CN110347150A - A kind of dispensing machine people based on electromagnetic lock, system and method - Google Patents
A kind of dispensing machine people based on electromagnetic lock, system and method Download PDFInfo
- Publication number
- CN110347150A CN110347150A CN201910453176.5A CN201910453176A CN110347150A CN 110347150 A CN110347150 A CN 110347150A CN 201910453176 A CN201910453176 A CN 201910453176A CN 110347150 A CN110347150 A CN 110347150A
- Authority
- CN
- China
- Prior art keywords
- task
- electromagnetic lock
- dispatching
- article
- target area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 35
- 230000005291 magnetic effect Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 239000003550 marker Substances 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 7
- 238000003786 synthesis reaction Methods 0.000 claims description 7
- 230000005520 electrodynamics Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000012790 confirmation Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 11
- 238000003825 pressing Methods 0.000 abstract description 10
- 238000005259 measurement Methods 0.000 abstract description 2
- 235000013305 food Nutrition 0.000 description 63
- 238000004422 calculation algorithm Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 235000012054 meals Nutrition 0.000 description 5
- 238000005457 optimization Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 101150073426 Ctsj gene Proteins 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003302 ferromagnetic material Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The dispensing machine people that present disclose provides a kind of based on electromagnetic lock, system and method, the intelligent measurement that the disclosure is dispensed using electromagnetism lock control technology, laying method is optimized based on improved BL simultaneously, it can be in the limited situation of delivery location, comprehensively consider in conjunction with required transport task pressing degree with path-dependency, selection placement is carried out to task, to improve the dispatching efficiency of multidigit placing articles.
Description
Technical field
This disclosure relates to a kind of dispensing machine people based on electromagnetic lock, system and method.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
With the continuous development of society and economy the service industries such as hotel, dining room quickly grow, and current delivery service
(such as food product) is main or by being accomplished manually, and this mode there is high labor cost, efficiency of service is low the problems such as.With meal
For product dispatching, understand according to inventor, current existing technical solution there are two classes, and one kind is square box robot, one-to-one
Ground transmits single-deck food product, and food product transmits accuracy rate height but efficiency is lower；Another kind of is unmanned intelligent serving trolley, and single is to more dining tables
Polydisc food product is transmitted, but without reasonable food delivery mode detection mechanism, there are problems that guest takes by mistake and leaks pick-up product, it is high-efficient
But accuracy rate is lower.In addition to this, the improved efficiency that above two solution exists simultaneously multiposition food delivery path planning is asked
Topic, main includes that time complexity is higher, solution procedure is complicated, transport food product shipping time and path-dependency cannot be considered in terms of
Problem.Meanwhile food product does not carry out closing transport, not can guarantee food hygiene.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of dispensing machine people based on electromagnetic lock, system and method, this
The open intelligent measurement dispensed using electromagnetism lock control technology, while laying method, Neng Gou are optimized based on improved BL
In the limited situation of delivery location, comprehensively consider in conjunction with required transport task pressing degree with path-dependency, task is carried out
Selection is placed, to improve the dispatching efficiency of multidigit placing articles.It carries out dispensing may also reach up preventing from taking using electromagnetism lock technology
Wrong or leakage takes problem, determine in delivery process article with for dispensing regional multi-to-multi and many-to-one corresponding relationship.Meanwhile article
Independently and in fixed bit placement location, it can also be ensured that article is not contaminated during transport, guarantees safety.
According to some embodiments, the disclosure is adopted the following technical scheme that
A kind of dispensing machine people based on electromagnetic lock, including robot body have multiple use on the robot body
The lid with its retractable connection, the lid and accommodating chamber are both provided in the accommodating chamber of storage article, in each accommodating chamber
Between opened and closed by electromagnetism lock control, the electromagnetic lock is configured as remaining off before receiving opening signal；
Identification module and controller are provided on the robot body, the identification module is configured as identification target area
The mark of domain setting, sends corresponding recognition result signal to the controller；
The controller receives the recognition result, and determines the accommodating chamber that the article of storage and recognition result match,
Opening signal is sent to corresponding electromagnetic lock.
