CN108830526A - Dispensing device, dispenser, allocator and computer readable storage medium - Google Patents
Dispensing device, dispenser, allocator and computer readable storage medium Download PDFInfo
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Abstract
The disclosure proposes a kind of dispensing device, dispenser, allocator and computer readable storage medium, is related to dispatching field.Dispensing device therein includes：Female dispensing vehicle and several sub- dispensing vehicles, wherein mother's dispensing vehicle includes female chassis for parking the sub- dispensing vehicle, the sub- dispensing vehicle include can bearing goods sub- chassis, it is that user dispenses cargo that the sub- dispensing vehicle, which can sail out of female dispensing vehicle,.By dispensing device, female dispensing vehicle can be transported below sub- dispensing vehicle to building, and the volume of sub- dispensing vehicle is smaller, can improve user experience by elevator delivery to floor.
Description
Technical field
This disclosure relates to dispense field, in particular to a kind of dispensing device, dispenser, allocator and computer-readable
Storage medium.
Background technique
After the cargo of user is sent to designated place by unmanned dispensing vehicle, user to designated place picking.In order to improve dispatching
Efficiency, unmanned dispensing vehicle usually deliver many cargos, reach a user downstairs after, remind user to picking downstairs, to
After the completion of user's picking, then to next user continue downstairs dispense cargo.
Summary of the invention
Inventors have found that unmanned dispensing vehicle dispenses efficiency based on the considerations of improving, many cargos of delivery are generally required, are made
Volume at unmanned dispensing vehicle is bigger, not can enter elevator, it is difficult to the needs of meeting delivery to floor.In addition, unmanned dispatching
Vehicle needs to wait the place that can just sail for next user after the completion of user's picking to continue to dispense cargo, wait user's picking when
Between will affect the whole dispatching efficiency of unmanned dispensing vehicle.
In consideration of it, the disclosure proposes distribution project, the needs of meeting user delivery be to floor under unmanned dispatching scene, this
Outside, whole dispatching efficiency can also be improved.
According to one aspect of the disclosure, a kind of dispensing device is proposed, including：
Female dispensing vehicle, and
Several sub- dispensing vehicles,
Wherein, female dispensing vehicle includes female chassis for parking the sub- dispensing vehicle, and the sub- dispensing vehicle includes can
The sub- chassis of bearing goods, it is that user dispenses cargo that the sub- dispensing vehicle, which can sail out of female dispensing vehicle,.
In some embodiments, there is the retaining structure of the fixed sub- dispensing vehicle on female chassis and supplies the son
The ramp that dispensing vehicle sails out of.
In some embodiments, the retaining structure includes groove and the liftable mechanism positioned at the bottom portion of groove.
In some embodiments, female dispensing vehicle further includes：
Navigation module, first laser radar, camera vision module,
First processor,
Female motion driving system and it is configured as the female wireless communication module communicated with the sub- dispensing vehicle,
Wherein, the navigation module is configured as obtaining location information, and is transferred to the first processor, and described first
Laser radar is configured as perception environmental information, and is transferred to the first processor, and the camera vision module is configured
To identify road markings and traffic lights, and it is transferred to the first processor, the first processor is configured as basis
Location information, environmental information and road markings and traffic lights carry out operation, according to operation result and dispatching task, to institute
It states female motion driving system and sends the movement instruction for being used to drive female dispensing vehicle to travel, and pass through female radio communication mold
Block sends control instruction to the sub- dispensing vehicle.
In some embodiments, the first processor includes：
Upper layer processor, and
Lower layer's processor,
Wherein, the upper layer processor is configured for operation, lower layer's processor be configured as transmitting-receiving instruction and
Transmit the feedback information of the sub- dispensing vehicle.
In some embodiments, the sub- dispensing vehicle further includes：
Second laser radar,
Second processor,
Sub- motion driving system and it is configured as the sub- wireless communication module communicated with female dispensing vehicle,
Wherein, the sub- wireless communication module is configured as receiving the control instruction that female dispensing vehicle is sent, and transmits
To the second processor, the second laser radar is configured as perception environmental information, and is transferred to the second processor,
The second processor is configured as according to the control instruction, environmental information and dispatching task, to the sub- movement driving system
System sends the movement instruction for being used to drive the sub- dispensing vehicle traveling.
