sends an information issuing instruction with updated state table information, the device B, C, D, E updates the state table after receiving the information, and simultaneously checks whether a next-layer slave node exists, if D has the slave node F, D forwards the state table to F, and after receiving F, D repeats the updating and judging process of D and updates the information to the subordinate slave nodes.

When a circuit interconnection group is composed of a master circuit device and a slave circuit device, a circuit collection updating method is as follows:

5.1 as shown in fig. 5, after the network is disconnected, the master routing device needs to perform routing update periodically, so that the slave routing device is activated periodically to be in a waiting state, the master routing device collects information of each interconnection group on the routing route according to a preset routing route, synchronously updates the position state table, synchronously updates the latest position state table to each interconnection group, arranges the latest position state table after routing traversal to obtain the latest position state table (including updating information of distribution robots in the routing interconnection group to the position state table), returns along the preset routing route, and updates the latest position state table to each interconnection group one by one during returning. And finally, the master itinerant device returns to the starting point to update the position state table in the slave itinerant device, and cancels the waiting state of the slave itinerant device. The steps of collecting and updating the data in the main tour device tour and the data interaction method in each interconnection group can refer to the foregoing description, and are not described herein again.

As shown in fig. 6, if the slave patrol apparatus is not canceled from the waiting state for more than a predetermined time (e.g., 1 hour), indicating that the master patrol apparatus is not returned, the slave patrol apparatus is automatically changed to a new master patrol apparatus, and another dispensing robot is assigned to the new slave patrol apparatus and activated to the waiting state; and then the new main itinerant equipment re-executes the tasks of collecting and updating the information of each interconnection group of the original main itinerant equipment according to the preset itinerant route. The new master itinerant equipment can find a delivery robot which is relatively close in distance, idle in state and small in label number according to the position state table, and the delivery robot is assigned as new slave itinerant equipment after reaching the position of the delivery robot.

If the new main itinerant device does not find the original main itinerant device (due to power failure and the like) after the information of each interconnection group is collected, the new main itinerant device marks the information that the original main itinerant device loses response on the position state table, and continues to complete the remaining tasks of collecting and updating the information of each interconnection group, and the information that the original main itinerant device loses response is updated to each distribution device in the system later.

If the new slave itinerant device is not canceled from the waiting state for more than a predetermined time (e.g., 1 hour), indicating that the new master itinerant device is not returned, the new slave itinerant device resumes the itinerant task in place of the new master itinerant device in the above-described method of 5.2 to 5.5.

The frequency of the above-mentioned itinerant collection update may be set to be executed once at a certain time interval, for example, once an hour, until the network is recovered. If the frequent itinerant time of the distribution task can be set to be short, the information is updated quickly.

The significance of the cyclic collection updating is to integrate the independent interconnection group data together and then update the data. The tour interconnection group plays a role in transferring information by running legs, and the information is updated by using the running legs of the robot, which is characterized in that a different place is discarded when a common network topology node fails.

The reason why the automatic distribution system cannot be used after being disconnected is that the network server cannot determine the state of each device, for example, it cannot know whether the intelligent cabinet is unloaded by the distribution robot a, whether articles are in the distribution cabinet B, and whether the storage cabinet C has enough space for storage. Losing this information, the web server cannot orchestrate the scheduling of whether a shipment can be pulled by the delivery robot a to place the item into the locker C. However, by the above-mentioned local interconnection and circuit collection method, the status of each distribution device in the system can be updated to the current latest status, so that each distribution device can provide the basic distribution function according to the current latest status information. Such as: after the patrol equipment updates the information, it is known that the delivery robot A on floor 1 does not carry a delivery cabinet, the delivery cabinet B also does not put articles in floor 1, and simultaneously the articles in the storage cabinet C are all taken out before 10 minutes, then the worker places the order in the delivery cabinet B and sends the articles to the storage cabinet C, the order placing is not limited by the program on the delivery cabinet B, and the delivery cabinet B can call the idle delivery robot A to take the articles and send the articles to the storage cabinet C.

Recovery from Normal State

After the network is recovered, each interconnection group master device is responsible for uploading interconnection group information for updating the interconnection group to the network server, and the network server obtains a latest position state table after sorting all the interconnection group information and issues the latest position state table to each distribution device for updating. And (4) each device restores to a normal use state and stops sending the signal of detecting the nearby device.

The near field communication module is used for being closely interconnected with other distribution equipment within a certain range. The short-range communication module can select 433M wireless communication module, local area network WIFI, Bluetooth, infrared and the like.