The disclosure is carried out using the mark that target area is arranged in and the matching of article, can determine more articles and more purposes
Multi-to-multi, many-one or the one-to-one corresponding relationship on ground (multiple target region)；It can be guaranteed using electromagnetic lock according to above-mentioned right
It should be related to, carry out the dispatching of article, not will cause chaotic article, loss and pollution, meanwhile, it utilizes robot to carry article, protects
Demonstrate,prove intelligence, automation and the accuracy of dispatching.
As an implementation, the robot body includes chassis, and chassis lower end is provided with walking mechanism, on chassis
Carry impact switch, electromagnetic tracking module, avoiding obstacles by supersonic wave module and communication module.Tracking module can also be led using laser
It navigates and constructs sparse map (mainly solving the problems, such as orientation problem) or dense map (solving avoidance) mode is realized.View can also be used
Feel that SLAM solves the problems, such as location navigation.
As an implementation, input module is additionally provided on the robot body, the input module is for connecing
Receive the confirmation message that article has been taken.
As an implementation, the electrodynamic capacity of different electromagnetic locks is different, by the current parameters for changing electromagnetic lock
Reach actuation and disconnection to control electromagnetic lock.
A kind of delivery system based on electromagnetic lock, including above-mentioned dispensing machine people, guidance system and background system, wherein
The guidance system includes the marker that each target area is arranged in, and the marker content in different target region is different and described
Marker；
The background system includes server and database, and the server is configured as connecting with the controller, hair
The dispatching task comprising sending objects, dispatching requirement and target area is sent, and receives recognition result, according to dispatching task configuration
Priority level plans the track route between each target area according to priority level；
The dispensing machine people receives and according to the track route, carries out the dispatching of each article.
As a kind of selectable mode, the marker is electronic tag, corresponding, and the identification module is RFID reading
Card device.
Working method based on above-mentioned robot or system, comprising the following steps:
The article dispensed as required and target area construct matching relationship between the two, and close according to the matching
System places corresponding article and configures the electromagnetic lock of the accommodating chamber according to matching relationship in corresponding accommodating chamber, and is closed institute
There is electromagnetic lock；
Required dispatching task is ranked up according to time factor, establishes task array, by task each in task array
Time factor selects may dispensing for task and establishes new number of tasks compared with the time factor threshold value of setting carries out size
Group further sorts to the task array selected according to path-dependency, and calculating task synthesis degree takes comprehensive angle value highest
Task is dispensed, and when reaching corresponding target area, opens corresponding electromagnetic lock according to matching relationship.
As a kind of selectable mode, after the completion of each dispatching task, task array is carried out to rearrange calculating,
The selection and dispatching of the task of a new round are carried out, until whole task dispatchings are completed.
As a kind of selectable mode, the time factor is used to characterize the urgency of dispatching task.
As a kind of selectable mode, the path-dependency coefficient dispenses between destination twice to express
The path-dependency coefficient between each target area and other target areas is arranged in close proximity.
As a kind of selectable mode, introduce additional factor item in the calculating process of task synthesis degree, it is described it is additional because
Sub- initial value is zero, the number dispensed to indicate certain target area, when certain task additional factor initial value not
When being zero, the task is removed from task array.
Compared with prior art, the disclosure has the beneficial effect that
The dispatching of the disclosure is high-efficient, can once transport the article of multiple, multiclass, multi-destination, and can be realized certainly
Dynamic dispatching, improves efficiency of service.
Disclosure combination electromagnetism lock control technology realizes the locking and unlock for sending objects, in addition sound prompt function,
It realizes dispatching testing mechanism, the multi-to-multi and many-to-one corresponding relationship of more articles and multi-destination is determined, to solve multidigit
Guest takes the problem of taking article with leakage by mistake during setting food delivery, effectively improves dispatching accuracy rate；Meanwhile food product is independently and in fixation
It places position, it can also be ensured that food is not contaminated.
