CN107421544A - A kind of modular hotel's handling robot system - Google Patents
A kind of modular hotel's handling robot system Download PDFInfo
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- CN107421544A CN107421544A CN201710683028.3A CN201710683028A CN107421544A CN 107421544 A CN107421544 A CN 107421544A CN 201710683028 A CN201710683028 A CN 201710683028A CN 107421544 A CN107421544 A CN 107421544A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
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Abstract
The present invention relates to a kind of modularization hotel handling robot system.Including laser navigation module, bottom control module, elevator interactive module and human-computer interaction module.Laser navigation module includes industrial computer, laser radar；Bottom control module includes STM32 core control panels, motor driver and encoder；Elevator module includes signal adapter and microprocessor；Human-computer interaction module includes development board, card reader, interactive voice unit and the camera of integrated Android system.The present invention realizes the navigation of system by the way of laser navigation, it is high to provide a kind of adaptation end positioning accuracy request, working environment of the operating path without fixed circuit, and it is easy to the daily material of enterprise to carry, logistics handling efficiency is improved, reduces manpower with introducing a kind of Laser navigation system of cost；Devising a series of human-computer interaction module simultaneously is easy to the experience of user to interact, and elevator module enhances the practicality of robot, realizes across floor carrying.
Description
Technical field
The present invention relates to the robot system design that a kind of hotel's luggage is rapidly and efficiently carried, and is specially a kind of modular
Hotel's handling robot system.
Background technology
Product manufacturing is the major domain of robot technology application.However, in recent years some new application fields also by
Gradually occur.This new field is embodied in provide service to be generally referred to as its feature, this robot by people
For service robot.Service robot has wide range of applications, and is mainly engaged in help the disabled recovery, medical diagnosis, health benefit, family
The work such as accompany and attend to.Increasing country payes attention to service-delivery machine man-based development in recent years, makes its development very rapid, but arrive mesh
Before untill the strict definition of service robot also neither one.According to international standard ISO 8373：2012 and international robot connection
The definition of credit union (IRF)：Service robot refers to the robot with complete autonomous or semi-autonomous function, and it, which is mainly used in completion, has
Beneficial to the service of human health, but manufacturing-oriented equipment is not within the scope of it.
In recent years, with the development of computer technology, automated control technology, ICT etc., enter robot
Entering people's daily life, the life style for changing people is possibly realized, and the research to service robot progresses into the sight of people,
Service robot be engaged in scope be related to maintenance, accompany and attend to, clean, transporting, educating, shopping guide, the many-side such as food delivery.At present in hotel etc.
Service industry, it is bigger to service-delivery machine Man's Demands, and corresponding service robot is still within primary research and development and small-scale
Trial period, product maturity is inadequate.In service trades such as hotels, provided for client and thoughtfully, timely service always hotel
Lift competitiveness, keep the important means of brand credit worthiness.Enter hotel from guest, his potential demand for services has various
The characteristics of change.Such as identification, welcome, luggage traffic, inquiry reservation, attend a meeting meeting room number, positional information, navigation
Deng in traditional hotel service, needing multiple more people of department to provide the demand service, efficiency of service is low, to hotel management
For, human cost is high.Therefore, the high-end hotel chains transfer robot of development and application turns into a urgent demand.
The content of the invention
In order to solve above mentioned problem existing for prior art, the present invention provides a kind of adaptation end positioning accuracy request height,
Working environment of the operating path without fixed circuit, and it is easy to the daily baggage handling in hotel, baggage handling efficiency is improved, reduces people
Power and a kind of modular hotel's handling robot system for introducing cost, realize leading for system by the way of laser navigation
Boat, its system concrete structure include laser precision navigation module, bottom control module, elevator interactive module and optional man-machine
Interactive module；
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of modular hotel's handling robot system, it includes laser navigation module, elevator interactive module, man-machine friendship
Mutual module and bottom control module.Laser navigation module includes industrial computer, laser radar；Bottom control module includes STM32
Core control panel, motor driver and encoder；Elevator module includes signal adapter and microprocessor；Human-computer interaction module
Development board, card reader, interactive voice unit and camera including integrating Android system.