In some embodiments, female dispensing vehicle is configured as being transported each described according to outdoor environment perceptional function
Where sub- dispensing vehicle reaches the dispatching place of the responsible order of the sub- dispensing vehicle below building；The sub- dispensing vehicle is configured
After where female dispensing vehicle arrival dispatching place below building, female dispensing vehicle is sailed out of, and described in entrance
The inside of building where dispensing place；According to indoor environment perceptional function, the building where the dispatching place is reached by elevator
Layer dispenses cargo for user.
In some embodiments, female dispensing vehicle is configured as transporting every sub- dispensing vehicle to reach the sub- dispensing vehicle negative
Where the dispatching place of the order of duty below building after, be not to wait for the sub- dispensing vehicle delivery and finish, transport immediately it is remaining its
Where his sub- dispensing vehicle reaches the dispatching place for the order being each responsible for below building.
In some embodiments, after each sub- dispensing vehicle is configured as delivery, the mother is respectively sailed out of in return
The place of dispensing vehicle waits female dispensing vehicle；Mother's dispensing vehicle is configured as all sub- dispensing vehicles being sent to each think highly of oneself
After below the dispatching place place building of the order of duty, backtracking, and carry each sub- dispensing vehicle that delivery finishes.
According to another aspect of the present disclosure, a kind of allocator is proposed, including：
Female dispensing vehicle carries several sub- dispensing vehicles；
Mother's dispensing vehicle transports each sub- dispensing vehicle and reaches the sub- dispensing vehicle according to outdoor environment perceptional function
Where the dispatching place of responsible order below building；
The sub- dispensing vehicle sails out of female dispensing vehicle, and enters the inside of dispatching place place building；
The sub- dispensing vehicle reaches the floor where the dispatching place by elevator according to indoor environment perceptional function,
Cargo is dispensed for user.
In some embodiments, female dispensing vehicle transports each sub- dispensing vehicle and reaches what the sub- dispensing vehicle was responsible for
Include below building where the dispatching place of order：
Mother's dispensing vehicle transports the dispatching place place that every sub- dispensing vehicle reaches the responsible order of the sub- dispensing vehicle
It after below building, is not to wait for the sub- dispensing vehicle delivery and finishes, transport other remaining sub- dispensing vehicle arrival immediately and be each responsible for
Order dispatching place where below building.
In some embodiments, which further includes：After each sub- dispensing vehicle delivery, return is respectively sailed
Place from female dispensing vehicle waits female dispensing vehicle；All sub- dispensing vehicles are being sent to each think highly of oneself by mother's dispensing vehicle
After below the dispatching place place building of the order of duty, backtracking, and carry each sub- dispensing vehicle that delivery finishes.
In some embodiments, female dispensing vehicle reaches the sub- dispensing vehicle in each sub- dispensing vehicle of transport and is responsible for
Order dispatching place where below building after, send place to the sub- dispensing vehicle and reach instruction and order information；Institute
It states sub- dispensing vehicle and reaches instruction in response to the place, sail out of female dispensing vehicle, and enter building where the dispatching place
Inside；The dispatching place that the sub- dispensing vehicle is recorded according to indoor environment perceptional function and the order information, passes through
Elevator reaches the floor where the dispatching place, according to the goods information that the order information records, dispenses cargo for user.
In some embodiments, the outdoor environment perceptional function includes：Positioning function, the environment sense based on laser radar
Know the identification function of function, road markings and traffic lights；The indoor environment perceptional function includes：Based on laser radar
Environment sensing function.
According to the another further aspect of the disclosure, a kind of dispenser is proposed, including：
Memory；And
It is coupled to the processor of the memory, the processor is configured to the finger based on storage in the memory
It enables, executes the allocator of any one aforementioned embodiment.
According to the another further aspect of the disclosure, it proposes a kind of computer readable storage medium, is stored thereon with computer program,
The program realizes the allocator of any one aforementioned embodiment when being executed by processor.
