CN110288284A - A kind of multifunctional intellectual dispensing machine people, delivery system and its allocator - Google Patents
A kind of multifunctional intellectual dispensing machine people, delivery system and its allocator Download PDFInfo
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- CN110288284A CN110288284A CN201910369578.7A CN201910369578A CN110288284A CN 110288284 A CN110288284 A CN 110288284A CN 201910369578 A CN201910369578 A CN 201910369578A CN 110288284 A CN110288284 A CN 110288284A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
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Abstract
The invention discloses a kind of multifunctional intellectual dispensing machine people, delivery system and its allocators, it is realized using dispensing machine people and robot special lift, the robot includes several article-storage devices, it include: robot mounting seat with robot, the driving device being fixedly mounted in robot mounting seat, the power supply device being fixedly mounted on inside robot mounting seat, is fixedly mounted on the article-storage device of robot mounting seat top layer, and the photographic device being mounted on article-storage device.Robot further includes control system, connects the communication module of microprocessor, connects the warning system of control system, and the Position Fixing Navigation System of connection control system.Customer data is sent in the control system of dispensing machine people by online service portion of the present invention by wireless network, communication between dispensing machine people and elevator control system, article is sent to designated position, by dispensing machine people and dispatching elevator cooperation, can individually, efficiently complete delivery service.
Description
Technical field
The invention belongs to intelligent distribution field, especially a kind of multifunctional intellectual dispensing machine people, delivery system and its dispatching
Method.
Background technique
It spends a holiday preferred manner with the improvement of living standards, spend a holiday formula hotel and apartment become people's travelling, much spends a holiday
Formula hotel is mostly to possess perfect and independent life corollary equipment in quiet comfortable natural environment, so many guests are entering
Can have a variety of different Demand and services after firmly, especially to the tourist season when number increase sharply, the administrative staff in hotel are unable to satisfy
The needs of client, so that service rate and quality be made to decline, influence passenger moves in experience.
Summary of the invention
Goal of the invention: a kind of multifunctional intellectual dispensing machine people, delivery system and its allocator are provided, to solve existing skill
The above problem existing for art.
A kind of technical solution: multifunctional intellectual dispensing machine people, comprising:
Robot mounting seat, the driving device being fixedly mounted in robot mounting seat are fixedly mounted on robot installation
The power supply device of chassis interior, is fixedly mounted on the article-storage device of robot mounting seat top layer, and is mounted on article-storage device
On photographic device；
The side of the article-storage device is provided with CUSTOM HOUSE HOTEL slot and digital display screen, the photographic device, CUSTOM HOUSE HOTEL slot and number
Display screen is electrically connected the microprocessor being arranged in inside article-storage device, and the robot further includes control system, connects microprocessor
Communication module, connect the warning system of control system, and the Position Fixing Navigation System of connection control system.
In a further embodiment, the driving device includes: the driving being fixedly mounted in robot mounting seat
Motor, the driving wheel group for the driving motor that is sequentially connected, the road conditions of the controller and setting for the driving motor that is electrically connected in the controller
Monitoring system, the road condition monitoring system are connected to the image capture module of photographic device, are monitored to road conditions, pass through road conditions
Monitoring system controls the direction of driving motor unlatching and driving wheel, and dispensing machine people dispatching channel can be prevented occupied and caused
Blocking.
In a further embodiment, the CUSTOM HOUSE HOTEL slot is internally provided with IC card reader, identifies CUSTOM HOUSE HOTEL information, judgement
Whether the information stored on CUSTOM HOUSE HOTEL, which meets dispatching, requires, and can distinguish the identity information of picking people.
In a further embodiment, the warning system includes: the anti-theft trigger being arranged on article-storage device, setting
In the voltage alarm device of power supply device, and the position indicator of setting in the microprocessor, the warning system can be timely
The emergency for notifying control centre to occur, avoids robot from damaging loss in delivery process.
In a further embodiment, the article-storage device includes；The cabinet shell being fixed on the outside of article-storage device,
The lifting magazine being fixedly mounted on inside cabinet shell, and the antitheft storing lid at the top of shell outside the enclosure is set, lifting storage
Rack can be adjusted according to the various articles held, meet the diverse requirements of client.
In a further embodiment, a kind of multifunctional intellectual dispensing machine people's allocator, using dispensing machine people and machine
Device people's special lift realizes that for the elevator setting in every first floor space, elevator includes: elevator, is slidably connected at elevator
In elevator case, the elevator control system in elevator body is set, and the image of every first floor space lift port is arranged in and adopts
Collect module, and each layer of lift port sets the channel for being equipped with and being exclusively used in dispensing machine people；Dispensing machine people can be reduced with passing through
The complexity of road conditions in journey avoids the artificially interference caused by dispensing machine people；
The elevator into top be fixedly installed with elevator traction machine, controller is provided in the elevator control system, it is described
Controller is electrically connected elevator traction machine encoder, and the encoder is electrically connected frequency converter, and described image acquisition module is converted to by DSP
Binary instruction is simultaneously sent to elevator control system, and elevator control system can be orderly according to time and urgency level to dispatching
The dispatching request of robot is ranked up.
