CN105573320A - Autonomous logistics robot system - Google Patents
Autonomous logistics robot system Download PDFInfo
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- CN105573320A CN105573320A CN201511029795.XA CN201511029795A CN105573320A CN 105573320 A CN105573320 A CN 105573320A CN 201511029795 A CN201511029795 A CN 201511029795A CN 105573320 A CN105573320 A CN 105573320A
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- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 230000009699 differential effect Effects 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 239000003381 stabilizer Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000000151 deposition Methods 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention provides an autonomous logistics robot system, comprising a main control module, a walking driving module, a positioning navigation module, a man-machine interaction module, a wireless communication module and an obstacle avoidance module. The walking driving module comprises a driving motor, a transmission mechanism, a shock-absorbing mechanism and an inertial navigation module. The autonomous logistics robot system employs the positioning navigation module combined by a satellite positioning system and the inertial navigation module, and improves the adaptive capacity and navigation precision under outdoor complex environments. A robot is provided with an electronic navigation map which can display robot position information in real time, and facilitate robot management, and is also provided with the wireless communication module which allows a user to take the control right of the robot through a mobile terminal, and to communicate with the robot whenever and wherever possible. The autonomous logistics robot system reduces labor costs, possesses the characteristics of high efficiency, accuracy and safety, and increases modern logistics efficiency and intelligent levels.
Description
Technical field
The invention belongs to field in intelligent robotics, specifically, relate to a kind of from main flow mobile robot.
Background technology
Current China Logistics industry plays an important role in socio-economic development, but still is in the junior stage, and wherein cost height is an outstanding problem.Therefore, reduce transportation cost and just become a urgent problem.Logistics major part is the mode adopting artificial dispensing, and along with the development of logistics, cost of labor increases greatly, dispensing pressure increase, often occurs incuring loss through delay or send wrong situation.And along with expanding economy, fast traffic lane has been stepped in the development of logistic industry, and market expands rapidly, and the complexity of transportation improves constantly, for improve the efficiency of transportation, security requirement also more and more stronger.
Along with the rapid advances of computing machine, microelectronics, infotech, the tempo of development of Robotics is more and more faster, and degree of intelligence is more and more higher, and range of application have also been obtained great expansion, progressively enters in daily life.Due to the rising rapidly of cost of labor, machine Man's Demands is strengthened.And current merchandising machine people is mostly applicable in indoor industrial carrying, and function singleness, according to the route set, the program set is run, and can not meet modern day user demand.
Therefore, research and develop a set of from main flow mobile robot, raising traffic efficiency and automatization level have become a urgent demand.
Summary of the invention
In view of this, the present invention be intended to propose a kind of improve traffic efficiency and automatization level from main flow mobile robot.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides from main flow mobile robot, comprise the main control module that embedded microprocessor is formed, and the function sub-modules, human-computer interaction module and the wireless communication module that are connected with described main control module; Described function sub-modules comprises hoofing part module, positioning navigation module and keeps away barrier module.The present invention possesses perception, decision-making, action and interaction capabilities, to realize on outdoor road safety, reliably to travel, improves modern logistics and transports all transfer efficients, greatly reduces travel frequently spent time and the energy.Its concrete technical scheme is as follows:
From main flow mobile robot, comprise the main control module that embedded microprocessor is formed, and be connected with described main control module respectively:
Function sub-modules, comprises hoofing part module, comprises drive motor, gear train, shockproof mechanism, inertial navigation module, for realizing the function such as startup, advance, retrogressing, craspedodrome, turning of robot;
Positioning navigation module, for the self-align of outdoor environment and path planning, according to locating information and keep away barrier module information navigate;
Keep away barrier module, keep away barrier for outdoor environment.
Human-computer interaction module, comprises liquid crystal display systems, for showing goods information, distribution information and providing a few people's interactive operation platform.
Wireless communication module, for carrying out data communication with main control module.
Described hoofing part module, comprises drive motor, gear train, shockproof mechanism, inertial navigation module, and in the process of walking, sensor conveying I/O signal, controls motor and make differential action, the correction of realizing route, keeps robot ambulation in the middle of road; The shockproof mechanism of dual spring gives wheel pressure simultaneously makes itself and ground have enough friction force, carrys out drive machines people and realizes advancing or retreating.