The disclosure based on improve BL algorithm realize dispatching optimization place, in conjunction with dispatching task pressing degree and task it
Between path-dependency carry out dispatching task choosing, improve dispatching efficiency.
The disclosure introduces additional term coefficient when being dispensed, and ensures each mesh while optimizing distribution time and path
Ground have article arrival, to reach humanized dispatching, realize the equalization of dispatching.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is BL algorithm two dimension container problem legend；
Fig. 2 is to improve BL optimization Placement example；
Fig. 3 is that intelligent restaurant service robot based on embedded processing and electromagnetism lock control technology and management system are
System block diagram；
Fig. 4 is background system composition block diagram；
Fig. 5 is intelligent restaurant service robot work flow diagram；
Fig. 6 is to improve BL optimization Placement specific flow chart.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to make skilled person more understand the concrete scheme of the disclosure, said by taking hotel or dining room pantry as an example
It is bright.Certainly, skilled person will be apparent to the skilled artisan that in other embodiments, and the article of dispatching can not be food product, can be fast
It passs, wrap up, mail and other items.
As described in the background art, existing Liang Zhong robot delivery process exists simultaneously multiposition Distribution path rule
The improved efficiency problem drawn.
One of difficult point of problem is that it is the NPC problem for being similar to TSP that multiposition, which dispenses in question essence,.If G=(V,
It E) is a weighted graph, V={ 1,2 ..., n } is vertex set, dij(i, j ∈ V, i ≠ j) is distance of the vertex i to vertex j, dij>
0 and dij≠ ∞, the mathematical model of classical TSP (ClassicalTSP, CTSP) are as follows:
S is the subgraph of G, and (a) formula is the objective function of CTSP, seeks the minimum range in the circuit by all vertex.(b)~
(d) formula limit circuit on each vertex only have one enter while and one go out while.(e) there is not sub-loop in the loop in formula restriction.
For example, sending n food product to n dining table position, there is n！Kind Transfer method, its time complexity is O (n！).
Another difficult point of problem is how to take into account and transport food product shipping time and path-dependency, optimizes food delivery system
System structure designs and matches corresponding Placement, determines food product placement location and order.While realizing food delivery testing mechanism,
Realize the Synchronous lifting of multiposition food delivery accuracy rate and efficiency.The problem is it is, can not once transport completion when transporting food product
When, comprehensively consider the pressing degree and path-dependency that food product is transported needed for current residual, needing can in service robot residue
Optimal placement location and path are selected in placement location.And current technology does not solve the above problems.
Dish work post inefficiency, and common dining room service robot technology are passed for tradition in the current dining room of solution, hotel
The problems such as scheme food delivery accuracy rate is low and inefficiency proposes a kind of to contain food delivery detection machine based on electromagnetism lock control technology
The intelligent restaurant service robot embodiment of system, and propose to improve BL optimization Placement, in the situation that food delivery position is limited
Under, comprehensively consider in conjunction with required transport task pressing degree with path-dependency, selection placement is carried out to task, to improve more
Position food delivery efficiency.
It is taken to solve the problem of during multiposition food delivery that guest takes by mistake with leakage, i.e. accuracy rate problem, the present embodiment
Technical solution is as follows:
Referring to Fig. 3, a kind of Intelligent meal delivery robot and management system with electromagnetic lock is specifically included:
1, intelligent restaurant service robot system
The system mainly includes robot body.
Robot body uses existing robot.
As long as substantially including chassis, walking mechanism is arranged in chassis lower end, and walking mechanism, chassis etc. are both provided with driving mechanism
?.Certainly, multiple accommodation spaces or cavity are provided on chassis.In the present embodiment, cabinet, cabinet tool are provided on chassis
There are multiple lockers, the lid or cabinet door that can switch the locker are provided with outside each locker.And lid or cabinet door are logical
It crosses electromagnetic lock and locker is realized and is opened and closed.
It also needs to be provided with identification module on chassis.
In the present embodiment, identification code is RFID electronic label, and identification module is RFID card reader module.