In a further embodiment, work step is as follows:
S1, guest before moving in by cell-phone number bind CUSTOM HOUSE HOTEL, by mobile phone terminal hotel online service portion to required clothes
Business or commodity place an order, and complete to pay；
Order after the completion of payment is sent to between object by S2, online service portion, carries out order assembly by special messenger, will be needed for guest
Article is placed in dispensing machine people's article-storage device；
S3, robot after the assembly is completed are moved to lift port designated position and wait in line, and robot control system will receive
Order information, be shown on digital screen, and generate the two dimensional image that can be identified by lift port image capture module.
S4, lift port are scanned the two dimensional image on digital screen, and will convert the image into binary system by DSP
Instruction, elevator control system stores and are lined up into memory after receiving instruction, and elevator door will dispense after opening according to instruction
Robot send floor where to specified order information；
S5, dispensing machine people are moved to the room doorway where order, control system behind in-position by Position Fixing Navigation System
Call signal is sent to guest's cell phone client by network；
CUSTOM HOUSE HOTEL is inserted in IC card reader in CUSTOM HOUSE HOTEL slot by S6, guest, identifies CUSTOM HOUSE HOTEL information, and with deposited in control system database
The order information of storage is compared；
S7, CUSTOM HOUSE HOTEL successful match, control system manipulate the antitheft storing lid in article-storage device and open, and lifting magazine rises, visitor
After people takes goods and materials extraction CUSTOM HOUSE HOTEL away, robot restores to the original state, and returns between object.
It fails to match for S8, CUSTOM HOUSE HOTEL, and control system shows the information of order people on digital screen, and sends out to warning system
Alarm signal out.
A kind of multifunctional intellectual dispensing machine people's allocator is realized, institute using dispensing machine people and robot special lift
Stating robot includes several article-storage devices；
When guest room quantity is more than desired value, the dispensing machine people is divided into the first dispensing machine people and the second dispensing machine people,
The first dispensing machine people is responsible for from the material allocation between object to special lift, and the second dispensing machine people is responsible for dedicated
Elevator to guest room material allocation；The first dispensing machine people at least two, the quantity of the second dispensing machine people with
The quantity of floor is equal；
Allocator includes the following steps:
S1, server obtain the order demand of every guest, and are sent between dispatching, and article-storage device is placed items between dispatching
In, and be fixed on the first dispensing machine people；Server generates distribution route according to guest's demand, and first send dispatching to sequence
It being sent between dispatching, the article first dispensed, article-storage device is located at the top layer of the first dispensing machine people, the article dispensed afterwards,
Article-storage device is located at the bottom of the first dispensing machine people, the sequence and the sequence consensus of dispatching of article-storage device；
S2, the first dispensing machine people are moved to special lift, and sequentially reach corresponding floor according to dispatching, in the floor,
Two dispensing machine people wait the first dispensing machine people in lift port, and obtain corresponding article-storage device；Second dispensing machine people will
Article-storage device is moved to corresponding room, notifies guest to open corresponding article-storage device, and take corresponding article away；Second machine
After the completion of people's dispatching, it is moved to lift port with empty article-storage device, waiting dispenses next time；
S3, the first dispensing machine people are moved to next predetermined floor, according to the job order of step S2, article are handed to another
Second dispensing machine people, circuits sequentially, until the dispatching of all floors is completed；
S4, the first dispensing machine people are moved between dispatching, carry out dispatching operation next time.
In a further embodiment, in the step S1, further are as follows:
S11, when being provided with the guest room VIP, distribution route calculates as follows:
It calculates in the predetermined time, the quantity on order of each floor, the order numbers of quantity on order and common guest including VIP guest
Amount；
Equivalent quantity on order on S12, each floor of calculating, specially equivalent quantity on order=common guest's quantity on order+A1 ×
VIP1 guest's quantity on order+A2 × VIP1 guest's quantity on order+...+AN × VIPN guest's quantity on order；Wherein A1 ~ AN is
Dimensionless number greater than 1, indicates the weight of VIP guest, and N is VIP grade；
The quantity on order of S13, each floor of comparison, are ranked up, so that the floor more than equivalent quantity on order, priority is greater than etc.
Imitate the few floor of quantity on order；
S14, distribution route is sent to the first dispensing machine people, the first dispensing machine people dispenses according to floor priority；
In the step S4, further includes:
In a predetermined sequence, the empty article-storage device in each floor is recycled, and sends by S41, another the first dispensing machine people
Between storing.