Described positioning navigation module comprises global position system and inertial navigation module;
Described global position system comprises satellite positioning module and mapping module, and satellite positioning module is for obtaining the positional information of robot;
Mapping module, for loading and the storage of map, carries out vector process to the positional information that satellite positioning module obtains and sends main control module to;
Described inertial navigation module, comprises gyroscope and accelerometer, and composition strapdown inertial navigation module, gyroscope is used for the angular velocity of perception robot carrier three axis, and accelerometer is used for the acceleration of perception three axis.
The data message that described gyroscope and accelerometer record, through the conversion of A/D change-over circuit, sends main control module to.
Global position system sends the information received to main control module, and main control module processes, and by the position of LCDs in real time residing for display device people.
Describedly keep away barrier module, comprise the infrared sensor being arranged on robot dead ahead, detect its distance for recognition machine people peripheral obstacle.
Described wireless communication module, comprises gsm module, carries out data communication for user and main control module.
Above-mentioned robot, also comprises voice system, and described voice system comprises loudspeaker, notes dodging for pointing out pedestrian.
Above-mentioned robot, also comprises power module, and described power module comprises accumulator and voltage transformation module, and accumulator provides constant voltage through voltage stabilizer to controller, then provides required voltage through voltage transformation module to system modules.
Above-mentioned robot, also comprises two-dimension code generator, for goods information and combination lock password are presented at LCDs with the form of Quick Response Code.
Also comprise memory module.
Also comprise serial port module.
Relative to prior art, autonomous merchandising machine robot system of the present invention has following advantage:
1. the positioning navigation module adopting global position system to combine with inertial navigation module, improves the adaptive faculty under outdoor complex environment and navigation accuracy.
2. robot arranges digital navigation map, can display device people positional information in real time, is convenient to handle machine people.
3. robot arranges wireless communication module, and user can obtain the control of robot by mobile device, and user can random time, anywhere can communicate with robot.
4. reduce cost of labor, and it has high efficiency, accuracy, security, improve efficiency and the intelligent level of modern logistics.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is a kind of systematic schematic diagram from main flow mobile robot of the present invention;
Fig. 2 is a kind of wireless communication module circuit theory diagrams from main flow mobile robot of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
From main flow mobile robot, comprise the main control module that embedded microprocessor is formed, and be connected with described main control module: positioning navigation module, for the position & navigation of outdoor environment, comprises global position system and inertial navigation module; Described global position system comprises satellite positioning module and mapping module; Described inertial navigation module, comprises gyroscope and accelerometer.
Global position system and inertial navigation module send the data message collected to main control module respectively, and main control module carries out integration process, and is presented in LCDs.
Keep away barrier module, comprise the infrared sensor being arranged on robot dead ahead, detect its distance for recognition machine people peripheral obstacle; Human-computer interaction module, comprises liquid crystal display systems, for showing goods information, distribution information and providing a few people's interactive operation platform; Wireless communication module, for carrying out data communication with main control module.
Hoofing part module, comprises drive motor, gear train, shockproof mechanism, inertial navigation module, and in the process of walking, sensor conveying I/O signal, controls motor and make differential action, the correction of realizing route, keep robot ambulation in the middle of road; The shockproof mechanism of dual spring gives wheel pressure simultaneously makes itself and ground have enough friction force, carrys out drive machines people and realizes advancing or retreating.
Wireless communication module, comprises gsm module, realizes the radio communication of mobile phone terminal and main control module central controller, reaches mobile phone and sends control command to centralized master controllers, then controls the object of Smart Home subsystem by centralized master controllers.Gsm communication module is the communication core of native system, and adopt the new generation of wireless communication gsm module TC35i of Siemens Company, it supports the business such as short message, data, voice transfer.Module communicates with user mobile phone end with the form of short message, adopts AT instruction to communicate with the processor of main control module by RS232 interface.
Also comprise voice system, described voice system comprises loudspeaker, notes dodging for pointing out pedestrian; Power module, described power module comprises accumulator and voltage transformation module, and accumulator provides constant voltage through voltage stabilizer to controller, then provides required voltage through voltage transformation module to system modules.
Also comprise logistics carrying mechanism, logistics carrying mechanism comprises electronic cipher case, for lade.
Also comprise memory module and serial port module, memory module, for storing some important informations, increases memory capacity, and serial port module is used for communicating to external unit.