The information interaction module is used for carrying out information communication with other distribution equipment which are interconnected in a close range, and collecting information and issuing information. Such as data synchronization of the devices in the interconnection group, data interaction between the master device of the interconnection group and the master roving device of the roving interconnection group, and the like.

And the battery module is used for supplying power to each distribution device.

The program control module is used for the program operation of the distribution equipment to execute the tasks of information collection, updating, master-slave equipment distribution, master-slave itinerant equipment distribution and the like.

The delivery robot is provided with a positioning module, a moving module and a traction mechanism besides the modules of the general delivery equipment. The positioning module is used for positioning the positions of the delivery robots, and when the network is normally networked, the network server can designate appropriate itinerant equipment according to the positions of the delivery robots. The mobile module is used for moving to execute a tour collection updating task, including planning of a route, obstacle avoidance walking and the like. The traction mechanism is used for drawing the distribution cabinet. Generally, after the storage cabinet is deployed, the position information is fixed, the position of the distribution robot is updated in real time, and the position of the distribution cabinet generally moves along with the robot.

And the network server is in communication connection with each distribution device in a normal network state, collects, updates and synchronizes the device information in the position state table, and regularly assigns distribution robots in the system to form a circuit interconnection group.

It should be noted that the network disconnection in the present invention generally refers to a system-wide network disconnection, that is, all distribution devices in the system lose network connection with the network server, and the reason for the system-wide network disconnection is generally due to power outage and network maintenance. The distribution equipment is generally provided with a battery or a spare battery and still has the near field communication capability, so that the information of the automatic distribution equipment can be updated by the method of the invention. If the network is locally disconnected, namely, part of devices in the system cannot be in network connection with the network background server, the network-disconnected devices can also establish an interconnection group through the nearby interconnection scheme, the devices in the interconnection group determine whether the network is completely disconnected or locally disconnected according to respective network states, and if the network is locally disconnected, the network-disconnected devices can be connected with the network server through reconnection, restarting, alarming and other modes.

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

1. An information updating method for automatic distribution equipment in a network-free state is characterized by comprising the following steps:

updating the position state table: the method comprises the steps that a position state table records equipment information of all distribution equipment in a system, wherein the equipment information comprises equipment labels, equipment types, equipment positions, equipment storage states, equipment task states, interconnection time and table updating time of the equipment; each distribution device is provided with a position state table, each distribution device updates the device information in the position state table in real time, and the network server collects, updates and issues the device information to each distribution device in the system in real time under a normal network state; the distribution equipment comprises a distribution robot, a distribution cabinet and a storage cabinet;

and (3) constructing a circuit interconnection group: under the normal state of the network, the network server assigns one or two delivery robots in the system at regular time to form a circulating interconnection group, and preferably selects an idle delivery robot;

interconnection nearby: when the network is disconnected, based on the near field communication technology, the distribution equipment in the system forms a plurality of interconnected groups, and the distribution equipment in each interconnected group can directly or indirectly carry out near field communication;

master-slave device allocation: selecting a master device and a slave device in each interconnection group according to a preset rule, wherein the master device collects and arranges interconnection group information of the interconnection group and synchronizes an updated position state table to the slave devices in the interconnection group; the interconnection group information comprises information in position state tables of all distribution equipment in the interconnection group;

and (3) itinerant collection and updating: after the network is disconnected, the distribution robots in the itinerant interconnection groups collect information of all interconnection groups on the itinerant route according to the preset itinerant route, synchronously update the position state tables, synchronously update the latest position state tables to all the interconnection groups, obtain the latest position state tables after the itinerant traversal and the finishing, return the latest position state tables to all the interconnection groups one by one along the preset itinerant route, and update the latest position state tables to all the interconnection groups one by one during the return process; each distribution device in the interconnection group realizes the collection of interconnection group information and the update of a position state table through near field communication;

and (3) recovering the normal state: after the network is recovered, each interconnection group master device is responsible for uploading interconnection group information for updating the interconnection group to the network server, the network server sorts the interconnection group information to obtain a latest position state table, the latest position state table is issued to each distribution device for updating, and each distribution device recovers a normal use state.