The dispensing device of the disclosure includes that female dispensing vehicle and several sub- dispensing vehicles, female dispensing vehicle can transport sub- dispensing vehicle and arrive
Below building, the volume of sub- dispensing vehicle is smaller, can improve user experience by elevator delivery to floor.In addition, mother matches
After sending vehicle to transport the place that each sub- dispensing vehicle reaches one of user, finished without waiting for the sub- dispensing vehicle delivery, Ke Yili
It sails and is dispensed toward the place of next user at once, whole dispatching efficiency is relatively high.
Detailed description of the invention
Attached drawing needed in embodiment or description of Related Art will be briefly described below.According to following ginseng
According to the detailed description of attached drawing, the disclosure can be more clearly understood,
It should be evident that the accompanying drawings in the following description is only some embodiments of the present disclosure, skill common for this field
For art personnel, without any creative labor, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of some embodiments of disclosure dispensing device.
Fig. 2 is the structural schematic diagram of some embodiments of disclosure retaining structure.
Fig. 3 is the structural schematic diagram of some embodiments of disclosure mother dispensing vehicle 10.
Fig. 4 is the structural schematic diagram of some embodiments of the sub- dispensing vehicle 20 of the disclosure.
Fig. 5 is the flow diagram of some embodiments of disclosure allocator.
Fig. 6 is the structural schematic diagram of some embodiments of disclosure dispenser.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description.
The descriptions such as " first ", " second " in the disclosure are only used to distinguish different objects, be not used to indicate size or when
The meanings such as sequence.
Fig. 1 is the schematic diagram of some embodiments of disclosure dispensing device.
As shown in Figure 1, the dispensing device of the embodiment includes：Female dispensing vehicle 10 and several sub- dispensing vehicles 20.Wherein,
Female dispensing vehicle 10 includes female chassis for parking sub- dispensing vehicle 20.In order to improve dispatching efficiency, it is generally the case that female dispensing vehicle
Multiple sub- dispensing vehicles 20 are carried on 10.Sub- dispensing vehicle 20 include can bearing goods sub- chassis.Sub- dispensing vehicle 20 can sail out of mother
Dispensing vehicle 10 is that user dispenses cargo.The size of sub- dispensing vehicle 20 can be according to the size design of elevator, so that sub- dispensing vehicle 20
It is able to enter in elevator.According to business demand, sub- dispensing vehicle 20 can carry the cargo of a user, alternatively, carrying one
The cargo of several users in building can also carry the cargo of several users in the unit of a building.
In some embodiments, there is the ramp sailed out of for sub- dispensing vehicle 20 on female chassis.The ramp can be scalable
Ramp, ramp is formed by stretching mode, ramp is withdrawn by retraction mode.
In some embodiments, with the retaining structure of stator dispensing vehicle 20 on female chassis, so that sub- dispensing vehicle 20 exists
Female dispensing vehicle 10 will not shift when driving.
As shown in Fig. 2, retaining structure for example including several grooves 11 being located on female chassis and positioned at bottom portion of groove can
Elevating mechanism 12.The quantity of groove 11 is determined according to the wheel count of the sub- dispensing vehicle 20 of required carrying.Female dispensing vehicle 10 travels
When, liftable mechanism 12 is decreased below the surface on female chassis, so that the wheel of sub- dispensing vehicle 20 is embedded in groove 11, it is ensured that son is matched
Vehicle 20 is sent not fall down.When group dispensing vehicle 20 needs to sail out of female dispensing vehicle 10, liftable mechanism 12 is risen to and female chassis
Flush, sub- dispensing vehicle 20 is moved.
As shown in figure 3, female dispensing vehicle 10 further includes：Navigation module 13, first laser radar 14, camera vision module
15, first processor 16, female motion driving system 17 and it is configured as the female wireless communication module 18 communicated with sub- dispensing vehicle 20.
Navigation module 13 is configured as obtaining the current location information of female dispensing vehicle 10, and is transferred to first processor 16.
Navigation module 13 for example can be GPS (Global Positioning System, global positioning system) navigation module.First
Laser radar 14 is configured as perception environmental information, and is transferred to first processor 16.Camera vision module 15 is configured as
Based on the image of camera shooting, road markings and traffic lights are identified, and be transferred to first processor 16.Female dispensing vehicle 10
Outdoor environment perceptional function is realized by navigation module 13, first laser radar 14, camera vision module 15.