In a further embodiment, the step S1 further includes distribution route time calculating process:
S21, delivery process is divided between charging process, dispatching to special lift motion process, elevator accelerator, elevator constant velocity
Moving process, matches goods process and elevator switch door process at deceleration of elevator process；
T1=N1 × t1 the time required to the charging process, N1 are quantity on order, and t1 is average charge time；
To the distance that special lift motion process required time T2=S2/v2, S2 are between dispensing to special lift between dispatching, V2 is
Between dispatching into special lift motion process, the average speed of dispensing machine people；
The taken T3=V3/a3 of elevator accelerator, wherein V3 is elevator maximum speed, and a3 is elevator acceleration；
Elevator constant velocity's run duration T4=S4/V3, wherein S4 is uniform motion distance, and V3 is elevator maximum operational speed；
Deceleration of elevator run duration T5=V3/a3, door-opened elevator time are T6,
It is T7=N2 × t7 the time required to goods process, N2 is the quantity on order of certain floor, and t7 is that order dispenses average time；Electricity
Terraced lockup T8；
S22, server are according to priority and equivalent order numbers, the time needed for calculating various distribution routes, and long according to the time
Short inverted order arrangement.
The utility model has the advantages that customer data is sent to the control system of dispensing machine people by wireless network by online service portion of the present invention
In, article is sent to designated position, passes through dispensing machine people and dispatching by the communication between dispensing machine people and elevator control system
The cooperation of elevator can individually, efficiently complete delivery service；Dispensing machine people can pass through photographic device and alarm system simultaneously
System is tracked and inquires to dispatching, guarantees that the reliability of delivery process, the present invention are applied in high-grade hotel, meets guest to entering
The firmly demand of article realizes the unmanned intelligent management in hotel, improves consumer and comfortably experiences.
Detailed description of the invention
Fig. 1 is the perspective view of multifunctional intellectual dispensing machine people of the present invention.
Fig. 2 is the allocator schematic diagram of multifunctional intellectual dispensing machine people of the present invention.
Fig. 3 is the top view of driving device of the present invention.
Fig. 4 is the side view of present invention lifting magazine.
Fig. 5 is the front view of present invention lifting magazine
Fig. 6 is the working principle diagram of present invention dispatching elevator control system.
Fig. 7 is present invention dispatching elevator structure schematic diagram.
Fig. 8 is the structural schematic diagram of warning system of the present invention.
Appended drawing reference are as follows: dispensing machine people 1, driving device 2, driving wheel group 20, mounting base bottom plate 22, power supply assign mouth
23, driving motor 24, article-storage device 3, lifting magazine 30, driving motor group 301, lifting linking member group 302, the first parcel shelf
303, the second parcel shelf 304, spacing regulator 305, damping spring 306, cabinet shell 31, antitheft storing lid 32, CUSTOM HOUSE HOTEL are inserted
Slot 4, power supply device 5, digital display screen 6, robot mounting seat 7, photographic device 8, dispatching elevator 9, building 90, elevator traction
Machine 91, elevator case 92, elevator 93, image capture module 94.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
A kind of multifunctional intellectual dispensing machine people 1 as shown in Figure 1, comprising: dispensing machine people 1, driving device 2, storing dress
Set 3, CUSTOM HOUSE HOTEL slot 4, power supply device 5, digital display screen 6, robot mounting seat 7 and photographic device 8.
Wherein, robot is divided into storage section and drive part two parts, and two parts are arranged at robot mounting seat 7
On, driving device 2 is fixedly mounted in robot mounting seat 7, and power supply device 5 is fixedly mounted on robot mounting seat 7
Inside, article-storage device 3 are fixedly mounted on the top of robot mounting seat 7, and photographic device 8 is mounted on the top of article-storage device 3.
Robot mounting seat 7 includes guard shield, battery compartment and bottom installation frame；The side of article-storage device 3 is set
It is equipped with CUSTOM HOUSE HOTEL slot 4 and digital display screen 6, photographic device 8, CUSTOM HOUSE HOTEL slot and digital display screen 6, which are electrically connected, to be arranged in article-storage device 3
Internal microprocessor, photographic device 8 are panoramic camera, robot further include: control system on the microprocessor is set, if
Communication module on the microprocessor connects the warning system of control system, and the Position Fixing Navigation System of connection control system.
CUSTOM HOUSE HOTEL slot 4 is internally provided with IC card reader, identifies CUSTOM HOUSE HOTEL information, judges whether the information stored on CUSTOM HOUSE HOTEL meets dispatching and want
It asks, can distinguish the identity information of picking people.
As shown in Figure 2 is provided with database inside the control system, and passes through the clothes of service department on communication module Connected network
It is engaged in the cell phone client of device and guest, is connected to warning system, Position Fixing Navigation System and road condition monitoring system in control system,
To control the normal operation of 1 article-storage device 3 of dispensing machine people, digital display screen 6 and driving device 2.