Introduce a kind of workflow from main flow mobile robot of the present invention below:
After receiving instruction, hoofing part mechanism, under the guide of positioning navigation module, arrives goods location.Positioning navigation module positions and navigation, and shows robot present position in electronic chart in real time by liquid crystal display.Meanwhile, keep away barrier module by infrared sensor recognition machine people peripheral obstacle, carry out keeping away barrier.After arriving goods location, robot is undertaken alternately by human-computer interaction module and shop-assistant, shop-assistant uses the Quick Response Code on mobile telephone scanning robot display screen, and obtain goods information and combination lock password, corresponding goods is put into the electronic cipher case of robot transport mechanism by shop-assistant.Specified location in user, under the effect of positioning navigation module and obstacle avoidance system, is got back to by robot.
In addition, this also can arrange voice system from main flow mobile robot, by loudspeaker, reports prompting and dodges information; User can check robot position state at any time by mobile phone.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. an autonomous merchandising machine robot system, is characterized in that: comprise the main control module that embedded microprocessor is formed, and the function sub-modules be connected with described main control module respectively;
Described function sub-modules comprises hoofing part module, positioning navigation module and keeps away barrier module; Described hoofing part module comprises drive motor, gear train, shockproof mechanism and inertial navigation module, described inertial navigation module detects surface conditions pipage control motor and makes differential action, the correction of realizing route, keeps the I/O signal of robot ambulation in the middle of road; Described positioning navigation module, for the self-align of outdoor environment and path planning, according to locating information and keep away barrier module information navigate; Keep away barrier module, keep away barrier for outdoor environment;
Human-computer interaction module, comprises liquid crystal display systems, for showing goods information, distribution information and providing man-machine interactive operation platform;
Wireless communication module, for carrying out data communication with main control module.
2. autonomous merchandising machine robot system according to claim 1, is characterized in that: described shockproof mechanism is give wheel pressure to make itself and ground have enough friction force simultaneously, carrys out the shockproof mechanism that drive machines people realizes the dual spring advancing or retreat.
3. autonomous merchandising machine robot system according to claim 1, is characterized in that: described positioning navigation module comprises global position system and inertial navigation module;
Described global position system comprises satellite positioning module and mapping module, and satellite positioning module is for obtaining the positional information of robot;
Mapping module, for loading and the storage of map, carries out vector process to the positional information that satellite positioning module obtains and sends main control module to; Main control module processes, and by the position of LCDs in real time residing for display device people;
Described inertial navigation module, comprises gyroscope and accelerometer, and gyroscope is used for the angular velocity of perception robot carrier three axis, and accelerometer is used for the acceleration of perception three axis.
4. autonomous merchandising machine robot system according to claim 1, is characterized in that: described in keep away barrier module, comprise the infrared sensor being arranged on robot dead ahead, detect its distance for recognition machine people peripheral obstacle.
5. autonomous merchandising machine robot system according to claim 1, it is characterized in that: also comprise voice system, described voice system comprises loudspeaker, notes dodging for pointing out pedestrian.
6. autonomous merchandising machine robot system according to claim 1, it is characterized in that: also comprise power module, described power module comprises accumulator and voltage transformation module, accumulator provides constant voltage to described main control module through voltage stabilizer, then provides required voltage through voltage transformation module to other modules of system.
7. autonomous merchandising machine robot system according to claim 1, is characterized in that: also comprise two-dimension code generator, for goods information and the combination lock password depositing goods to be presented at the LCDs of liquid crystal display systems with the form of Quick Response Code.
8. autonomous merchandising machine robot system according to claim 1, is characterized in that: also comprise memory module.
9. autonomous merchandising machine robot system according to claim 1, is characterized in that: also comprise serial port module.
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| CN201511029795.XA CN105573320A (en) | 2015-12-30 | 2015-12-30 | Autonomous logistics robot system |
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| CN201511029795.XA CN105573320A (en) | 2015-12-30 | 2015-12-30 | Autonomous logistics robot system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881554A (en) * | 2016-05-27 | 2016-08-24 | 广东工业大学 | Intelligent express delivery package collection robot |
| CN106200636A (en) * | 2016-07-04 | 2016-12-07 | 宁波赛夫科技有限公司 | Automatically the unmanned transport vehicle of counting of weighing it is accurately positioned |
| CN106527424A (en) * | 2016-09-20 | 2017-03-22 | 深圳市银星智能科技股份有限公司 | Mobile robot and navigation method of mobile robot |
| CN106657919A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Unmanned aerial vehicle device applied to express fixed point delivery |
| CN106873586A (en) * | 2017-01-21 | 2017-06-20 | 浙江沛宏网络科技有限公司 | Goods system and method are quickly sought in a kind of warehouse |
| CN107458620A (en) * | 2017-08-02 | 2017-12-12 | 无锡智开医疗机器人有限公司 | A kind of intelligent baggage handling robot |
| CN107861409A (en) * | 2017-07-24 | 2018-03-30 | 东南大学 | A kind of intelligent campus express delivery carriage device and control method |
| CN108279688A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of agricultural robot positioning system |
| CN108376325A (en) * | 2018-02-26 | 2018-08-07 | 成都科木信息技术有限公司 | Logistics information network management method |
| CN108459589A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Unmanned trolley control system and control method, unmanned trolley |
| CN108458712A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Unmanned trolley navigation system and air navigation aid, unmanned trolley |
| CN108616810A (en) * | 2018-05-10 | 2018-10-02 | 上海交通大学 | A kind of fleet is independently with vehicle system, mancarried device and method |
| CN109074082A (en) * | 2016-06-09 | 2018-12-21 | X开发有限责任公司 | Sensor trajectory planning for a vehicle |
| CN109246661A (en) * | 2018-07-12 | 2019-01-18 | 上海常仁信息科技有限公司 | A kind of communication system between robot based on robot identity card |
| CN109542102A (en) * | 2018-12-11 | 2019-03-29 | 宁波史河机器人科技有限公司 | A kind of robot |
| CN112327884A (en) * | 2020-11-30 | 2021-02-05 | 东南大学扬州研究院 | Based on SLAM autonomous navigation intelligence logistics robot |
| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
| US11237269B2 (en) | 2018-04-26 | 2022-02-01 | Ford Global Technologies, Llc | Localization technique |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881554A (en) * | 2016-05-27 | 2016-08-24 | 广东工业大学 | Intelligent express delivery package collection robot |
| CN109074082A (en) * | 2016-06-09 | 2018-12-21 | X开发有限责任公司 | Sensor trajectory planning for a vehicle |
| CN109074082B (en) * | 2016-06-09 | 2022-01-04 | 因思创新有限责任公司 | Sensor trajectory planning system and method for robot equipment |
| CN106200636A (en) * | 2016-07-04 | 2016-12-07 | 宁波赛夫科技有限公司 | Automatically the unmanned transport vehicle of counting of weighing it is accurately positioned |
| CN106200636B (en) * | 2016-07-04 | 2019-03-05 | 宁波赛夫科技有限公司 | Automatic and accurate positioning weighing counts the transportation resources of unmanned transport vehicle |
| CN106527424A (en) * | 2016-09-20 | 2017-03-22 | 深圳市银星智能科技股份有限公司 | Mobile robot and navigation method of mobile robot |
| CN106657919A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Unmanned aerial vehicle device applied to express fixed point delivery |
| CN106873586A (en) * | 2017-01-21 | 2017-06-20 | 浙江沛宏网络科技有限公司 | Goods system and method are quickly sought in a kind of warehouse |
| CN106873586B (en) * | 2017-01-21 | 2020-10-23 | 浙江沛宏网络科技有限公司 | Warehouse rapid goods searching system and method thereof |
| CN108459589A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Unmanned trolley control system and control method, unmanned trolley |
| CN108458712A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Unmanned trolley navigation system and air navigation aid, unmanned trolley |
| CN107861409A (en) * | 2017-07-24 | 2018-03-30 | 东南大学 | A kind of intelligent campus express delivery carriage device and control method |
| CN107458620A (en) * | 2017-08-02 | 2017-12-12 | 无锡智开医疗机器人有限公司 | A kind of intelligent baggage handling robot |
| CN108376325A (en) * | 2018-02-26 | 2018-08-07 | 成都科木信息技术有限公司 | Logistics information network management method |
| CN108279688A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of agricultural robot positioning system |
| US11237269B2 (en) | 2018-04-26 | 2022-02-01 | Ford Global Technologies, Llc | Localization technique |
| CN108616810A (en) * | 2018-05-10 | 2018-10-02 | 上海交通大学 | A kind of fleet is independently with vehicle system, mancarried device and method |
| CN109246661A (en) * | 2018-07-12 | 2019-01-18 | 上海常仁信息科技有限公司 | A kind of communication system between robot based on robot identity card |
| CN109246661B (en) * | 2018-07-12 | 2021-08-31 | 付小芹 | Communication system between robots based on robot identity card |
| CN109542102A (en) * | 2018-12-11 | 2019-03-29 | 宁波史河机器人科技有限公司 | A kind of robot |
| CN112327884A (en) * | 2020-11-30 | 2021-02-05 | 东南大学扬州研究院 | Based on SLAM autonomous navigation intelligence logistics robot |
| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
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