2. The method for updating the information of the automatic distribution equipment in the network-free state according to claim 1, wherein the method for cyclically collecting the updates comprises:

after the network is disconnected, traversing each floor from a low floor to a high floor by the itinerant interconnection group according to a preset itinerant route, sequentially passing through the storage cabinets of each floor, carrying out near-distance communication with the storage cabinets, collecting interconnection group information of the interconnection group where each storage cabinet is located through the storage cabinets, transmitting the latest position state table to the main equipment of the interconnection group through the storage cabinets, and synchronously updating the position state table to the interconnection group through the main equipment; meanwhile, in the process of the tour, the tour is communicated with distribution robots or distribution cabinets along the way in a short distance, the distribution robots or the distribution cabinets collect interconnection group information of interconnection groups where the distribution robots or the distribution cabinets are located, the distribution robots or the distribution cabinets transmit the latest position state table to the main equipment of the interconnection groups, and the main equipment synchronously updates the position state table to the interconnection groups;

the method comprises the steps of obtaining a latest position state table after reaching the highest floor, traversing each floor from the high floor to the low floor according to a preset itinerant route, sequentially passing through lockers of each floor, carrying out close-range communication with the lockers, collecting interconnection group information of interconnection groups where the lockers are located through the lockers, and synchronously updating the latest position state table to the interconnection groups; meanwhile, the system performs near field communication with distribution robots or distribution cabinets along the way, collects interconnection group information of interconnection groups where the distribution robots or the distribution cabinets are located through the distribution robots or the distribution cabinets, and synchronously updates the latest position state table to the interconnection groups through the distribution robots or the distribution cabinets.

3. The method for updating information of automatic distribution equipment in a network-free state according to claim 1, wherein the method for the network server to assign one or two distribution robots in the system to form the round-robin interconnection group comprises the following steps:

the network server assigns delivery robots close to delivery points to form a circuit interconnection group;

when only one delivery robot is near a delivery point, assigning the delivery robot to independently form a circuit interconnection group; when a plurality of delivery robots are arranged near delivery points, one of the delivery robots is designated as a main itinerant device, the other delivery robot is designated as a slave itinerant device, an itinerant interconnection group is formed by the main itinerant device and the slave itinerant devices, and the main itinerant device is responsible for collecting and updating information of a position state table on the slave itinerant devices.

4. The method according to claim 3, wherein when the routing interconnection group is composed of the master routing device and the slave routing devices, the routing collection update method comprises:

after the network is disconnected, the master itinerant equipment activates the slave itinerant equipment to be in a waiting state at regular time, the master itinerant equipment collects information of all interconnection groups on an itinerant route according to a preset itinerant route, synchronously updates a position state table, synchronously updates the latest position state table to all the interconnection groups, obtains the latest position state table after the itinerant traversal, returns along the preset itinerant route, and updates the latest position state table to all the interconnection groups one by one during the return; finally, the main itinerant equipment returns to the starting point to update the position state table on the slave itinerant equipment, and the waiting state of the slave itinerant equipment is cancelled;

if the slave itinerant equipment is not cancelled in the waiting state after the preset time, the slave itinerant equipment is automatically changed into new master itinerant equipment, another delivery robot is assigned to the new slave itinerant equipment and is activated to be in the waiting state, and then the new master itinerant equipment executes the tasks of collecting and updating the information of each interconnection group of the original master itinerant equipment again according to the preset itinerant route;

if the new main itinerant equipment finds the original main itinerant equipment in the itinerant process and the original main itinerant equipment still runs, the new main itinerant equipment updates the collected information of each interconnection group to the original main itinerant equipment and returns to the starting point, the qualification and the itinerant waiting state of the slave itinerant equipment are cancelled, and the new main itinerant equipment is restored to the original slave itinerant equipment;

if the new main itinerant equipment finds the original main itinerant equipment in the itinerant process, but the original main itinerant equipment cannot move, the new main itinerant equipment cancels the qualification of the main itinerant equipment of the original main itinerant equipment, and continues to complete the remaining tasks of collecting and updating the information of each interconnection group;

and if the new main itinerant equipment does not find the original main itinerant equipment after the information of each interconnection group is collected, the new main itinerant equipment marks the information that the original main itinerant equipment loses response on the position state table, and continuously completes the remaining task of updating the information of each interconnection group.

5. The method for updating information of automatic distribution equipment in a network-free state according to claim 1, wherein when the network is disconnected, the method for each distribution equipment to establish the interconnection group based on the near field communication technology comprises the following steps:

each distribution device independently sends a detection signal at regular time, and detects whether the distribution devices meeting the conditions exist nearby;

each distribution device returns a response signal if receiving a detection signal from the vicinity;

if the distribution equipment receives the response signals from other distribution equipment, the distribution equipment which sends the detection signals and the distribution equipment which returns the response signals can establish an interconnection relationship; if the response signal is not received, the distribution equipment independently establishes an interconnection group;

all distribution equipment which can directly or indirectly establish the interconnection relationship in a certain range are formed into an interconnection group.

