CN105487541A - Distribution robot and control method thereof - Google Patents
Distribution robot and control method thereof Download PDFInfo
- Publication number
- CN105487541A CN105487541A CN201511024431.2A CN201511024431A CN105487541A CN 105487541 A CN105487541 A CN 105487541A CN 201511024431 A CN201511024431 A CN 201511024431A CN 105487541 A CN105487541 A CN 105487541A
- Authority
- CN
- China
- Prior art keywords
- dispensing machine
- machine people
- controller
- storage disk
- objective title
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000003028 elevating effect Effects 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000006698 induction Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000029058 respiratory gaseous exchange Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a distribution robot and a control method thereof. The distribution robot comprises a controller for storing a navigation map of a target area. The navigation map is used to record the name of the target location within the target area and the navigation path leading to the target location. The controller is also used to control the distribution robot to move along the navigation path leading to the target location when a control command including the name of the target location is received. In the invention, the navigation map is stored in the controller of the distribution robot in advance and the distribution robot is controlled by the controller to move along the navigation path, so that there is no need to configure a moving path for the distribution robot in advance as in the prior art, saving the cost. Meanwhile, the invention makes it possible to control the distribution robot to move freely, instead of being controlled by the moving path.
Description
Technical field
The present invention relates to a kind of robot controlling field, particularly relate to a kind of dispensing machine people and control method thereof.
Background technology
Mark dispensing control mode along the line is patrolled in the many employings of the existing dispensing machine National People's Congress, namely in advance for dispensing machine people configures many movement line, and every bar movement line there are the lines be electrically connected with described dispensing machine people, then control dispensing machine people to move along movement line, be similar to the control mode of tramcar of the prior art.This dispensing control mode needs for dispensing machine people configures a large amount of lines, and configure the possibility that lines exist lines damage on the ground, in addition, if dispensing machine people needs the destination quantity of dispensing a lot, cause environmental change too large, then need, again according to destination configuration movement line, to cause cost very high, in prior art, dispensing machine people can only move along pre-configured movement line in addition, causes the mobile route of dispensing machine people relatively more fixing and single.
Summary of the invention
The technical problem to be solved in the present invention is the dispensing control mode in order to overcome dispensing machine people in prior art is pre-configured movement line, cause there are lines to damage, may need again relatively to fix and single defect according to the mobile route of destination configuration movement line and dispensing machine people, a kind of dispensing machine people and control method thereof are provided.
The present invention solves above-mentioned technical matters by following technical proposals:
The invention provides a kind of dispensing machine people, its feature is, described dispensing machine people comprises controller, described controller is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
Preferably, the bottom of described dispensing machine people is provided with the omni-directional wheel be electrically connected with described controller, and described controller moves along the guidance path of described objective title for controlling described omni-directional wheel.
Preferably, described dispensing machine people also comprises laser instrument, described laser instrument is for scanning described target area, and scan-data is sent to described controller, described controller is used for the navigation map setting up described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
Preferably, described controller also controls described laser instrument when controlling described dispensing machine people and moving and carries out real time scan, described laser instrument is used for when the front scanning described dispensing machine people exists barrier, the real-time distance of described barrier is sent to described controller, and described controller is used for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
Preferably, whether described controller is also still existed for being detected described barrier after preset time period by described laser instrument, if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
Preferably, the inside of described dispensing machine people is also provided with storage disk.
Preferably, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described controller is used for controlling described elevating mechanism after receiving lifting instruction and drives described storage disk to move.
Preferably, described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
Preferably, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described head induction installation is for receiving peripheral operation and sending described lifting instruction to described controller.
Preferably, described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
Preferably, described lifting instruction is for characterizing the displacement of described storage disk.
Preferably, described dispensing machine people also comprises the dodge gate that can open or close.
Preferably, described dispensing machine people also comprises order reception apparatus, and described order reception apparatus is for receiving described steering order and described steering order being sent to described controller.
Preferably, described order reception apparatus comprises microphone, and described steering order comprises phonetic control command.
Preferably, the outside of described dispensing machine people is also provided with light plate, and described controller also shows different lamp effects for controlling described light plate according to the different operating state of described dispensing machine people.
Preferably, described dispensing machine people also comprises the battery be electrically connected with described controller.