Driving device 2 as shown in Figure 3 includes: driving motor 24, driving wheel group 20, controller and connection monitoring road conditions
System；
Driving motor 24 is fixedly mounted on the installation frame of bottom, and driving motor 24 is two, respectively the driving of transmission connection front and back
Wheel group 20, controller are electrically connected the encoder of driving motor 24, can control revolving speed and the opening and closing of driving motor 24, monitoring road conditions system
In the controller, road condition monitoring system is connected to photographic device 8, and image real time transfer is provided in road condition monitoring system for system setting
Device, the image that can be scanned to photographic device 8 are analyzed, are monitored and judge to road conditions, pass through road condition monitoring system
The steering that control driving motor 24 is opened with driving motor 24 can prevent from matching to control the direction of front and back driving wheel group 20
It send the dispatching of robot 1 channel occupied and results in blockage.
Anti-theft trigger on article-storage device 3 is set, the voltage alarm device of power supply device 5 is set, and setting exists
Position indicator in microprocessor, the emergency that warning system can notify control centre to occur in time, avoids robot
It damages and loses in delivery process.
Article-storage device 3 includes；Cabinet shell 31, lifting magazine 30 and antitheft storing lid 32；Cabinet shell 31 is fixed
It is mounted on the outside of article-storage device 3, lifting magazine 30 is fixed inside cabinet shell 31, and antitheft storing lid 32 is arranged
The top of shell 31 outside the enclosure, lifting magazine 30 can be adjusted according to the various articles held, meet the multiplicity of client
Demand.
If Fig. 4 to lifting magazine 30 shown in fig. 5 includes: driving motor group 301, lifting linking member group 302, the first glove
Plate 303, the second parcel shelf 304, spacing regulator 305 and damping spring 306, can reduce lifting process and delivery process
In vibration.Driving motor group 301 includes the motor that lifting 30 bottom of magazine is arranged in, and is arranged in the first parcel shelf
303 and the second first servo motor and the second servo motor in parcel shelf 304
Dispatching 9 control system of elevator as shown in Figure 6 to 7, elevator interior elevator setting is in every first floor space 90, elevator packet
It includes: elevator 93, elevator case 92, elevator control system and image capture module 94.Elevator 93 is arranged in hotel's building 90
In, elevator case 92 is slidably connected in elevator 93, and elevator control system is provided with image in every 90 lift port of first floor space
Acquisition module 94, and each layer of lift port sets the channel for being equipped with and being exclusively used in dispensing machine people 1；The bottom in channel is provided with dedicated
In the wiring of guided robot operation, the complexity of the road conditions in 1 delivery process of dispensing machine people can be reduced, it is artificial right to avoid
It is interfered caused by dispensing machine people 1；
Elevator into top be fixedly installed with elevator traction machine 91, controller is provided in elevator control system, controller is electrically connected
91 encoder of elevator traction machine, encoder are electrically connected frequency converter, and it is concurrent that image capture module 94 by DSP is converted to binary instruction
It send to elevator control system, the dispatching according to time and urgency level to dispensing machine people 1 that elevator control system can be orderly
Request is ranked up.
Warning system as shown in Figure 8 includes: anti-theft trigger, voltage alarm device and position indicator, antitheft triggering
Device is fixedly mounted on the inside of antitheft storing lid 32, can trigger anti-theft trigger when article-storage device 3 is dismantled by violence, and
Improper dispatching signal is sent to control centre, voltage alarm device is arranged in 5 in-line power circuit of power supply device, when power supply fills
When setting the voltage in 5 lower than preset value, the ID number of this dispensing machine is temporarily suspended from home-delivery center's dispatching task, and reminds
Staff charges to robot.The bottom of robot mounting seat 7 is arranged in position indicator, can guide dispensing machines
Device people 1 moves and measures distance when dispensing machine people 1 deviates along dispatching channel, sends beyond distance value Shi Zexiang control centre
Emergency alarm prevents dispensing machine people 1 from going out active in delivery process.
Work step is as follows:
S1, guest before moving in by cell-phone number bind CUSTOM HOUSE HOTEL, by mobile phone terminal hotel online service portion to required clothes
Business or commodity place an order, and complete to pay；
Order after the completion of payment is sent to between object by S2, online service portion, carries out order assembly by special messenger, will be needed for guest
Article is placed in 1 article-storage device 3 of dispensing machine people；
S3, robot after the assembly is completed are moved to lift port designated position and wait in line, and robot control system will receive
Order information, be shown on digital screen, and generate the two dimensional image that can be identified by lift port image capture module 94.
S4, lift port are scanned the two dimensional image on digital screen, and will convert the image into binary system by DSP
Instruction, elevator control system stores and are lined up into memory after receiving instruction, and elevator door will dispense after opening according to instruction
Robot 1 send floor where to specified order information；
S5, dispensing machine people 1 are moved to the room doorway where order, control system behind in-position by Position Fixing Navigation System
Call signal is sent to guest's cell phone client by network；
CUSTOM HOUSE HOTEL is inserted in IC card reader in CUSTOM HOUSE HOTEL slot by S6, guest, identifies CUSTOM HOUSE HOTEL information, and with deposited in control system database
The order information of storage is compared；
S7, CUSTOM HOUSE HOTEL successful match, control system manipulate the antitheft storing lid 32 in article-storage device 3 and open, go up and down in magazine 30
It rises, after guest takes goods and materials extraction CUSTOM HOUSE HOTEL away, robot restores to the original state, and returns between object.