First processor 16 is configured as being carried out according to location information, environmental information and road markings and traffic lights
Operation, the dispatching place programme path of the current location obtained according to positioning and the instruction of dispatching task, according to the road road sign of identification
Knowledge travels on the route of planning, in the process of moving, the angle of traveling is determined according to the environmental information perceived, to hide barrier
Hinder, and determine the speed of traveling according to the traffic lights of identification, and then is sent to female motion driving system 17 and be used to drive mother
The movement instruction that dispensing vehicle 10 travels, such as travel speed, traveling angle, and pass through female wireless communication module 18 to sub- dispensing vehicle
20 send control instruction.Control instruction reaches instruction, carriage return instruction etc. for example including place, but is not limited to examples cited.Son is matched
It send vehicle 20 to receive after place reaches instruction, female dispensing vehicle 10 can be sailed out of automatically, then dispense cargo.Sub- dispensing vehicle 20 has dispensed goods
Object sail out of wait when, if receiving carriage return instruction, mother's dispensing vehicle 10 can be sailed back automatically.
Since the information content to be treated of first processor 16 is bigger, in order to improve treatment effeciency, in some embodiments
In, first processor 16 includes：Upper layer processor 161 and lower layer's processor 162.Wherein, upper layer processor 161 is configured
To carry out operation, and the instructions such as the movement instruction formed after operation and control instruction are sent to lower layer's processor 162.At lower layer
Reason device 162 is configured as transmitting-receiving instruction and transmits the feedback information of sub- dispensing vehicle 20.Specifically, lower layer's processor 162 receives
The instruction such as the movement instruction of upper layer processor 161 and control instruction, and movement instruction is sent to female motion driving system 17, it will
Control instruction is sent to sub- dispensing vehicle 20.The reception that lower layer's processor 162 also receives the control instruction that sub- dispensing vehicle 20 returns is rung
It should be with the information such as executive condition.
As shown in figure 4, sub- dispensing vehicle 20 further includes：Second laser radar 21, second processor 22, sub- motion driving system
23 and it is configured as the sub- wireless communication module 24 communicated with female dispensing vehicle 10.
Sub- wireless communication module 24 is configured as receiving the control instruction that female dispensing vehicle 10 is sent, and is transferred to second processing
Device 22.Second laser radar 21 is configured as perception environmental information, and is transferred to second processor 22.Sub- dispensing vehicle 20 passes through the
Dual-laser radar 21 realizes indoor environment perceptional function.Second processor 22 be configured as according to control instruction, environmental information and
Dispatching task sends the movement instruction for being used to that sub- dispensing vehicle 20 is driven to travel to sub- motion driving system 23.
Sub- wireless communication module 24 receives after place reaches instruction, is transferred to second processor 22.22 sound of second processor
Instruction should be reached in place, send movement instruction to sub- motion driving system 23, sub- dispensing vehicle 20 is driven to sail out of female dispatching automatically
Vehicle 10, subsequently into building, preparation dispenses cargo.In building, environment that second processor 22 is perceived according to laser radar
Information drives sub- dispensing vehicle 20 to hide obstacle during traveling, ultimately proceeds to the floor up to the instruction of dispatching task, waits stand-by
Get cargo in family.After completing the dispatching task in building, second processor 22 sends movement instruction to sub- motion driving system 23,
It drives sub- dispensing vehicle 20 to return to and sails out of the female dispensing vehicle 10 of a waiting, after sub- wireless communication module 24 receives carriage return instruction, second
Processor 22 is instructed in response to carriage return, sends movement instruction to sub- motion driving system 23, sub- dispensing vehicle 20 is driven to be sailed back automatically
Female dispensing vehicle 10.
In some embodiments, female dispensing vehicle 10 is configured as transporting every height dispatching according to outdoor environment perceptional function
Where vehicle 20 reaches the dispatching place of the responsible order of sub- dispensing vehicle 20 below building.Sub- dispensing vehicle 20 is configured as matching in mother
After sending below the building of the arrival dispatching place of vehicle 10 place, female dispensing vehicle 10 is sailed out of, and enters the interior of dispatching place place building
Portion is reached the floor where dispatching place by elevator, dispenses cargo for user then according to indoor environment perceptional function.From
And the needs of meeting user delivery is to floor under unmanned dispatching scene.
In some embodiments, female dispensing vehicle 10 is configured as that reach sub- dispensing vehicle 20 negative transporting every sub- dispensing vehicle 20
After below the dispatching place place building of the order of duty, place is sent to sub- dispensing vehicle 20 and reaches instruction and order information.Son
Dispensing vehicle 20 is configured to respond to place and reaches instruction, sails out of female dispensing vehicle 10, and enters the interior of dispatching place place building
Then portion according to the dispatching place that indoor environment perceptional function and order information record, reaches dispatching place place by elevator
Floor, according to order information record goods information, for user dispense cargo.
In some embodiments, female dispensing vehicle 10, which is configured as transporting every sub- dispensing vehicle 20 and reaches sub- dispensing vehicle 20, is responsible for
Order dispatching place where below building after, be not to wait for sub- 20 delivery of dispensing vehicle and finish, transport immediately it is remaining its
Where his sub- dispensing vehicle 20 reaches the dispatching place for the order being each responsible for below building.To improve whole dispatching efficiency.
In some embodiments, after every sub- dispensing vehicle 20 is configured as delivery, female dispensing vehicle is respectively sailed out of in return
10 place waits female dispensing vehicle 10；Female dispensing vehicle 10 is configured as all sub- dispensing vehicles 20 being sent to ordering of being each responsible for
After below single dispatching place place building, backtracking, and carry each that delivery finishes sub- dispensing vehicle 20.To complete
Delivery process.
Fig. 5 is the flow diagram of some embodiments of disclosure allocator.
As shown in figure 5, the allocator of the embodiment includes：Step 510~540.
In step 510, female dispensing vehicle 10 carries several sub- dispensing vehicles 20.
In step 520, female dispensing vehicle 10 transports every sub- dispensing vehicle 20 and reaches sub- dispatching according to outdoor environment perceptional function
Where the dispatching place of the responsible order of vehicle 20 below building.
Outdoor environment perceptional function for example including：Positioning function, the environment sensing function based on laser radar, road markings
With the identification function of traffic lights.
In some embodiments, female dispensing vehicle 10 transports every sub- dispensing vehicle 20 and reaches the responsible order of sub- dispensing vehicle 20
Include below building where dispatching place：What female dispensing vehicle 10 transported that every sub- dispensing vehicle 20 reaches that sub- dispensing vehicle 20 is responsible for orders
It after below single dispatching place place building, is not to wait for sub- 20 delivery of dispensing vehicle and finishes, transport other remaining sons immediately
Where dispensing vehicle 20 reaches the dispatching place for the order being each responsible for below building.To improve whole dispatching efficiency.
In step 530, sub- dispensing vehicle 20 sails out of female dispensing vehicle 10, and enters the inside of dispatching place place building.
In step 540, sub- dispensing vehicle 20 reaches the building where dispatching place by elevator according to indoor environment perceptional function
Layer dispenses cargo for user.
Indoor environment perceptional function for example including：Environment sensing function based on laser radar.
In some embodiments, female dispensing vehicle 10 reaches the responsible order of sub- dispensing vehicle 20 in every sub- dispensing vehicle 20 of transport
Dispatching place where below building after, send place to sub- dispensing vehicle 20 and reach instruction and order information；Sub- dispensing vehicle 20
Reach instruction in response to place, sail out of female dispensing vehicle 10, and enters the inside of dispatching place place building；Sub- 20 basis of dispensing vehicle
The dispatching place of indoor environment perceptional function and order information record reaches the floor where dispatching place by elevator, according to
The goods information of order information record dispenses cargo for user.
The needs of delivery is to floor under unmanned dispatching scene to meeting user.
In some embodiments, optionally, which further includes：Step 550~560.
After step 550, every sub- 20 delivery of dispensing vehicle, the place for respectively sailing out of female dispensing vehicle 10 is returned to, is waited
Female dispensing vehicle 10.
In step 560, female dispensing vehicle 10 is in the dispatching place institute that all sub- dispensing vehicles 20 are sent to the order being each responsible for
After below the building, backtracking, and carry each that delivery finishes sub- dispensing vehicle 20.
To complete a delivery process.
Fig. 6 is the structural schematic diagram of some embodiments of disclosure dispenser.