The object of the invention is to the control method additionally providing a kind of dispensing machine people, its feature is, comprising:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
Preferably, described controller also comprises before storing the step of the navigation map of target area:
Target area described in laser scans, and scan-data is sent to described controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
Preferably, described controller when receiving the steering order comprising described objective title, control described dispensing machine people along the guidance path movement of described objective title step after also comprise:
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
Preferably, described controller is detecting that described real-time distance controls when being less than predetermined threshold value also to comprise after described dispensing machine people stops the step of movement:
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
Preferably, the inside of described dispensing machine people is also provided with storage disk, and described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described control method also comprises:
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction.
Preferably, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described control method also comprises:
Described head induction installation receives peripheral operation and sends described lifting instruction to described controller.
Preferably, described control method also comprises:
Order reception apparatus receives described steering order and described steering order is sent to described controller.
Preferably, described control method also comprises:
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
Positive progressive effect of the present invention is: the present invention is by pre-stored navigation map in the controller of dispensing machine people, and moved along guidance path by controller control dispensing machine people, thus do not need to be the pre-configured movement line of dispensing machine people as in prior art, provide cost savings, the present invention simultaneously can control dispensing machine people and move freely, and not by the control of movement line.
Accompanying drawing explanation
Fig. 1 is the structural representation of the dispensing machine people of embodiments of the invention 1.
Fig. 2 is the structural representation of the dispensing machine people of embodiments of the invention 2.
Structural representation when Fig. 3 is the dodge gate closedown of the dispensing machine people of embodiments of the invention 3.
Fig. 4 is the structural representation of the dodge gate of the dispensing machine people of embodiments of the invention 3 when opening.
Fig. 5 is the first inner structure schematic diagram of the dispensing machine people of embodiments of the invention 3.
Fig. 6 is the second inner structure schematic diagram of the dispensing machine people of embodiments of the invention 3.
Fig. 7 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 4.
Fig. 8 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 5.
Fig. 9 is the process flow diagram of the control method of the dispensing machine people of embodiments of the invention 6.
Embodiment
Mode below by embodiment further illustrates the present invention, but does not therefore limit the present invention among described scope of embodiments.
Embodiment 1
As shown in Figure 1, the dispensing machine people of the present embodiment comprises controller 1, described controller 1 is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title; Described controller 1, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
In the present embodiment, described target area is moving area and the dispensing region of dispensing machine people, described objective title is the dispensing objective of dispensing machine people, described target area and described objective title specifically can be arranged according to actual needs, and such as described objective title is specifically as follows the place names such as kitchen, hall, dining room.
Do not need in the present embodiment to be the special pre-configured movement line of dispensing machine people as in prior art, thus provide cost savings, and the present embodiment can control dispensing machine people by controller to be moved freely along guidance path, achieve the complete autonomous of dispensing machine people, thus not by the control of movement line.
Embodiment 2
As shown in Figure 2, the difference of the present embodiment and embodiment 1 is:
The dispensing machine people of the present embodiment is except comprising the controller 1 in embodiment 1, also comprise omni-directional wheel 2, described omni-directional wheel 2 is arranged at the bottom of described dispensing machine people, and described omni-directional wheel 2 is electrically connected with described controller 1, controller 1 described in the present embodiment specifically can control described omni-directional wheel 2 and move along the guidance path of described objective title, thus drives described dispensing machine people to move by omni-directional wheel 2.
The dispensing machine people of the present embodiment also comprises laser instrument 3, described laser instrument 3 is for scanning described target area, and scan-data is sent to described controller 1, described controller 1 for setting up the navigation map of described target area according to described scan-data, and marks described objective title and generates the guidance path arriving described objective title on described navigation map.
In the present embodiment, described controller 1 also controls described laser instrument 3 when controlling described dispensing machine people and moving and carries out real time scan, when for there is barrier in the front scanning described dispensing machine people in described laser instrument 3, the real-time distance of described barrier is sent to described controller 1, and described controller 1 is for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.Whether described controller 1 also still exists for detecting described barrier after preset time period by described laser instrument 3, if not, then controlling described dispensing machine people continues mobile along current guidance path, if so, then control described dispensing machine people and move along new guidance path.Wherein, described predetermined threshold value and described preset time period all can be arranged according to actual needs.