6. The method according to claim 5, wherein when a distribution device in an interconnection group detects a new device or a new interconnection group, the new device or the new interconnection group is added to the interconnection group to form a new interconnection group; and when the number of the devices in the interconnection group changes, reselecting a new main device according to a preset rule, and synchronizing the interconnection group information in the interconnection group.

7. The method according to claim 5 or 6, wherein each distribution device is further configured with a node topology table, and when the network is disconnected to establish the interconnection group, each device maintains and updates its respective node topology table, and the node topology table includes the following information: the serial number of the current equipment, the number of slave nodes, a slave node serial number list, whether the current equipment is the master equipment of the interconnection group or not and the number of communication layers with the master equipment;

when the current equipment establishes an interconnection relationship with other equipment, the current equipment is a master node, and the other equipment is a slave node; the slave node number refers to the number of devices establishing an interconnection relationship with the current device; the number of communication layers with the main equipment refers to the number of interconnection relations established between the current equipment and the main equipment;

and in an interconnection group, selecting the equipment with the maximum number of slave nodes in the node topology table as a key node.

8. The method as claimed in claim 7, wherein the preset rule for master-slave device distribution is:

when the devices in the interconnection group are the same devices, selecting key nodes as main devices and the rest as slave devices according to the node topology table; when a plurality of key nodes exist in the interconnection group, selecting equipment with the smallest floor number in which the equipment is located in the key nodes as main equipment, and selecting other equipment as slave equipment; if the floor numbers are the same, selecting equipment with the minimum equipment number as main equipment, and selecting other equipment as slave equipment;

when the devices in the interconnected group are different devices, selecting the device with the lowest mobility as a main device and the other devices as slave devices according to the mobility of each distribution device; if the lowest mobility equipment has a plurality of devices, selecting key nodes from the lowest mobility equipment as main equipment and the rest as slave equipment according to the node topology table; if the number of the key nodes with the lowest mobility is multiple, selecting the equipment with the smallest floor number as the main equipment, and if the floor numbers are the same, selecting the equipment with the smallest equipment number as the main equipment;

the mobility of the device is in the order from high to low: the distribution robot that carries out the task > the distribution robot that is idle > the distribution cabinet that pulls the state > the distribution cabinet that parks the state > the locker.

9. The method according to claim 1, wherein the device storage status in the location status table includes whether a delivery robot is equipped with a delivery cabinet, whether an article is present in the delivery cabinet, a storage location of the article in the delivery cabinet, whether an article is present in the storage cabinet, and a storage location of the article in the storage cabinet; the device task state in the position state table is that the device is in an idle state, a distribution task state, an interconnection state, a circuit detection state or a response losing state.

10. An information updating system of an automatic distribution device in a no-network state for performing the information updating method of the automatic distribution device in the no-network state according to any one of claims 1 to 9, comprising a distribution device and a network server, wherein the distribution device comprises a distribution robot, a distribution cabinet and a locker;

each distribution device is internally provided with a near field communication module, an information interaction module, a position state table, a node topology table, a battery module and a program control module;

the position state table records equipment information of all equipment, wherein the equipment information comprises equipment labels, equipment types, equipment positions, equipment storage states, equipment task states, interconnection time and table updating time of the equipment; updating respective equipment information in the position state table in real time by each distribution equipment;

the node topology table is used for recording the following information by each distribution device when the network is disconnected and an interconnection group is established: the serial number of the current equipment, the number of slave nodes, a slave node serial number list, whether the current equipment is the master equipment of the interconnection group or not and the number of communication layers with the master equipment; when the current equipment establishes an interconnection relationship with other equipment, the current equipment is a master node, and the other equipment is a slave node; the slave node number refers to the number of devices establishing an interconnection relationship with the current device; the number of communication layers with the main equipment refers to the number of interconnection relations established between the current equipment and the main equipment;

the near field communication module is used for performing near field interconnection with other distribution equipment within a certain range;

the information interaction module is used for carrying out information communication with other short-distance interconnected distribution equipment, and collecting information and issuing information;

the battery module is used for supplying power to each distribution device;

the program control module is used for running a program of the distribution equipment to execute tasks of information collection, updating, master-slave equipment distribution and master-slave itinerant equipment distribution;

the distribution robot is provided with a positioning module, a moving module and a traction mechanism, wherein the positioning module is used for positioning the position of the distribution robot, the moving module is used for moving to execute a tour collection updating task, and the traction mechanism is used for traction of a distribution cabinet;

the network server is in communication connection with each distribution device in a normal network state, collects, updates and synchronizes the position state table in each distribution device, and assigns distribution robots in the system at regular time to form a circuit interconnection group.