In other embodiments, the type for the identification code that identification module can be arranged according to region to be dispensed is different and carries out
Replacement.
Certainly, in order to guarantee preferably to be dispensed, can also be arranged in other embodiments, on chassis impact switch,
Electromagnetic tracking module, avoiding obstacles by supersonic wave module, WIFI module and keyboard input module.The module of above-mentioned optimization addition is existing
Technology is no longer repeated herein.
User can input target dining table by keyboard input module, and electromagnetic lock is used to after food product placement add it
Lock, so that it is determined that multi-to-multi and many-to-one corresponding relationship between more food products and more dining tables, until can be piled with transporting position
Afterwards, service robot starts transport task；
After task starts, service robot carries out matching positioning by electronic module tag and dining table, stops after successful match
Vehicle waits and executes food delivery testing mechanism, opens corresponding electromagnetic lock, and carry out voice prompting and LED light flash for prompting, waits stand-by
Corresponding food product is taken at family away, and judges whether pick-up finishes user again by keyboard input module；
After user's pick-up, service robot continues to transport next food product, until electromagnetic lock is fully open, food product at this time
Transport finishes, and service robot returns to neck seats in a restaurant and sets unlatching next round food delivery.
2, system is guided
Guidance system is made of path of navigation and electronic tag.Electromagnetic guide label, robot are provided on path of navigation
The electromagnetic tracking module of upper setting can carry out the navigation in traveling process according to electromagnetic guide label.In other embodiments,
Guide tag can be substituted with other navigation equipments.Laser navigation or vision SLAM etc. also can be used in the navigation of service robot
Other navigation modes are realized.
In other embodiments, it is also provided with charging unit on path of navigation, to charge to robot.
3, background system
Referring to Fig. 4, background system includes database and server.
Database purchase dispenses task dispatching information；Server is configured as the completion of the entire delivery process of control/scheduling.
To solve the food delivery efficiency during multiposition food delivery, the urgent of food product need to be transported by comprehensively considering current residual
Degree and path-dependency carry out the problem of selection is placed to task, and the present embodiment proposes that improved BL algorithm arrangement is as follows:
The i.e. specified transmission task of food product is transported needed for placing, and current desired transport task is carried out according to time factor first
Sequence, establishes task array 1, and the time factor of task each in task array 1 and the time factor threshold value of setting are carried out size
Compare, select may placing for task and establishes new task array 2.To the task array 2 selected according to path-dependency
Further sequence finally combines additional factor item, according to T (i)=w1γ+w2ρ+w3Calculating task synthesis degree, takes comprehensive degree T (i)
It is worth higher task to place.After the completion of placement, need to carry out task array to rearrange calculating, adjustment change after be
Numerical value, the carrying out a new round of the task are placed, until whole tasks are placed and completed.Detailed process is as shown in Figure 6.
It is right below in conjunction with Fig. 2 of the present embodiment to keep the purposes, technical schemes and advantages of the present embodiment clearer
The technical solution of the present embodiment is clearly and completely described.Described embodiment is a part of the embodiment of the present embodiment,
Instead of all the embodiments.Based on the embodiment of described the present embodiment, obtained under the premise of being not necessarily to creative work
The every other embodiment obtained belongs to the range of the present embodiment protection.
Electromagnetic lock is based on electric magnetisation principle, and application product is relatively broad, such as access control system.It is inspired by this, this implementation
It is creatively applied to the locking and unlock of food product by example, determines in multiposition food delivery more meal and multipoint multi-to-multi and more
To a corresponding relationship, and realize the detection of taking of food product, guest takes by mistake and leaks asking for pick-up product during solving multiposition food delivery
Topic, will be explained in detail the application of electromagnetism lock control technology in the present embodiment below:
(1) electromagnetic lock, which is powered, generates the principle of magnetic force: when electric current passes through conducting wire, magnetic field can be generated around conducting wire.
Uniform magnetic field can be then formed inside solenoid when electric current passes through solenoid conducting wire using this property.Assuming that in solenoid
Center is placed in ferromagnetic material, then this ferromagnetic material can be magnetized, and can greatly enhance magnetic field.