It fails to match for S8, CUSTOM HOUSE HOTEL, and control system shows the information of order people on digital screen, and sends out to warning system
Alarm signal out.
In a further embodiment, when guest room is more, using one it is single send formula with cargo interests formula efficiency it is lower, elevator makes
It is also relatively high with rate, it is time-consuming and laborious.So designing following means of distribution, i.e., one layer one is sent, classification dispatching.It is specific as follows:
A kind of 1 allocator of multifunctional intellectual dispensing machine people is realized, machine using dispensing machine people 1 and robot special lift
People includes several article-storage devices 3；
When guest room quantity is more than desired value, dispensing machine people 1 divides for the first dispensing machine people 1 and the second dispensing machine people 1, the
One dispensing machine people 1 is responsible for from the material allocation between object to special lift, and the second dispensing machine people 1 is responsible for special lift to visitor
The material allocation in room；The quantity of first dispensing machine people 1 at least two, the second dispensing machine people 1 are equal with the quantity of floor；
Allocator includes the following steps:
S1, server obtain the order demand of every guest, and are sent between dispatching, and article-storage device is placed items between dispatching
In 3, and it is fixed on the first dispensing machine people 1；Server generates distribution route according to guest's demand, and first sending for dispatching is suitable
Sequence is sent between dispatching, the article first dispensed, and article-storage device 3 is located at the top layer of the first dispensing machine people 1, the object dispensed afterwards
Product, article-storage device 3 are located at the bottom of the first dispensing machine people 1, the sequence and the sequence consensus of dispatching of article-storage device 3；
S2, the first dispensing machine people 1 are moved to special lift, and sequentially reach corresponding floor according to dispatching, in the floor,
Two dispensing machine people 1 wait the first dispensing machine people 1 in lift port, and obtain corresponding article-storage device 3；Second dispensing machine people
Article-storage device 3 is moved to corresponding room by 1, notifies guest to open corresponding article-storage device 3, and take corresponding article away；The
After the completion of the dispatching of two robots, it is moved to lift port with empty article-storage device 3, waiting dispenses next time；
S3, the first dispensing machine people 1 are moved to next predetermined floor, and according to the job order of step S2, article is handed to separately
One second dispensing machine people 1, circuits sequentially, until the dispatching of all floors is completed；
S4, the first dispensing machine people 1 are moved between dispatching, carry out dispatching operation next time.
In this embodiment, realized by the way of the first dispensing machine people 1 and the second dispensing machine people 1 layering and
Classification dispatching, the first dispensing machine people 1 do not descend elevator, directly exchange article-storage device 3 with the second dispensing machine people 1, matched by second
It send robot 1 that relative article is distributed to guest room, reduces the reciprocating movement distance of the first dispensing machine people 1, more efficiently
Realize dispatching.This mode solves multiple dispensing machine people 1 while using elevator and distribution route simultaneously, causes congestion, very
The problem of dispensing endless loop to stroke, the robot moved in elevator by one realize the purpose for avoiding congestion.It solves
In the case that elevator quantity is few, the problem of dispensing efficiency is improved.Meanwhile this mode also achieves the purpose of step dispatching, and
First dispensing machine people 1 is dispensed by the priority to floor, guarantees the dispatching efficiency of VIP floor, while each floor
The second dispensing machine people 1, can the client to each floor preferentially dispensed, realize the processing of second step, guaranteeing should
The dispatching efficiency of VIP guest in floor, it is achieved that at least three dispatching grades, improve dispatching efficiency and dispatching quality.
In a further embodiment, in step S1, further are as follows:
S11, when being provided with the guest room VIP, distribution route calculates as follows:
It calculates in the predetermined time, the quantity on order of each floor, the order numbers of quantity on order and common guest including VIP guest
Amount；
Equivalent quantity on order on S12, each floor of calculating, specially equivalent quantity on order=common guest's quantity on order+A1 ×
VIP1 guest's quantity on order+A2 × VIP1 guest's quantity on order+...+AN × VIPN guest's quantity on order；Wherein A1 ~ AN is
Dimensionless number greater than 1, indicates the weight of VIP guest, and N is VIP grade；
The quantity on order of S13, each floor of comparison, are ranked up, so that the floor more than equivalent quantity on order, priority is greater than etc.
Imitate the few floor of quantity on order；
S14, distribution route is sent to the first dispensing machine people 1, the first dispensing machine people 1 matches according to floor priority
It send；
In step S4, further includes:
In a predetermined sequence, the empty article-storage device 3 in each floor is recycled, and send by S41, another the first dispensing machine people 1
Come between storing.
In this embodiment, distribution route and distribution time are precalculated by server, synthesis is carried out to dispatching and is examined
Amount, the optimal distribution route of stroke, i.e., by equivalent quantity on order, rather than practical quantity on order, to distribution route calculate with
Priority divides, and computationally relatively simple, calculating speed faster, can generate reasonable distribution route quickly, meanwhile, pass through
Equivalent quantity on order more can compactly mark off the grade of floor and the grade of client, to directly calculate client's
Priority, relative to by the way of classification processing, which is calculated more conveniently and quickly.The information of optimal distribution route,
The discharging modes of article-storage device 3 can be generated simultaneously, consequently facilitating reasonably putting order with goods personnel placement, improve the first dispatching
The exchange efficiency of robot 1 and the second dispensing machine people 1 avoids the problem that causing cargo to be handed over because article-storage device 3 puts sequence
It changes mistake or wastes time, substantially increase dispatching efficiency.
In a further embodiment, step S1 further includes distribution route time calculating process:
S21, delivery process is divided between charging process, dispatching to special lift motion process, elevator accelerator, elevator constant velocity
Moving process, matches goods process and elevator switch door process at deceleration of elevator process；
T1=N1 × t1 the time required to charging process, N1 are quantity on order, and t1 is average charge time；
To the distance that special lift motion process required time T2=S2/v2, S2 are between dispensing to special lift between dispatching, V2 is
Between dispatching into special lift motion process, the average speed of dispensing machine people 1；
The taken T3=V3/a3 of elevator accelerator, wherein V3 is elevator maximum speed, and a3 is elevator acceleration；
Elevator constant velocity's run duration T4=S4/V3, wherein S4 is uniform motion distance, and V3 is elevator maximum operational speed；
Deceleration of elevator run duration T5=V3/a3, door-opened elevator time are T6,
It is T7=N2 × t7 the time required to goods process, N2 is the quantity on order of certain floor, and t7 is that order dispenses average time；Electricity
Terraced lockup T8；
S22, server are according to priority and equivalent order numbers, the time needed for calculating various distribution routes, and long according to the time
Short inverted order arrangement.
In this embodiment, by calculating distribution time, more accurate meter is carried out to distribution route and distribution time
It calculates, and by time feedbacking in the ordering system of user, more can intuitively calculate service time, improve the satisfaction of user
Degree.Simultaneously according to the distribution time repeatedly accumulated, distribution route and distribution time setting can be continued to optimize, it is whole to improve system
Efficiency.
According to the distribution time that equivalent quantity on order calculates, when can calculate the dispatching of various distribution projects very fast
Between.
Customer data is sent in the control system of dispensing machine people 1 by online service portion of the present invention by wireless network, is matched
The communication between robot 1 and elevator control system is sent, article is sent to designated position, by dispensing machine people 1 and matches power transmission
Ladder 9 cooperation can individually, efficiently complete delivery service；Dispensing machine people 1 can pass through photographic device 8 and alarm system simultaneously
System is tracked and inquires to dispatching, guarantees that the reliability of delivery process, the present invention are applied in high-grade hotel, meets guest to entering
The firmly demand of article realizes the unmanned intelligent management in hotel, improves consumer and comfortably experiences.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (10)
1. a kind of multifunctional intellectual dispensing machine people is applied to high-grade place of business characterized by comprising
Robot mounting seat, the driving device being fixedly mounted in robot mounting seat are fixedly mounted on robot installation
The power supply device of chassis interior, is fixedly mounted on the article-storage device of robot mounting seat top layer, and is mounted on article-storage device
On photographic device；
The side of the article-storage device is provided with CUSTOM HOUSE HOTEL slot and digital display screen, the photographic device, CUSTOM HOUSE HOTEL slot and number
Display screen is electrically connected the microprocessor being arranged in inside article-storage device, and the robot further includes control system, connects microprocessor
Communication module, connect the warning system of control system, and the Position Fixing Navigation System of connection control system.
2. a kind of multifunctional intellectual dispensing machine people according to claim 1, which is characterized in that the driving device includes:
The driving motor being fixedly mounted in robot mounting seat, the driving wheel group for the driving motor that is sequentially connected, be electrically connected driving motor
Controller and setting road condition monitoring system in the controller, the Image Acquisition of the road condition monitoring system and photographic device
Module connection, is monitored road conditions, and the direction of driving motor unlatching and driving wheel is controlled by road condition monitoring system.
3. a kind of multifunctional intellectual dispensing machine people according to claim 1, which is characterized in that set inside the CUSTOM HOUSE HOTEL slot
It is equipped with IC card reader, identifies CUSTOM HOUSE HOTEL information, judges whether the information stored on CUSTOM HOUSE HOTEL meets dispatching and require.
4. a kind of multifunctional intellectual dispensing machine people according to claim 1, which is characterized in that the warning system includes:
Anti-theft trigger on article-storage device is set, the voltage alarm device of power supply device is set, and setting is in the microprocessor
Position indicator.