Described laser navigation module is realizing constructing environment two-dimensional map, navigation path planning and path navigation；
Laser navigation module real-time loading navigation map, hotel's transfer robot current real-time pose and navigation route information are calculated,
Hotel's transfer robot real-time pose and navigation route information are passed to the speed control of hotel's transfer robot master controller
Module, closed-loop control is carried out according to the velocity information of hotel's transfer robot, makes hotel's transfer robot according to set speed
And path operation.
Described bottom control module is mainly used in performing navigation command, is the execution unit of hotel's transfer robot.Bottom
STM32 core control panels in layer control module are directly connected with the industrial computer of navigation module, the motor operation that encoder obtains
Data are directly established with navigation module and contacted, and are easy to real-time regulating system parameter to improve navigation accuracy.
Described elevator interactive module is that hotel's transfer robot is mainly used in across floor carrying, can by transcriber
Receive the floor information that machine human hair is sent, be transmitted to microprocessor, control elevator motion reaches designated floor.
Described human-computer interaction module is the main modular that hotel's transfer robot and user establish contact, in man-machine interaction
Mass data need not be handled in module, it is only necessary to navigation needs function button is established according to user's request, using one-touch behaviour
Make, guide hotel's transfer robot to complete transport task, optional interactive voice unit provides phonetic order, makes navigation system
Actual use it is more convenient, card reader facilitate guest read information, move in hotel.
Preferably, the industrial computer loads standard robotic operating system ROS (the Robot Operating based on Linux
System), robot control system most popular as current robot industry ROS, the stability of the system of guarantee.
Further, the industrial computer respectively with STM32 core control panels, it is not necessary to middle excessive device, both ensured
Each submodule does not interfere with each other and make it that navigation system is compacter, and the data transfer between navigator fix is quicker.
Preferably, the laser navigation module, angle, which obtains, can accurately obtain angle-data, and precision is ± 0.1 degree, machine
Device people alignment system can accurately extrapolate position and the posture of all sampling instants, and precision reaches ± 5mm, navigation system navigation essence
Spend reachable ± 10mm.
Preferably, the elevator interactive module, robot can send messages to elevator by wifi, and control elevator is opened
Door, shutdown and arrival designated floor.
Preferably, the human-computer interaction module, there is provided display screen, in addition to display robot relevant information, can also pass through
Related touch control operation, for the direct control to robot, card reader is transported to guest room for reading guest's house information.
In addition the module provides a kind of remote interaction mode based on internet, can be operated and set in cell-phone customer terminal.
Further, the driver is to connect STM32 core control panels and motor, by STM32 core control panel controls
Instruction processed is converted into motor speed, control hotel's transfer robot walking.
Compared with prior art, the device have the advantages that as described below：
The present invention compared with prior art, has following technique effect using above technical scheme：Can be flexibly in hotel
Inside is transported to luggage, is provided simultaneously with laser navigation path flexibly and the advantages of registration, and its structure, navigation are controlled
The complexity of algorithm and task scheduling algorithm processed requires to reduce；Guest can be by talking with robot, touch-screen and reading
Card device, control machine people motion, normal dialog can also be carried out with robot；Across floor transport is realized by elevator module.This
Invention cost is cheap, control is reliable and stable, simple in construction, nothing limits pathway requirements entirely, guidance path modification is convenient, in guest room area
There is higher positioning accuracy, intelligent level degree height with service area, strengthen Consumer's Experience.
Brief description of the drawings
Fig. 1 is modular hotel's handling robot system overall framework schematic diagram.
Fig. 2 is modular hotel's Transport Robot Control System for Punch hardware master-plan schematic diagram.
Fig. 3 is modular hotel's transfer robot workflow diagram.
Fig. 4 is modular hotel's conveying robot person speech interaction control flow chart.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Below with reference to accompanying drawing, the specific implementation to the present invention elaborates.
As shown in figure 1, a kind of system of the modular hotel's transfer robot provided for embodiment of the present invention is overall
Block diagram.In the present embodiment, Algorithms of Robots Navigation System can be realized carries out comprehensive seizure to ambient condition information, establishes week
Enclose environmental map and identify itself position and posture, judge hotel's transfer robot with reference to itself pose and existing environmental map
In safety zone or danger zone, different traveling strategies is then taken.Specifically, it includes laser navigation module, electricity
Terraced interactive module, human-computer interaction module and bottom control module.Laser navigation module includes industrial computer, laser radar；Bottom
Control module includes STM32 core control panels, motor driver and encoder；Elevator module includes signal adapter and miniature place
Manage device；Human-computer interaction module includes development board, card reader, interactive voice unit and the camera of integrated Android system.