As shown in fig. 6, the device 600 of the embodiment includes：Memory 610 and the processing for being coupled to the memory 610
Device 620, processor 620 are configured as executing in any one aforementioned embodiment based on the instruction being stored in memory 610
Allocator.
Wherein, memory 610 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
Device 600 can also include input/output interface 630, network interface 640, memory interface 650 etc..These interfaces
It can for example be connected by bus 660 between 630,640,650 and memory 610 and processor 620.Wherein, input and output
The input-output equipment such as interface 630 is display, mouse, keyboard, touch screen provide connecting interface.Network interface 640 is various
Networked devices provide connecting interface.The external storages such as memory interface 650 is SD card, USB flash disk provide connecting interface.
According to the another further aspect of the disclosure, it is also proposed that a kind of computer readable storage medium is stored thereon with computer journey
Sequence, the program realize the allocator of any one aforementioned embodiment when being executed by processor.
Those skilled in the art should be understood that embodiment of the disclosure can provide as method, system or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the disclosure
The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the disclosure, which can be used in one or more,
Machine can use the meter implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It is interpreted as to be realized by computer program instructions each in flowchart and/or the block diagram
The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computer journeys
Sequence instruct to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with
A machine is generated, so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for
Realize the dress for the function of specifying in one or more flows of the flowchart and/or one or more blocks of the block diagram
It sets.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.
Claims (16)
1. a kind of dispensing device, including：
Female dispensing vehicle, and
Several sub- dispensing vehicles,
Wherein, female dispensing vehicle includes female chassis for parking the sub- dispensing vehicle, and the sub- dispensing vehicle includes that can carry
The sub- chassis of cargo, it is that user dispenses cargo that the sub- dispensing vehicle, which can sail out of female dispensing vehicle,.
2. dispensing device as described in claim 1, wherein have the detent knot of the fixed sub- dispensing vehicle on the mother chassis
Structure and the ramp sailed out of for the sub- dispensing vehicle.
3. dispensing device as claimed in claim 2, wherein the retaining structure includes groove and positioned at the bottom portion of groove
Liftable mechanism.
4. dispensing device as described in claim 1, wherein it is described mother dispensing vehicle further include：
Navigation module, first laser radar, camera vision module,
First processor,
Female motion driving system and it is configured as the female wireless communication module communicated with the sub- dispensing vehicle,
Wherein, the navigation module is configured as obtaining location information, and is transferred to the first processor, the first laser
Radar is configured as perception environmental information, and is transferred to the first processor, and the camera vision module is configured as knowing
Other road markings and traffic lights, and it is transferred to the first processor, the first processor is configured as according to positioning
Information, environmental information and road markings and traffic lights carry out operation, according to operation result and dispatching task, to the mother
Motion driving system sends the movement instruction for being used to drive female dispensing vehicle to travel, and by female wireless communication module to
The sub- dispensing vehicle sends control instruction.
5. dispensing device as claimed in claim 4, wherein the first processor includes：
Upper layer processor, and
Lower layer's processor,
Wherein, the upper layer processor is configured for operation, and lower layer's processor is configured as transmitting-receiving instruction and transmission
The feedback information of the sub- dispensing vehicle.
6. dispensing device as described in claim 1, wherein the sub- dispensing vehicle further includes：
Second laser radar,
Second processor,
Sub- motion driving system and it is configured as the sub- wireless communication module communicated with female dispensing vehicle,
Wherein, the sub- wireless communication module is configured as receiving the control instruction that female dispensing vehicle is sent, and is transferred to institute
Second processor is stated, the second laser radar is configured as perception environmental information, and is transferred to the second processor, described
Second processor is configured as being sent out according to the control instruction, environmental information and dispatching task to the sub- motion driving system
Send the movement instruction for driving the sub- dispensing vehicle traveling.
7. dispensing device as claimed in any one of claims 1 to 6, wherein
Mother's dispensing vehicle is configured as transporting each sub- dispensing vehicle arrival son according to outdoor environment perceptional function and matching
Where the dispatching place for the order for sending vehicle responsible below building；
The sub- dispensing vehicle is configured as after where female dispensing vehicle arrival dispatching place below building, sails out of institute
Female dispensing vehicle is stated, and enters the inside of dispatching place place building；According to indoor environment perceptional function, reached by elevator
Floor where the dispatching place dispenses cargo for user.