5. a kind of multifunctional intellectual dispensing machine people according to claim 1, which is characterized in that the article-storage device includes；
The cabinet shell being fixed on the outside of article-storage device, the lifting magazine being fixedly mounted on inside cabinet shell, and setting
Antitheft storing lid at the top of shell outside the enclosure.
6. a kind of multifunctional intellectual dispensing machine delivery system, which is characterized in that including described in any one of claim 1 to 5 more
With intelligent distribution robot and robot special lift, for the elevator setting in every first floor space, elevator includes: elevator,
The elevator case being slidably connected in elevator is arranged in the elevator control system in elevator body, and is arranged in every first floor
The image capture module of space lift port, and each layer of lift port sets the channel for being equipped with and being exclusively used in dispensing machine people；
The elevator into top be fixedly installed with elevator traction machine, the elevator control system setting is in the controller, described
Controller is electrically connected elevator traction machine encoder, and the encoder is electrically connected frequency converter, and described image acquisition module is converted to by DSP
Binary instruction is simultaneously sent to elevator control system.
7. a kind of multifunctional intellectual dispensing machine people's allocator, which is characterized in that work step is as follows:
S1, guest before moving in by cell-phone number bind CUSTOM HOUSE HOTEL, by mobile phone terminal hotel online service portion to required thing
Product place an order, and complete to pay；
Order after the completion of payment is sent to between object by S2, cyber mall server, order assembly is carried out by special messenger, by guest
Required article is placed in dispensing machine people's article-storage device；
S3, robot after the assembly is completed are moved to lift port designated position and wait in line, and robot control system will receive
Order information, be shown on digital screen, and generate the two dimensional image that can be identified by lift port image capture module；
S4, lift port are scanned the two dimensional image on digital screen, and will convert the image into binary system by DSP and refer to
Enable, elevator control system store and is lined up into memory after receiving instruction, elevator door open after according to instructing dispensing machines
Device people send floor where to specified order information；
S5, dispensing machine people are moved to the room doorway where order, control system behind in-position by Position Fixing Navigation System
Call signal is sent to guest's cell phone client by network；
CUSTOM HOUSE HOTEL is inserted in IC card reader in CUSTOM HOUSE HOTEL slot by S6, guest, identifies CUSTOM HOUSE HOTEL information, and with deposited in control system database
The order information of storage is compared；
S7, CUSTOM HOUSE HOTEL successful match, control system manipulate the antitheft storing lid in article-storage device and open, and lifting magazine rises, visitor
After people takes goods and materials extraction CUSTOM HOUSE HOTEL away, robot restores to the original state, and returns between object；
It fails to match for S8, CUSTOM HOUSE HOTEL, and control system shows the information of order people on digital screen, and issues and warn to warning system
The number of notifying.
8. a kind of multifunctional intellectual dispensing machine people's allocator, which is characterized in that use dispensing machine people and robot Special electric
Ladder realizes that the robot includes several article-storage devices；
When guest room quantity is more than desired value, the dispensing machine people is divided into the first dispensing machine people and the second dispensing machine people,
The first dispensing machine people is responsible for from the material allocation between object to special lift, and the second dispensing machine people is responsible for dedicated
Elevator to guest room material allocation；The first dispensing machine people at least two, the quantity of the second dispensing machine people with
The quantity of floor is equal；
Allocator includes the following steps:
S1, server obtain the order demand of every guest, and are sent between dispatching, and article-storage device is placed items between dispatching
In, and be fixed on the first dispensing machine people；Server generates distribution route according to guest's demand, and first send dispatching to sequence
It being sent between dispatching, the article first dispensed, article-storage device is located at the top layer of the first dispensing machine people, the article dispensed afterwards,
Article-storage device is located at the bottom of the first dispensing machine people, the sequence and the sequence consensus of dispatching of article-storage device；
S2, the first dispensing machine people are moved to special lift, and sequentially reach corresponding floor according to dispatching, in the floor,
Two dispensing machine people wait the first dispensing machine people in lift port, and obtain corresponding article-storage device；Second dispensing machine people will
Article-storage device is moved to corresponding room, notifies guest to open corresponding article-storage device, and take corresponding article away；Second machine
After the completion of people's dispatching, it is moved to lift port with empty article-storage device, waiting dispenses next time；
S3, the first dispensing machine people are moved to next predetermined floor, according to the job order of step S2, article are handed to another
Second dispensing machine people, circuits sequentially, until the dispatching of all floors is completed；
S4, the first dispensing machine people are moved between dispatching, carry out dispatching operation next time.
9. multifunctional intellectual dispensing machine people's allocator according to claim 8, which is characterized in that in the step S1,
Further are as follows:
S11, when being provided with the guest room VIP, distribution route calculates as follows:
It calculates in the predetermined time, the quantity on order of each floor, the order numbers of quantity on order and common guest including VIP guest
Amount；
Equivalent quantity on order on S12, each floor of calculating, specially equivalent quantity on order=common guest's quantity on order+A1 ×
VIP1 guest's quantity on order+A2 × VIP1 guest's quantity on order+...+AN × VIPN guest's quantity on order；Wherein A1 ~ AN is
Dimensionless number greater than 1, indicates the weight of VIP guest, and N is VIP grade；
The quantity on order of S13, each floor of comparison, are ranked up, so that the floor more than equivalent quantity on order, priority is greater than etc.
Imitate the few floor of quantity on order；
S14, distribution route is sent to the first dispensing machine people, the first dispensing machine people dispenses according to floor priority；
In the step S4, further includes:
In a predetermined sequence, the empty article-storage device in each floor is recycled, and sends by S41, another the first dispensing machine people
Between storing.
10. multifunctional intellectual dispensing machine people's allocator according to claim 8, which is characterized in that the step S1 is also
Including distribution route time calculating process:
S21, delivery process is divided between charging process, dispatching to special lift motion process, elevator accelerator, elevator constant velocity
Moving process, matches goods process and elevator switch door process at deceleration of elevator process；
T1=N1 × t1 the time required to the charging process, N1 are quantity on order, and t1 is average charge time；
To the distance that special lift motion process required time T2=S2/v2, S2 are between dispensing to special lift between dispatching, V2 is
Between dispatching into special lift motion process, the average speed of dispensing machine people；
The taken T3=V3/a3 of elevator accelerator, wherein V3 is elevator maximum speed, and a3 is elevator acceleration；
Elevator constant velocity's run duration T4=S4/V3, wherein S4 is uniform motion distance, and V3 is elevator maximum operational speed；
Deceleration of elevator run duration T5=V3/a3, door-opened elevator time are T6,
It is T7=N2 × t7 the time required to goods process, N2 is the quantity on order of certain floor, and t7 is that order dispenses average time；Electricity
Terraced lockup T8；
S22, server are according to priority and equivalent order numbers, the time needed for calculating various distribution routes, and long according to the time
Short inverted order arrangement.
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| CN201910369578.7A CN110288284A (en) | 2019-05-06 | 2019-05-06 | A kind of multifunctional intellectual dispensing machine people, delivery system and its allocator |
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| CN201910369578.7A CN110288284A (en) | 2019-05-06 | 2019-05-06 | A kind of multifunctional intellectual dispensing machine people, delivery system and its allocator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111347442A (en) * | 2020-03-31 | 2020-06-30 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
| CN111639848A (en) * | 2020-05-25 | 2020-09-08 | 珠海格力电器股份有限公司 | Material transportation system, transportation method, storage medium and electronic device |
| CN112318521A (en) * | 2020-10-23 | 2021-02-05 | 北京洛必德科技有限公司 | Intelligent building distribution robot and working method thereof |
| CN112598469A (en) * | 2020-12-24 | 2021-04-02 | 中科芯未来微电子科技成都有限公司 | Beverage machine and method for automatically distributing and making instant mixed beverage |
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| CN113807761A (en) * | 2021-01-15 | 2021-12-17 | 北京京东乾石科技有限公司 | Article distribution method and device, electronic equipment and storage medium thereof |
| 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 |
| CN114851191A (en) * | 2022-04-25 | 2022-08-05 | 北京云迹科技股份有限公司 | Distribution robot control method and related equipment |
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| CN111347442B (en) * | 2020-03-31 | 2021-08-24 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
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| US11548532B2 (en) * | 2020-04-07 | 2023-01-10 | DoorDash, Inc. | Systems for autonomous and automated delivery vehicles to communicate with third parties |
| CN111639848A (en) * | 2020-05-25 | 2020-09-08 | 珠海格力电器股份有限公司 | Material transportation system, transportation method, storage medium and electronic device |
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| CN112318521B (en) * | 2020-10-23 | 2022-03-22 | 北京洛必德科技有限公司 | Intelligent building distribution robot and working method thereof |
| CN112318521A (en) * | 2020-10-23 | 2021-02-05 | 北京洛必德科技有限公司 | Intelligent building distribution robot and working method thereof |
| CN112598469A (en) * | 2020-12-24 | 2021-04-02 | 中科芯未来微电子科技成都有限公司 | Beverage machine and method for automatically distributing and making instant mixed beverage |
| CN113807761A (en) * | 2021-01-15 | 2021-12-17 | 北京京东乾石科技有限公司 | Article distribution method and device, electronic equipment and storage medium thereof |
| CN112936302A (en) * | 2021-01-28 | 2021-06-11 | 厦门星速购网络科技有限公司 | Automatic take advantage of terraced robot system |
| CN112936302B (en) * | 2021-01-28 | 2024-01-30 | 厦门星速机器人有限公司 | Automatic elevator taking robot system |
| 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 |
| CN114851191A (en) * | 2022-04-25 | 2022-08-05 | 北京云迹科技股份有限公司 | Distribution robot control method and related equipment |
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Application publication date: 20190927 |