Laser radar sensor is used for transmitting range information in navigation system of the present invention, receives the range information of return, and
Calculated according to the range information of return, and carry out map structuring and export the position of low precision under the primary condition that hotel is carried
Confidence ceases, and specifically, laser navigation module can realize positioning with map structuring and according to environmental information by SLAM algorithms
The path planning under priori conditions is carried out, while evading for barrier is carried out in hotel's transfer robot running.Elevator
Interactive module is used to interact with elevator, and designated floor is reached in order to which control machine people takes elevator.Human-computer interaction module is used
When hotel's transfer robot state is being known, control hotel's transfer robot movement, and monitoring service is provided.Bottom control mould
Block performs navigation command.
In Fig. 1 of the present invention, except necessary laser navigation module, elevator interactive module, human-computer interaction module and bottom control
Molding block, additionally provides the attached data processing structure in upper strata, and whole system is divided into three layers i.e. hardware layer, driving layer and operation system
System layer.Hardware layer includes all main hardware units of the present invention；Layer is driven to provide the Data Integration strategy of subsystems module；
Operating system layer is the final presentation layer of integrated present system, and user uses layer.
As shown in Fig. 2 it is the present invention：A kind of hardware master-plan of modular hotel's transfer robot, hardware are overall
Specification is as follows：
Whole hardware system is always divided into four layers：Intelligent interaction layer, independent navigation layer, motion control layer and power-supply system.
Wherein intelligent interaction layer, independent navigation layer and motion control layer belong to the control section of system, and power-supply system is whole system energy
Source part.Communicated between three key-courses by netting twine, Android development boards, industrial computer and LPC4088 are connected to same
On individual router, three ARM plates, LPC4088, STM32-1 are connected with STM32-2 by CAN.
Intelligent interaction module is the main source that robot obtains Customer Information, and service robot is carried in hotel of the invention
According to the different demands of customer, using three kinds of interactive modes：Interactive voice, CUSTOM HOUSE HOTEL information are read and flat touch control interaction.Intelligence
Interface hardware mainly includes core devices Android development board and is used for touch-control interaction, card reader for the identification of CUSTOM HOUSE HOTEL information, microphone
It is used for the interaction of voice messaging, also some other additional devices with loudspeaker, development board passes through based on Transmission Control Protocol
Socket communication modes are attached with industrial computer (server).
Initialization is mainly completed by Laser navigation system, and laser radar real-time scan data matches with environment two-dimensional map
The general pose of AGV dollies is obtained, then using the current pose of AGV dollies as the center of circle, certain Radius does circle, determines AGV dollies in ring
Region scope in the two-dimensional map of border；Represent the particle of the possible poses of AGV in the AGV dollies tried to achieve with probability with certain amount
Range searching AGV accurate pose, be specifically first particle random distribution at the regional level, by laser scanning data in each grain
Sub- position is matched with map, and carries out assessment matching degree with a function, and the probability that more new particle carries is minimum by probability
Particle give up, near the particle of maximum probability increase a particle, such iteration, until all particle regions tend to
Stable, i.e., regional center is constant and zone radius is less than or equal to setting error amount, and regional center is current time AGV dolly
Pose.
Carry the independent navigation layer of service robot, the main positioning for including robot, global path in the hotel of the present invention
Planning, local paths planning (avoidance) and the interaction of autonomous elevator.Sensor needed for robot navigation include encoder, gyroscope,
Laser radar, ultrasonic wave and signal conversion version, processor is industrial computer, and three ARM plates are responsible for the collection of some sensor informations
And integration.Autonomous elevator interaction, the module and one that required (serial ports-Ethernet-wireless network) three kinds of signals can be changed mutually
Individual microprocessor.
Whole motion control mainly includes LPC4008, STM32-1, driver, encoder and motor composition.Motion control
The core of module is STM32-1 control panels, and LPC4088 is a data integration plate, it is therefore an objective to convenient debugging, maintenance and encapsulation.