(2) as follows according to Biot-Savart law (Biot-SavartLaw):
Formula (1), (2) show in electromagnetism lock control technology, the size of magnetic field and electric current, direction, distance dependent.
(3) " electrodynamic capacity " is introduced, electrodynamic capacity calculation formula is as follows:
Each meaning of parameters in formula (3) are as follows: u represents the dielectric permeability in coil, and S represents area coil, and N represents coil turn
Number, I represent coil length.I.e. the electrodynamic capacity of coil with the shape of coil, length, the number of turns and has iron-core-free etc. because being known as
It closes.Area coil is bigger, and coil is shorter, and unit length the number of turns is closeer, and electrodynamic capacity is bigger.
(4) based on the above principles, the present embodiment is in the preferred embodiment of intelligent restaurant service robot, the electricity of introducing
Control technique includes: that the presence or absence of electromagnet magnetic field can be controlled with electric current of make-and-break；The size of magnetic field strength can use electric current
Strong and weak or coil the number of turns (or control core dimensions) controls；Its magnetic pole can be controlled by change sense of current.I.e.
The presence or absence of magnetic field can control, and the power in magnetic field can change, and the direction of magnetic pole can change.Therefore the present embodiment passes through electric current
Parameter reaches actuation and disconnection purpose to control electromagnetic lock, and realization locks or unlocks food product, and thus solves visitor during food delivery
People takes the problem of taking with leakage by mistake.
Using the specific workflow after electromagnetic lock referring to Fig. 5, the work of detailed description below intelligent restaurant service robot
Make process:
(1) intelligent restaurant service robot is switched at position of readiness, and position of readiness is initial position；
(2) after the booting of intelligent restaurant service robot, the initialization of each sensor and module, including tracking are carried out first
Module, WIFI module, avoiding obstacles by supersonic wave module, RFID card reader module, ISD1760 voice module, electromagnetic lock module, motor drive
Dynamic and impact switch etc.；
(3) service robot is checked card waitings at neck meal, rear kitchen staff according to the scheduling result of improvement BL algorithm according to
Target dining table is arranged after the food product for needing to transmit is placed in secondary placement food product, and electromagnetic lock locks food product, until by institute
It after food product placement need to be transported, presses and starts switch, service robot will carry out automatic tracking and pass through RFID card reader
Module carries out dining table positioning；
(4) it if with dining table successful match, waits for parking and executes food delivery testing mechanism, open corresponding electromagnetic lock, and carry out
Voice prompting and LED light flash for prompting, if food product is not taken correctly, service robot will continue to wait and prompt, if user is just
It really takes corresponding food product away and presses and start switch, service robot will continue to transport next food product according to food delivery order；
(5) if service robot detects that electromagnetic lock is fully open, food delivery is finished, and service robot returns at neck meal,
It gets food product and carries out new round food delivery.
BL algorithm is widely used in container article placement problem, is a kind of handled using identical bin patterns often
The algorithm of secondary rectangle placement location and process.BL algorithm requires the arrival container bottom that the rectangle currently to be placed will be as fast as possible
Portion, meanwhile, the left side of arrival container that be as fast as possible.In conjunction with Figure 1B L algorithm two dimension container problem legend, it is assumed that use P table
Show that each places rectangle, add serial number representing matrix arrangement order with P, algorithm steps are described as follows:
Step (1) places P(1)To the lower left corner of container；
Step (i) moves P(i), since the upper right corner of container, reach bottom as quickly as possible first, use up after reaching bottom
Left side may be reached fastly.