8. dispensing device as claimed in claim 7, wherein
Mother's dispensing vehicle is configured as transporting the dispatching place that every sub- dispensing vehicle reaches the responsible order of the sub- dispensing vehicle
It after below the building of place, is not to wait for the sub- dispensing vehicle delivery and finishes, transport other remaining sub- dispensing vehicles immediately and reach respectively
Where the dispatching place of responsible order below building.
9. dispensing device as claimed in claim 7, wherein
After each sub- dispensing vehicle is configured as delivery, the place for respectively sailing out of female dispensing vehicle is returned to, institute is waited
State female dispensing vehicle；
Mother's dispensing vehicle is configured as the building where all sub- dispensing vehicles are sent to the dispatching place for the order being each responsible for
Below after, backtracking, and carry each sub- dispensing vehicle that delivery finishes.
10. a kind of allocator, including：
Female dispensing vehicle carries several sub- dispensing vehicles；
Mother's dispensing vehicle transports each sub- dispensing vehicle arrival sub- dispensing vehicle and is responsible for according to outdoor environment perceptional function
Order dispatching place where below building；
The sub- dispensing vehicle sails out of female dispensing vehicle, and enters the inside of dispatching place place building；
The sub- dispensing vehicle reaches the floor where the dispatching place by elevator according to indoor environment perceptional function, for
Family dispenses cargo.
11. allocator as claimed in claim 10, wherein each sub- dispensing vehicle of mother's dispensing vehicle transport reaches institute
Include below building where stating the dispatching place of the responsible order of sub- dispensing vehicle：
Mother's dispensing vehicle transports every sub- dispensing vehicle and reaches building where the dispatching place of the responsible order of the sub- dispensing vehicle
Below after, be not to wait for the sub- dispensing vehicle delivery and finish, transport other remaining sub- dispensing vehicles immediately and reach ordering of being each responsible for
Where single dispatching place below building.
12. allocator as claimed in claim 10, further includes：
After each sub- dispensing vehicle delivery, the place for respectively sailing out of female dispensing vehicle is returned to, waits female dispatching
Vehicle；
It is described mother dispensing vehicle after all sub- dispensing vehicles are sent to where the dispatching place for the order being each responsible for below building,
Backtracking, and carry each sub- dispensing vehicle that delivery finishes.
13. allocator as claimed in claim 10,
Mother's dispensing vehicle reaches the dispatching place institute of the responsible order of the sub- dispensing vehicle transporting each sub- dispensing vehicle
After below the building, place is sent to the sub- dispensing vehicle and reaches instruction and order information；
The sub- dispensing vehicle reaches instruction in response to the place, sails out of female dispensing vehicle, and enter the dispatching place institute
In the inside of building；
The dispatching place that the sub- dispensing vehicle is recorded according to indoor environment perceptional function and the order information, passes through elevator
The floor where the dispatching place is reached, according to the goods information that the order information records, dispenses cargo for user.
14. allocator as claimed in claim 10, wherein
The outdoor environment perceptional function includes：Positioning function, environment sensing function, road markings and friendship based on laser radar
The identification function of ventilating signal lamp；
The indoor environment perceptional function includes：Environment sensing function based on laser radar.
15. a kind of dispenser, including：
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Perform claim requires allocator described in any one of 10-14.
16. a kind of computer readable storage medium, is stored thereon with computer program, power is realized when which is executed by processor
Benefit requires allocator described in any one of 10-14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810487421.XA CN108830526B (en) | 2018-05-21 | 2018-05-21 | Distribution device, distribution apparatus, distribution method, and computer-readable storage medium |
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| CN110236397A (en) * | 2019-07-23 | 2019-09-17 | 杭州后博科技有限公司 | A kind of mobile coffee machine system of interactive |
| CN110301825A (en) * | 2019-07-23 | 2019-10-08 | 杭州后博科技有限公司 | A kind of coffee machine system dispensing coffee |
| CN110326971A (en) * | 2019-07-23 | 2019-10-15 | 杭州后博科技有限公司 | A kind of mobile coffee machine system of customizable coffee |
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