The motor of left and right two meets the power demand of differential gear, and the calculating of the power, moment of torsion of motor, the selection of motor driver will be under
Detailed calculating is carried out in face motor and drive parameter design, motor encoder is with I/O interfaces connection control panel is crossed, by motor
Rotational angle feedback of the information is communicated to control panel, driver and control panel by RS-232 interface, control panel STM32-1 and
LPC4008 is communicated by CAN, and carries out information exchange by Ethernet and navigation system hardware.Drive control and coding
The feedback of the information of device is transmitted by motion control board.
Stable power supply is most important for a control system, be related to system can normal work [45], machine
Device people is autonomous travel, thus battery size and weight can not be excessive, power supply will also have self-protection performance can not
Circuit board is allowed to burn, the total power supply supply of system comes from 24V lithium batteries, due to the work required for the different circuit modules in circuit
Make voltage and current capacity to differ, such as base plate electric machine driving needs 24V, industrial personal computer power needs 24V, and flat board needs 5V to supply
Electricity, single-chip microcomputer LPC4088 need the 3.3V etc. that powers.Therefore power module includes multiple voltage-stabilizing output circuits.
As shown in figure 3, it is the present invention：A kind of workflow design of modular hotel's transfer robot, system architecture
It is divided into three layers, upper strata is intelligent interaction layer, is responsible for receiving user instruction, is developed herein using android system；Intermediate layer is to lead
Boat system layer, the coordinate information of alternation of bed being received, transmission motion control instruction to motion control layer, is robot " brain ",
The present invention is developed using ROS systems；Lower floor is real-time key-course, the motion control of main responsible robot motor and some
The reception of sensor signal and send, whole flow process figure is made up of many subprograms, and key procedure in each layer will be carried out below
Design.
Intelligent interactive system, mainly include four parts：Initialization, information reading, information identification, function are realized.
Initialization includes the initialization of website subprogram and the initialization of interaction subprogram, and website storehouse is gathered by target point
Establish, be the preliminary preparation of robot navigation.By the interactive mode that different customers is inclined to is different, so we
It is voice, the reading of CUSTOM HOUSE HOTEL information and touch-control interaction respectively that the mode that information is read is divided into three types.Function, which performs, includes two
Kind situation, interactive function and control function, if the result that information identification goes out, inside website storehouse, website storehouse can be according to corresponding
Keyword returns to a corresponding coordinate of ground point, and this point coordinates can be sent to navigation system by information control, if information
For the result picked out not inside website storehouse, then corresponding speech exchange, example can be carried out according to the information of customer by interacting subprogram
Such as weather lookup, voice-enabled chat etc..
Source of the information control according to information, is equally divided into three types：CUSTOM HOUSE HOTEL control, touch screen control and Voice command.
CUSTOM HOUSE HOTEL controls and touch screen control simply simple information conversion, does not do labor.Voice command is important the opening of information control
Program is sent out, its flow is as shown in Figure 4.
Airmanship is the core and key technology of mobile robot technology, and the navigation of autonomous mobile robot is exactly the machine that allows
Device people can be independently drawn accordingly according to internal predetermined information, or according to the external environmental information that sensor obtains
Lead, so as to the path that one suitable robot of planning department walks in the environment, and robot can be along the path of planning department
Autonomous is to target location.It can be asked by the observation information of self-contained sensors towards ambient to solve robot localization
Topic.Robot autonomous airmanship is related to map, positioning, path planning.The structure of map is the premise of robot navigation, is
Location circumstances are become to the process of known environment, the positioning of robot is first in robot navigation, and robot energy
The no guarantee being accurate to up to target location.
Motor motion control plate STM32 receives the angular velocity information of navigation system, can be calculated according to the control inside control panel
Method motor rotates.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of modular hotel's handling robot system, it is characterised in that including laser navigation module, bottom control mould
Block, elevator interactive module and human-computer interaction module.Laser navigation module includes industrial computer, laser radar；Bottom control module
Including STM32 core control panels, motor driver and encoder；Elevator module includes signal adapter and microprocessor；People
Machine interactive module includes development board, card reader, interactive voice unit and the camera of integrated Android system.
2. laser navigation module according to claim 1 to realize constructing environment two-dimensional map, navigation path planning with
And path navigation；Laser navigation module real-time loading navigation map, calculate the current real-time pose of hotel's transfer robot and lead
Bit path information, hotel's transfer robot real-time pose and navigation route information are passed into hotel's transfer robot master controller
Rate control module, according to the velocity information of hotel's transfer robot carry out closed-loop control, make hotel's transfer robot according to
Set speed and path operation.Described bottom control module is mainly used in performing navigation command, is hotel's transfer robot
Execution unit.STM32 core control panels in bottom control module are directly connected with the industrial computer of navigation module, and encoder obtains
The motor operation data obtained are directly established with navigation module and contacted, and are easy to real-time regulating system parameter to improve navigation accuracy.It is described
Elevator interactive module be that hotel's transfer robot is mainly used in across floor carrying, machine human hair is subjected to by transcriber
The floor information sent, is transmitted to microprocessor, and control elevator motion reaches designated floor.Described human-computer interaction module is wine
Shop transfer robot and user establish the main modular of contact, and mass data need not be handled in human-computer interaction module, only need
Navigation needs function button is established according to user's request, using operating in a key, guides hotel's transfer robot to complete transport
Task, optional interactive voice unit provide phonetic order, make the actual use of navigation system more convenient, and card reader is convenient
Guest reads information, moves in hotel.
3. a kind of modular hotel's handling robot system, it is characterised in that comprise the following steps：
1) started in Laser navigation system by laser radar constructing environment two-dimensional map, hotel's transfer robot navigation system
When, hotel's transfer robot initial attitude and position are recorded, controls hotel's transfer robot working by human-computer interaction module
Run in environment, while build surrounding environment map, carried in addition by final control system and Laser navigation system tracking hotel
Robot pose；
2) environment two-dimensional map is imported, provides hotel's transfer robot targeted sites, system meeting combining cartographic information is tentatively described
The global path of hotel's transfer robot walking, and according to the feature of identified preliminary guidance path, also hotel's carrying implement
The foundation motion mode of device people, extracts the primary focus on preliminary guidance path, is controlled for subsequent path；
3) guest moves in, and luggage is placed on the objective table of hotel's transfer robot, can by swiping the card, touch-screen and voice three
Kind approach sends information to bottom module, and can carry out voice dialogue with robot；
4) hotel's transfer robot bottom control module receive man-machine interactive system instruction bring into operation, STM32 bottom control plates
Required velocity information is transmitted to motor driver, control machine people is run to target point by given speed and guidance path, passed through
Hotel's transfer robot actual motion, system meeting real time correction collection point data, making robot, it enters along preliminary guidance path
Row motion.
5) when soon reaching elevator, industrial computer sends instructions to elevator module, is assigned to the floor reached, and elevator module receives instruction
Afterwards, microprocessor sends instructions to elevator controls elevator to reach designated floor, and robot switching map reaches guest room.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683028.3A CN107421544A (en) | 2017-08-10 | 2017-08-10 | A kind of modular hotel's handling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683028.3A CN107421544A (en) | 2017-08-10 | 2017-08-10 | A kind of modular hotel's handling robot system |
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| CN107953335A (en) * | 2017-12-24 | 2018-04-24 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
| CN108171892A (en) * | 2018-03-13 | 2018-06-15 | 深圳市三维通机器人***有限公司 | A kind of Intelligent unattended library system |