Based on above-mentioned BL algorithm basic thought, the present embodiment proposes improved BL algorithm, comprehensively considers in dispatching problem
Path-dependency and pressing degree solve the problems, such as that the selection of dispatching task is placed.The present embodiment introduces time factor and path phase
Property coefficient is closed to be stated.Time factor is smaller, and the transport for representing article is more urgent, and path-dependency coefficient is higher, represents this
Secondary article transporting position is closer with last time transporting position spaced apart locations.As shown in Fig. 2, carrying out article transmission since the upper left corner has
Better food delivery effect and efficiency.The present embodiment proposes that improved BL Placement is described as follows:
Step (1) places P(1)To the upper left corner of car body plane；
Step (i) moves P(i), since the lower right corner of car body plane, consideration food delivery task first is urgent, needs to transport
Food product reach car body plane left part as quickly as possible；After reaching left part, considers in conjunction with path-dependency, keep article as fast as possible
Ground reaches car body planar top.
For example, the pressing degree in conjunction with dispatching task comprehensively considers with path-dependency, No. 5 articles should place 4
The lower section of number article, can achieve higher transmission effect.
The Structure and Process for improving BL algorithm is illustrated referring to Fig. 6, it is final according to task synthesis degree
T (i)=w1γ+w2ρ+w3 (4)
Task choosing is carried out, wherein w1、w2For each term coefficient, w3For additional factor item, concrete operations are described as follows:
Step (1), parameter expression.Time factor γ is introduced, (also can be used whole between [0,9] using [0,1] section
Numerical expression pressing degree, numerical value is smaller, indicate it is more urgent) numerical expression food delivery task pressing degree, γ initial assignment
It is 1, task starts backstage and records E (i) at the beginning of each task and begin a task with timing, with the growth of timing time, γ
Start to reduce；Introducing path relative coefficient ρ, using the numerical expression in [0,1] section transport twice between food product close to journey
Degree, is arranged the path-dependency coefficient between each dining table and other dining tables, if two dining table positions are adjacent close, ρ takes the larger value.
In addition, two parameter coefficient w1、w2Initial value is 1, addition Item factor w3Initial value is 0；
Step (2) places the i.e. specified transport task of food product on dining car, carries out task mark to all required transport food products
Number, ascending sequence is carried out according to task pressing degree, that is, time factor size, establishes task array 1, but original task mark
It is number constant；
Step (3) is successively carried out with time factor threshold value (for example threshold value is taken as 0.8) in task array 1 according to order
Compare, and establish task array 2, if more than the threshold value, go to step (4), if being less than the threshold value, this is optional for normal recordings
Task judges whether task array 1 compares and finishes, do not compare and finish go to step (5), gos to step after comparing
(6)；
Step (4) detects the task dining table frequency of occurrence, if frequency of occurrence is 0, that is, corresponds to dining table in no food product shape
State improves additional factor item w3, reduce time factor term coefficient w1And go to step again (2) be compared；If dining table number goes out
Occurrence number is not 0, and go to step (5)；
Step (5) removes current task from task array 1, and task array 1 moves to right a unit, goes to step (2)
Compared next time；
Step (6) resequences to garbled task array 2 according to relative coefficient size, by formula (9) calculating task
Synthesis degree T (i)=w1γ+w2ρ+w3, choose the maximum task of T (i) value and placed, after task choosing, dining car can use transport position
Set and subtract 1, see whether there are also not the placing of the tasks, do not place task if it exists, go to step (2) rearrange task array,
If without the task of placement, algorithm terminates.
Above-mentioned algorithm can be run on storage medium, processor, server or terminal device.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of 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 should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
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 preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of dispensing machine people based on electromagnetic lock has on the robot body it is characterized in that: including robot body
It is multiple to be both provided with the lid with its retractable connection in each accommodating chamber for storing the accommodating chambers of article, the lid and
It is opened and closed between accommodating chamber by electromagnetism lock control, the electromagnetic lock is configured as remaining turned-off shape before receiving opening signal
State；
Identification module and controller are provided on the robot body, the identification module is configured as identification object region and sets
The mark set sends corresponding recognition result signal to the controller；
The controller receives the recognition result, and determines the accommodating chamber that the article of storage and recognition result match, and sends
Opening signal is to corresponding electromagnetic lock.