In the present embodiment, described controller 1 control described dispensing machine people move time, detected by the obstacle of described laser instrument 3 to the mobile route front of described dispensing machine people, and described controller 1 dispensing machine people according to obstacle detection output control stops mobile, after waiting for a period of time, continue through described laser instrument 3 detect obstacle and whether still exist, and control described dispensing machine people according to different testing results and continue mobile or move along new guidance path, thus the dispensing machine people of the present embodiment can be made to have the function automatically detecting obstacle and automatic obstacle-avoiding.
As shown in Figure 2, described dispensing machine people also comprises order reception apparatus 4, can receive the steering order comprising described objective title that user sends, and described steering order is sent to described controller 1 by described order reception apparatus 4.Described order reception apparatus 4 specifically can comprise microphone, now described steering order correspondence can comprise phonetic control command, like this, described microphone just can receive the phonetic control command that user sends, and then described controller 1 just can parse described objective title from described phonetic control command, thus control described dispensing machine people and move to objective.Certainly, those skilled in the art are to be understood that, described order reception apparatus also can comprise the related device of the steering order that can receive other kinds, such as can comprise note receiving trap, touch command receiving trap (as touch-screen), pressing order reception apparatus (as button) etc., and described controller 1 can parse described objective title from various types of steering order.
Preferably, the outside of described dispensing machine people can also arrange light plate 5, described controller 1 also shows different lamp effects for controlling described light plate 5 according to the different operating state of described dispensing machine people, concrete duty and lamp imitate between corresponding relation can arrange according to actual needs, described light plate 5 specifically can comprise many groups breath light that can send different colours light, combine by organizing breath light more, thus polytype lamp effect can be generated, and dissimilar lamp effect characterizes the different operating state of described dispensing machine people, such as, when sending type of respiration green light after described dispensing machine people normal boot-strap, type of respiration red light can be sent when described dispensing machine people is broken down, type of respiration amber light etc. can be sent when receiving control command and moving.
Embodiment 3
As seen in figures 3-6, the difference of the present embodiment and embodiment 2 is:
The dispensing machine people of the present embodiment, except all parts of dispensing machine people comprising embodiment 2, also comprises the storage disk 6 of the inside being arranged at described dispensing machine people, thus can hold article to be dispensed by described storage disk 6.
The dispensing machine people of the present embodiment also comprises the elevating mechanism 7 be connected with described storage disk 6, and described controller 1 drives described storage disk 6 to move for controlling described elevating mechanism 7 after receiving lifting instruction.Described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described chain can be layed in described slide rail, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
Described dispensing machine people also comprises the head induction installation 8 be connected with described storage disk 6, described head induction installation 8 is for receiving peripheral operation and sending described lifting instruction based on peripheral operation to described controller 1, described head induction installation 8 specifically can comprise at least one in infrared sensor, touch sensing and pressure transducer, and then correspondingly just can generate described lifting instruction by infrared induction, touch-control sensing and pressure sensitive, and described lifting instruction is sent to described controller 1.
Preferably, described lifting instruction is for characterizing the displacement of described storage disk 6, particularly, described lifting instruction can characterize displacement and moving direction according to the positive and negative values of data, such as, if described lifting instruction comprises "-40cm " data field, then can represent that described storage disk 6 moves down 40cm, if described lifting instruction comprises "+50cm " data field, then can represent that described storage disk 6 moves up 50cm, those skilled in the art are to be understood that, the corresponding relation of the data field comprised in described lifting instruction and the displacement of described storage disk 6 and moving direction can be arranged according to actual needs.
The described dispensing machine people of the present embodiment also comprises the dodge gate 9 that can open or close, when described dodge gate 9 is opened, described storage disk 6 can be taken out from the inside of described dispensing machine people, when described dodge gate 9 is closed, then the item enclosure formula held in described storage disk 6 and described storage disk 6 can be stored in the inside of described dispensing machine people.
The dispensing machine people of the present embodiment can also comprise the battery 10 be electrically connected with described controller 1, thus can be that the whole dispensing machine people comprising described controller 1 powers by described battery 10, maintains the normal operation of whole dispensing machine people.