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN108346025A (en) * | 2018-02-26 | 2018-07-31 | 成都科木信息技术有限公司 | Wisdom logistics computational methods based on cloud |
| CN108376325A (en) * | 2018-02-26 | 2018-08-07 | 成都科木信息技术有限公司 | Logistics information network management method |
| CN108789427A (en) * | 2018-05-08 | 2018-11-13 | 上海电力学院 | A kind of multi-functional hotel's service robot |
| CN109104729A (en) * | 2018-09-28 | 2018-12-28 | 易普森智慧健康科技（深圳）有限公司 | A kind of network overlay system of merchandising machine people running environment |
| CN109227566A (en) * | 2018-10-23 | 2019-01-18 | 广州赛特智能科技有限公司 | A kind of hospital's Intelligent transfer robot |
| CN109375614A (en) * | 2018-08-29 | 2019-02-22 | 上海常仁信息科技有限公司 | A kind of locating and tracking system based on robot |
| CN109681079A (en) * | 2019-01-15 | 2019-04-26 | 广州市星火机器人有限公司 | Switch gate controls equipment, method, apparatus and robot |
| CN110207705A (en) * | 2019-05-27 | 2019-09-06 | 五邑大学 | A kind of indoor navigation vehicle based on laser SLAM |
| CN110757472A (en) * | 2019-10-10 | 2020-02-07 | 三峡大学 | Autonomous navigation medical patrol medicine delivery robot and use method thereof |
| CN111958636A (en) * | 2020-08-07 | 2020-11-20 | 湖南神通智能股份有限公司 | Marking method and system for robot position |
| CN112698629A (en) * | 2020-12-23 | 2021-04-23 | 江苏睿科大器机器人有限公司 | AGV (automatic guided vehicle) scheduling method and system suitable for hospital scene |
| CN112882481A (en) * | 2021-04-28 | 2021-06-01 | 北京邮电大学 | Mobile multi-mode interactive navigation robot system based on SLAM |
| CN113902366A (en) * | 2021-10-09 | 2022-01-07 | 中兴耀维科技江苏有限公司 | Container type robot service system for intelligent distribution of hotel articles |
| CN114803737A (en) * | 2022-04-26 | 2022-07-29 | 河南省吉立达机器人有限公司 | Elevator floor control and interaction method based on network and near field fusion |
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| CN107953335A (en) * | 2017-12-24 | 2018-04-24 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
| CN107953335B (en) * | 2017-12-24 | 2024-02-27 | 华南理工大学广州学院 | Behavior control system of robot |
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN108346025B (en) * | 2018-02-26 | 2021-09-10 | 上海申雪供应链管理有限公司 | Cloud-based intelligent logistics computing method |
| CN108346025A (en) * | 2018-02-26 | 2018-07-31 | 成都科木信息技术有限公司 | Wisdom logistics computational methods based on cloud |
| CN108376325A (en) * | 2018-02-26 | 2018-08-07 | 成都科木信息技术有限公司 | Logistics information network management method |
| CN108171892A (en) * | 2018-03-13 | 2018-06-15 | 深圳市三维通机器人***有限公司 | A kind of Intelligent unattended library system |
| CN108789427A (en) * | 2018-05-08 | 2018-11-13 | 上海电力学院 | A kind of multi-functional hotel's service robot |
| CN109375614A (en) * | 2018-08-29 | 2019-02-22 | 上海常仁信息科技有限公司 | A kind of locating and tracking system based on robot |
| CN109104729A (en) * | 2018-09-28 | 2018-12-28 | 易普森智慧健康科技（深圳）有限公司 | A kind of network overlay system of merchandising machine people running environment |
| CN109227566A (en) * | 2018-10-23 | 2019-01-18 | 广州赛特智能科技有限公司 | A kind of hospital's Intelligent transfer robot |
| CN109681079A (en) * | 2019-01-15 | 2019-04-26 | 广州市星火机器人有限公司 | Switch gate controls equipment, method, apparatus and robot |
| CN110207705A (en) * | 2019-05-27 | 2019-09-06 | 五邑大学 | A kind of indoor navigation vehicle based on laser SLAM |
| CN110757472B (en) * | 2019-10-10 | 2021-04-13 | 三峡大学 | Autonomous navigation medical patrol medicine delivery robot and use method thereof |
| CN110757472A (en) * | 2019-10-10 | 2020-02-07 | 三峡大学 | Autonomous navigation medical patrol medicine delivery robot and use method thereof |
| CN111958636A (en) * | 2020-08-07 | 2020-11-20 | 湖南神通智能股份有限公司 | Marking method and system for robot position |
| CN112698629A (en) * | 2020-12-23 | 2021-04-23 | 江苏睿科大器机器人有限公司 | AGV (automatic guided vehicle) scheduling method and system suitable for hospital scene |
| CN112882481A (en) * | 2021-04-28 | 2021-06-01 | 北京邮电大学 | Mobile multi-mode interactive navigation robot system based on SLAM |
| CN113902366A (en) * | 2021-10-09 | 2022-01-07 | 中兴耀维科技江苏有限公司 | Container type robot service system for intelligent distribution of hotel articles |
| CN114803737A (en) * | 2022-04-26 | 2022-07-29 | 河南省吉立达机器人有限公司 | Elevator floor control and interaction method based on network and near field fusion |
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Application publication date: 20171201 |