2. a kind of dispensing machine people based on electromagnetic lock as described in claim 1, it is characterized in that: the robot body includes
Chassis, chassis lower end are provided with walking mechanism, and impact switch, electromagnetic tracking module, avoiding obstacles by supersonic wave module are carried on chassis
And communication module.
3. a kind of dispensing machine people based on electromagnetic lock as described in claim 1, it is characterized in that: on the robot body also
It is provided with input module, the input module is for receiving the confirmation message that article has been taken；
Or, the electrodynamic capacity of different electromagnetic locks is different, the current parameters by changing electromagnetic lock reach suction to control electromagnetic lock
It closes and disconnects.
4. a kind of delivery system based on electromagnetic lock, it is characterized in that: including dispensing machine of any of claims 1-3
People, guidance system and background system, wherein the guidance system includes the marker that each target area is arranged in, different target
The marker content in region is different, and the marker；
The background system includes server and database, and the server is configured as connecting with the controller, sends packet
Dispatching task containing sending objects, dispatching requirement and target area, and recognition result is received, it is preferential according to dispatching task configuration
Grade plans the track route between each target area according to priority level；
The dispensing machine people receives and according to the track route, carries out the dispatching of each article.
5. a kind of delivery system based on electromagnetic lock as claimed in claim 4, it is characterized in that: the marker is electronics mark
Label, corresponding, the identification module is RFID card reader.
6. the working method based on robot of any of claims 1-3 or system described in claim 4 or 5,
The following steps are included:
The article dispensed as required and target area construct matching relationship between the two, and put according to the matching relationship
Corresponding article is set in corresponding accommodating chamber, the electromagnetic lock of the accommodating chamber is configured according to matching relationship, and is closed all electricity
Magnetic padlock；
Required dispatching task is ranked up according to time factor, establishes task array, by the time of task each in task array
The factor selects may dispensing for task and establishes new task array compared with the time factor threshold value of setting carries out size, right
The task array selected further sorts according to path-dependency, and calculating task synthesis degree takes the highest task of comprehensive angle value
It is dispensed, when reaching corresponding target area, corresponding electromagnetic lock is opened according to matching relationship.
7. working method as claimed in claim 6, it is characterized in that: being carried out after the completion of each dispatching task to task array
Calculating is rearranged, the selection and dispatching of the task of a new round are carried out, until whole task dispatchings are completed.
8. working method as claimed in claim 6, it is characterized in that: the time factor is for characterizing the urgent of dispatching task
Property.
9. working method as claimed in claim 6, it is characterized in that: the path-dependency coefficient, dispenses twice to express
The path-dependency coefficient between each target area and other target areas is arranged in close proximity between destination.
10. working method as claimed in claim 6, it is characterized in that: introducing additional factor in the calculating process of task synthesis degree
, the additional factor initial value is zero, the number dispensed to indicate certain target area, when adding for certain task
When factor initial value is not zero, the task is removed from task array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910453176.5A CN110347150B (en) | 2019-05-28 | 2019-05-28 | Distribution robot, system and method based on electromagnetic lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910453176.5A CN110347150B (en) | 2019-05-28 | 2019-05-28 | Distribution robot, system and method based on electromagnetic lock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110347150A true CN110347150A (en) | 2019-10-18 |
| CN110347150B CN110347150B (en) | 2020-07-28 |
Family
ID=68174417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910453176.5A Active CN110347150B (en) | 2019-05-28 | 2019-05-28 | Distribution robot, system and method based on electromagnetic lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110347150B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9082233B2 (en) * | 2010-06-09 | 2015-07-14 | Disney Enterprises, Inc. | Display with robotic pixels |