Move freely and adopt different lamp effects to reflect except the different operating state of dispensing machine people except dispensing machine people can be controlled in the present embodiment, the article deposited in storage disk and storage disk can also be stored closedly, thus greatly improve security and the privacy of dispensing machine people, can storage disk be driven to rise by elevating mechanism or decline in the present embodiment simultaneously, thus user can be facilitated to get thing from storage disk.
Embodiment 4
As shown in Figure 7, the control method of the dispensing machine people of the present embodiment comprises the following steps:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
Do not need in the present embodiment to be the special pre-configured movement line of dispensing machine people as in prior art, thus provide cost savings, and the present embodiment can control dispensing machine people by controller to be moved freely along guidance path, achieve the complete autonomous of dispensing machine people, thus not by the control of movement line.
Embodiment 5
As shown in Figure 8, the control method of the dispensing machine people of the present embodiment comprises the following steps:
Laser scans target area, and scan-data is sent to controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title;
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title;
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value;
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
The control method of the present embodiment not only can realize controlling dispensing machine people and move freely, target area can be scanned in advance by laser instrument simultaneously, controller sets up the navigation map of described target area according to the scan-data of laser instrument, thus makes the navigation of described navigation map more accurate.Meanwhile, the present embodiment can also be realized dispensing machine people automatically detected obstacle and automatic obstacle-avoiding while movement by cooperatively interacting of laser instrument and controller, thus makes the control of dispensing machine people more efficient and intelligent.
Embodiment 6
As shown in Figure 9, the difference of the present embodiment and embodiment 4 is, in the present embodiment, the inside of dispensing machine people is also provided with storage disk, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and the control method of the dispensing machine people of the present embodiment specifically comprises the following steps:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Order reception apparatus receives steering order and described steering order is sent to described controller;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title;
Described head induction installation receives peripheral operation and sends lifting instruction to described controller;
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction;
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
In the present embodiment, preferably, described elevating mechanism can comprise motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller controls described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.Described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
The control method of the present embodiment not only can realize controlling dispensing machine people and move freely, can also control dispensing machine people adopts outside the different operating state of different lamp effect reflection dispensing machine people, the article deposited in storage disk and storage disk can also be stored closedly, thus greatly improve security and the privacy of dispensing machine people, can storage disk be driven to rise by elevating mechanism or decline in the present embodiment simultaneously, thus user can be facilitated to get thing from storage disk.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (24)
1. a dispensing machine people, it is characterized in that, described dispensing machine people comprises controller, and described controller is for storing the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, also for when receiving the steering order comprising described objective title, controlling described dispensing machine people and moving along the guidance path of described objective title.
2. dispensing machine people as claimed in claim 1, it is characterized in that, the bottom of described dispensing machine people is provided with the omni-directional wheel be electrically connected with described controller, and described controller moves along the guidance path of described objective title for controlling described omni-directional wheel.
3. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises laser instrument, described laser instrument is for scanning described target area, and scan-data is sent to described controller, described controller is used for the navigation map setting up described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
4. dispensing machine people as claimed in claim 3, it is characterized in that, described controller also controls described laser instrument when controlling described dispensing machine people and moving and carries out real time scan, described laser instrument is used for when the front scanning described dispensing machine people exists barrier, the real-time distance of described barrier is sent to described controller, and described controller is used for detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
5. dispensing machine people as claimed in claim 4, it is characterized in that, whether described controller is also still existed for being detected described barrier after preset time period by described laser instrument, if not, then controlling described dispensing machine people continues mobile, if so, then control described dispensing machine people to move along new guidance path.
6. dispensing machine people as claimed in claim 1, it is characterized in that, the inside of described dispensing machine people is also provided with storage disk.
7. dispensing machine people as claimed in claim 6, it is characterized in that, described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described controller is used for controlling described elevating mechanism after receiving lifting instruction and drives described storage disk to move.
8. dispensing machine people as claimed in claim 7, it is characterized in that, described elevating mechanism comprises motor, slide rail and chain, described chain is connected with described storage disk and described motor respectively, described controller is for controlling described electric machine rotation, described motor moves along described slide rail for driving described chain, and described chain is for driving described storage disk to rise or declining.
9. dispensing machine people as claimed in claim 7, it is characterized in that, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described head induction installation is for receiving peripheral operation and sending described lifting instruction to described controller.
10. dispensing machine people as claimed in claim 9, it is characterized in that, described head induction installation comprises at least one in infrared sensor, touch sensing and pressure transducer.
11. dispensing machine people as claimed in claim 7, it is characterized in that, described lifting instruction is for characterizing the displacement of described storage disk.
12. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises the dodge gate that can open or close.
13. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises order reception apparatus, and described order reception apparatus is for receiving described steering order and described steering order being sent to described controller.
14. dispensing machine people as claimed in claim 13, it is characterized in that, described order reception apparatus comprises microphone, and described steering order comprises phonetic control command.
15. dispensing machine people as claimed in claim 1, it is characterized in that, the outside of described dispensing machine people is also provided with light plate, and described controller also shows different lamp effects for controlling described light plate according to the different operating state of described dispensing machine people.
16. dispensing machine people as claimed in claim 1, it is characterized in that, described dispensing machine people also comprises the battery be electrically connected with described controller.
The control method of 17. 1 kinds of dispensing machine people, is characterized in that, comprising:
Controller stores the navigation map of target area, and described navigation map is for the objective title that records in described target area and the guidance path arriving described objective title;
Described controller, when receiving the steering order comprising described objective title, controls described dispensing machine people and moves along the guidance path of described objective title.
18. control methods as claimed in claim 17, is characterized in that, described controller also comprises before storing the step of the navigation map of target area:
Target area described in laser scans, and scan-data is sent to described controller;
Described controller sets up the navigation map of described target area according to described scan-data, and on described navigation map, marks described objective title and generate the guidance path arriving described objective title.
19. control methods as claimed in claim 17, it is characterized in that, described controller when receiving the steering order comprising described objective title, control described dispensing machine people along the guidance path movement of described objective title step after also comprise:
Described controller controls described laser instrument and carries out real time scan;
The real-time distance of described barrier, when the front scanning described dispensing machine people exists barrier, is sent to described controller by described laser instrument;
Described controller is detecting that described real-time distance controls described dispensing machine people and stops mobile when being less than predetermined threshold value.
20. control methods as claimed in claim 19, is characterized in that, described controller is detecting that described real-time distance controls when being less than predetermined threshold value also to comprise after described dispensing machine people stops the step of movement:
Whether described controller detects described barrier after preset time period by described laser instrument still exists, and if not, then controls described dispensing machine people and continues mobile, if so, then control described dispensing machine people and move along new guidance path.
21. control methods as claimed in claim 17, it is characterized in that, the inside of described dispensing machine people is also provided with storage disk, and described dispensing machine people also comprises the elevating mechanism be connected with described storage disk, and described control method also comprises:
Described controller controls described elevating mechanism and drives described storage disk to move after receiving lifting instruction.
22. control methods as claimed in claim 21, it is characterized in that, described dispensing machine people also comprises the head induction installation be connected with described storage disk, and described control method also comprises:
Described head induction installation receives peripheral operation and sends described lifting instruction to described controller.
23. control methods as claimed in claim 17, it is characterized in that, described control method also comprises:
Order reception apparatus receives described steering order and described steering order is sent to described controller.
24. control methods as claimed in claim 17, it is characterized in that, described control method also comprises:
Described controller controls light plate according to the different operating state of described dispensing machine people and shows different lamp effects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024431.2A CN105487541A (en) | 2015-12-30 | 2015-12-30 | Distribution robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024431.2A CN105487541A (en) | 2015-12-30 | 2015-12-30 | Distribution robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105487541A true CN105487541A (en) | 2016-04-13 |
Family
ID=55674578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511024431.2A Pending CN105487541A (en) | 2015-12-30 | 2015-12-30 | Distribution robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105487541A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625693A (en) * | 2016-10-19 | 2017-05-10 | 苏州大成电子科技有限公司 | Speech-controlled service robot |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN108092859A (en) * | 2017-11-30 | 2018-05-29 | 山东大学 | Family's service robot system and method for work under a kind of intelligent environment |
| CN108081273A (en) * | 2017-12-18 | 2018-05-29 | 上海有个机器人有限公司 | The lifting control method of more parcel shelf of robot, system, control terminal, robot |
| CN109068278A (en) * | 2018-08-31 | 2018-12-21 | 平安科技（深圳）有限公司 | Indoor barrier-avoiding method, device, computer equipment and storage medium |
| CN109588101A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | For improving the control method of intelligent grass-removing operation coverage rate |
| CN110861087A (en) * | 2019-11-22 | 2020-03-06 | 深圳市优必选科技股份有限公司 | Robot initialization positioning method and device, mobile robot and storage medium |
| CN112140099A (en) * | 2019-06-28 | 2020-12-29 | 百度在线网络技术（北京）有限公司 | Light effect control method, device, equipment and medium for robot |
| CN112465439A (en) * | 2021-02-02 | 2021-03-09 | 红石阳光（北京）科技股份有限公司 | Logistics distribution method and system based on intelligent brain control robot |
| CN112506178A (en) * | 2020-08-25 | 2021-03-16 | 深圳市银星智能科技股份有限公司 | Robot control method, device, terminal and medium |
| CN112540610A (en) * | 2020-09-17 | 2021-03-23 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, robot and storage medium |
| CN112839412A (en) * | 2021-01-27 | 2021-05-25 | 广东智源机器人科技有限公司 | Light control method and device, meal delivery equipment and meal delivery system |
| WO2021227987A1 (en) * | 2020-05-12 | 2021-11-18 | 京东数科海益信息科技有限公司 | Delivery robot |
| CN114384865A (en) * | 2020-10-19 | 2022-04-22 | 北京极智嘉科技股份有限公司 | Service transfer system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101619985A (en) * | 2009-08-06 | 2010-01-06 | 上海交通大学 | Service robot autonomous navigation method based on deformable topological map |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN202933163U (en) * | 2012-12-15 | 2013-05-15 | 肖湘 | Distribution robot |
| CN103340514A (en) * | 2013-07-03 | 2013-10-09 | 华北电力大学（保定） | Intelligent meal delivery robot |
| CN103914068A (en) * | 2013-01-07 | 2014-07-09 | 中国人民解放军第二炮兵工程大学 | Service robot autonomous navigation method based on raster maps |
| CN104842358A (en) * | 2015-05-22 | 2015-08-19 | 上海思岚科技有限公司 | Autonomous mobile multifunctional robot |
| CN105045259A (en) * | 2015-04-27 | 2015-11-11 | 华中科技大学 | Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof |
-
2015
- 2015-12-30 CN CN201511024431.2A patent/CN105487541A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101619985A (en) * | 2009-08-06 | 2010-01-06 | 上海交通大学 | Service robot autonomous navigation method based on deformable topological map |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN202933163U (en) * | 2012-12-15 | 2013-05-15 | 肖湘 | Distribution robot |
| CN103914068A (en) * | 2013-01-07 | 2014-07-09 | 中国人民解放军第二炮兵工程大学 | Service robot autonomous navigation method based on raster maps |
| CN103340514A (en) * | 2013-07-03 | 2013-10-09 | 华北电力大学（保定） | Intelligent meal delivery robot |
| CN105045259A (en) * | 2015-04-27 | 2015-11-11 | 华中科技大学 | Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof |
| CN104842358A (en) * | 2015-05-22 | 2015-08-19 | 上海思岚科技有限公司 | Autonomous mobile multifunctional robot |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625693A (en) * | 2016-10-19 | 2017-05-10 | 苏州大成电子科技有限公司 | Speech-controlled service robot |
| CN108092859A (en) * | 2017-11-30 | 2018-05-29 | 山东大学 | Family's service robot system and method for work under a kind of intelligent environment |
| CN108092859B (en) * | 2017-11-30 | 2021-02-02 | 山东大学 | Home service robot system in intelligent environment and working method |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN108081273A (en) * | 2017-12-18 | 2018-05-29 | 上海有个机器人有限公司 | The lifting control method of more parcel shelf of robot, system, control terminal, robot |
| CN108081273B (en) * | 2017-12-18 | 2020-07-07 | 上海有个机器人有限公司 | Lifting control method and system for multiple object placing plates of robot, control terminal and robot |
| CN109068278A (en) * | 2018-08-31 | 2018-12-21 | 平安科技（深圳）有限公司 | Indoor barrier-avoiding method, device, computer equipment and storage medium |
| CN109588101A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | For improving the control method of intelligent grass-removing operation coverage rate |
| CN109588101B (en) * | 2018-10-31 | 2022-04-05 | 浙江亚特电器有限公司 | Control method for improving operation coverage rate of intelligent mower |
| CN112140099A (en) * | 2019-06-28 | 2020-12-29 | 百度在线网络技术（北京）有限公司 | Light effect control method, device, equipment and medium for robot |
| CN112140099B (en) * | 2019-06-28 | 2022-05-13 | 百度在线网络技术（北京）有限公司 | Light effect control method, device, equipment and medium for robot |
| CN110861087A (en) * | 2019-11-22 | 2020-03-06 | 深圳市优必选科技股份有限公司 | Robot initialization positioning method and device, mobile robot and storage medium |
| WO2021227987A1 (en) * | 2020-05-12 | 2021-11-18 | 京东数科海益信息科技有限公司 | Delivery robot |
| CN112506178A (en) * | 2020-08-25 | 2021-03-16 | 深圳市银星智能科技股份有限公司 | Robot control method, device, terminal and medium |
| CN112506178B (en) * | 2020-08-25 | 2023-02-28 | 深圳银星智能集团股份有限公司 | Robot control method, device, terminal and medium |
| CN112540610A (en) * | 2020-09-17 | 2021-03-23 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, robot and storage medium |
| CN114384865A (en) * | 2020-10-19 | 2022-04-22 | 北京极智嘉科技股份有限公司 | Service transfer system and method |
| CN112839412A (en) * | 2021-01-27 | 2021-05-25 | 广东智源机器人科技有限公司 | Light control method and device, meal delivery equipment and meal delivery system |
| CN112465439B (en) * | 2021-02-02 | 2021-05-11 | 红石阳光（北京）科技股份有限公司 | Logistics distribution method and system based on intelligent brain control robot |
| CN112465439A (en) * | 2021-02-02 | 2021-03-09 | 红石阳光（北京）科技股份有限公司 | Logistics distribution method and system based on intelligent brain control robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105487541A (en) | Distribution robot and control method thereof | |
| US10982481B2 (en) | Door position sensor and system for a vehicle | |
| US9818246B2 (en) | System and method for gesture-based control of a vehicle door | |
| US9777528B2 (en) | Object detection and method for vehicle door assist system | |
| CN103143509B (en) | Garbage classification robot and garbage identification and classification method | |
| US10570656B2 (en) | Magnetic object detection for vehicle door assist system | |
| US9797178B2 (en) | Seal based object detection for vehicle door assist system | |
| CN110140094A (en) | Autonomous mobile robot and method for controlling autonomous mobile robot | |
| JP6086733B2 (en) | Self-propelled device and method of operating such a device | |
| CN106598074B (en) | Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane | |
| US20170030134A1 (en) | Vehicle door assist system based on location and conditions | |
| CN103284662A (en) | Cleaning system and control method thereof | |
| US20170028966A1 (en) | System and method for vehicle control based on detected door condition | |
| CN104000541A (en) | Floor sweeping robot with threshold detection function and threshold detection method thereof | |
| CN206258954U (en) | A kind of unattended shop gate control system based on human motion angle detecting | |
| CN207928093U (en) | A kind of office chair for capableing of automatic homing | |
| WO2021256062A1 (en) | Autonomous movement device, autonomous movement method, and program | |
| CN105034003A (en) | Magnetic navigation automatic meal delivery robot system and automatic meal delivery method | |
| US11443517B1 (en) | Video-based parking garage monitoring | |
| CN115142770A (en) | Control method, control device, equipment and medium for intelligent granary door | |
| US11074471B2 (en) | Assisted creation of video rules via scene analysis | |
| KR101571809B1 (en) | System for managing gas station | |
| CN205184778U (en) | Automatic food delivery robot system of magnetic navigation | |
| CN110388159A (en) | System and method for preventing garage door from closing in lifting type car door opening | |
| CN105551300B (en) | It is a kind of that parking stall realization method and system is accounted for based on unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160413 |