| CN205058052U (en) * | 2015-09-23 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with indoor navigation feature |
| CN206643937U (en) * | 2017-02-10 | 2017-11-17 | 山东大学 | A kind of intelligent distribution robot |
| CN107450540A (en) * | 2017-08-04 | 2017-12-08 | 山东大学 | Indoor mobile robot navigation system and method based on infrared road sign |
| CN107992044A (en) * | 2017-12-12 | 2018-05-04 | 东北大学秦皇岛分校 | A kind of autonomous traveling control method of robot and robot system of independently advancing |
| CN109278056A (en) * | 2018-11-22 | 2019-01-29 | 复旦大学无锡研究院 | Unmanned dispensing machine people |
| CN109409765A (en) * | 2018-11-09 | 2019-03-01 | 江苏木盟智能科技有限公司 | A kind of food catering method and system based on robot |
-
2019
- 2019-05-28 CN CN201910453176.5A patent/CN110347150B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9082233B2 (en) * | 2010-06-09 | 2015-07-14 | Disney Enterprises, Inc. | Display with robotic pixels |
| CN205058052U (en) * | 2015-09-23 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with indoor navigation feature |
| CN206643937U (en) * | 2017-02-10 | 2017-11-17 | 山东大学 | A kind of intelligent distribution robot |
| CN107450540A (en) * | 2017-08-04 | 2017-12-08 | 山东大学 | Indoor mobile robot navigation system and method based on infrared road sign |
| CN107992044A (en) * | 2017-12-12 | 2018-05-04 | 东北大学秦皇岛分校 | A kind of autonomous traveling control method of robot and robot system of independently advancing |
| CN109409765A (en) * | 2018-11-09 | 2019-03-01 | 江苏木盟智能科技有限公司 | A kind of food catering method and system based on robot |
| CN109278056A (en) * | 2018-11-22 | 2019-01-29 | 复旦大学无锡研究院 | Unmanned dispensing machine people |
Non-Patent Citations (2)
| Title |
|---|
| BROOKS R A: "Intelligencewithout Ｒepresentation", 《ARTIFICIAL INTELLIGENCE》 * |
| 孙海欣，曹志强: "智能助餐机器人的设计", 《长春大学学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110347150B (en) | 2020-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106200677B (en) | A kind of express delivery delivery system and method based on unmanned plane | |
| US10279477B2 (en) | Automated smart book inventory and shelving robot based on RFID technology | |
| CN109081028B (en) | Robot-based article conveying method and system | |
| CN111675057B (en) | Intelligent cargo conveying system applied to residential buildings and residential districts | |
| CN110084333A (en) | Power Material warehousing system based on RFID technique | |
| CN110472909A (en) | Intelligent distribution system, method, server, robot and storage medium | |
| CN109102205A (en) | Radio frequency, processing method, device, server and the medium of order taking responsibility | |
| CN108171875A (en) | A kind of intelligent distribution pallet piling up method and robot | |
| CN105046835A (en) | Goods receiving method and device and goods delivery method and system | |
| CN108910381A (en) | A kind of method of article carrying apparatus and article conveying | |
| CN106447186B (en) | The method and device that transporting equipment task is distributed in a kind of intelligent storage | |
| CN107622596A (en) | Intelligent cargo cabinet and Intelligent cargo cabinet Compliance control method | |
| CN108040410A (en) | Light control system and method for hotel floors | |
| CN102004964A (en) | FRID based public warehouse real-time information management system and management method thereof | |
| CN106097467A (en) | A kind of box, throwing pickup system and method and the inquiry of the box and localization method | |
| CN206249641U (en) | A kind of modern logistics distribution center sand table simulating system | |
| CN105894364A (en) | Electric car time-sharing leasing APP car returning system and method using wireless induction | |
| JP7072959B2 (en) | Information processing methods, information processing devices, and computer programs | |
| CN107125957A (en) | Intelligent storage cabinet | |
| CN111523918A (en) | Commodity clustering method, commodity clustering device, commodity clustering equipment and storage medium | |
| CN109949918A (en) | A kind of self-service leasing system and method | |
| CN210199899U (en) | Intelligent storage system of self-service access mobile intelligent terminal | |
| CN103606027A (en) | Intelligent hotel management system based on radio frequency identification technology | |
| CN103258180A (en) | Device and method for controlling locker based on RFID technology | |
| CN104079416B (en) | For the method and apparatus for the energy expenditure for reducing the network equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |