CN106708047A - Intelligent article delivery robot device and control method - Google Patents
Intelligent article delivery robot device and control method Download PDFInfo
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- CN106708047A CN106708047A CN201611193303.5A CN201611193303A CN106708047A CN 106708047 A CN106708047 A CN 106708047A CN 201611193303 A CN201611193303 A CN 201611193303A CN 106708047 A CN106708047 A CN 106708047A
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- 229910052742 iron Inorganic materials 0.000 description 2
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides an intelligent article delivery robot device and a control method thereof. The robot device comprises a base, a storage grid, a tablet computer, a main support bar, a second support bar, a main camera assembly and a main power supply charging plug. A hardware component works with a software system in the tablet computer. Sound source determining, voice broadcast, voice recognition, face image recognition and electromechanical motion control technologies are used to realize autonomous moving, crowd recognition, sound source recognition, human-computer interaction, storage grid switching, voice broadcast, automatic lift adjustment, automatic navigation, self-charging, autonomous home delivery and other functions of the whole machine.
Description
Technical field
The present invention relates to the technical field of intelligent robot, more particularly to a kind of intelligent article deliver robot device and its
Control method.
Background technology
Current express delivery industry part cast, the cost of labor of addressee work occupy totle drilling cost most, with intelligent robot
Development, the labour cost that express delivery industry is reduced using intelligent robot received significant attention.
But, the existing intelligent robot in face of express delivery industry, its intelligence degree is not high enough, it is impossible in automatic delivery
Door, can not recharging, it is impossible to meet the demand in people's practical application.
The content of the invention
Community, apartment, office building, office building, commercial center, market hotel are arranged on it is an object of the invention to provide one kind
Hall, escalator, Lou Tang Deng public area, entrance hall, public corridor, central garden, for provide intelligent express delivery part cast,
The commerce services robot device of addressee work and its control method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of intelligent article delivers robot device, including：
Base, the base includes rechargeable battery, electronic positioned at four mechanical 360 degree of directive wheels of bottom and
Driving 360 degree of guiding power wheels, the rechargeable battery is used to provide power, 360 degree of guiding of the motorized motions for robot
Power wheel drives mechanical 360 degree of directive wheels, realizes the advance of robot, retreats or stop；
Matter storage lattice, the matter storage lattice is arranged at base upper end, and the matter storage lattice is provided with door and electric control lock, the electric control lock
Electrically connected with rechargeable battery, by being installed on the software systems of panel computer, control the opening and closing of door；
Panel computer, the panel computer is connected by main support rod with base, positioned at matter storage lattice upper end, the flat board electricity
Brain includes touch screen, microphone, camera, loudspeaker, and the touch screen is used to realize the data interaction with operating personnel, described
Microphone is used to gather audio-frequency information, and the camera is used to monitoring, gathering facial image, and the loudspeaker is used to play audio
Information；The panel computer is provided with software systems, the software systems be used to realizing it is man-machine between, robot with it is external
Information data interaction and communication, the switch control of matter storage lattice electric control lock, audiovideo identifying processing, shifting between remote server
Dynamic Navigation Control and setting early warning power threshold；
Main support rod, is arranged between base and panel computer, and the main support rod is electric telescopic bar, for connecting
Base and panel computer, automatically adjust the height between panel computer and ground, convenient with the crowd for adapting to different age group height
Use；
Second support bar, is arranged between base and main CCD camera assembly, and the second support bar is electric expansion bar, is used
In connect base and main CCD camera assembly, and the lifting for passing through second support bar, main power source charging plug is set to be directed at needs right
The equipment for connecing；
Main CCD camera assembly, the main CCD camera assembly is connected by second support bar with base, the main camera group
Part includes 360 degree of horizontal rotation motors being connected with second support bar, and the main shooting being installed on 360 degree of horizontal rotation motors
Head, the main built-in range sensor of camera, for collection people and robot, robot and miscellaneous equipment facility
Between range information, and 360 degree horizontally rotate motor control under realize that charging hole seeks position, elevator button and seeks position, floor
The function of identification, the range information is distance of the object to robot；Before the main camera is aligned when that need not charge
Side, when charging is required, the image information collected by main camera searches out charging hole, and in the range information in charging hole
During less than the first distance threshold, by 360 degree of horizontal rotation motor control main power source charging plug alignment charging holes；
Main power source charging plug, the main power source charging plug and 360 degree of horizontal rotation motor connections, with rechargeable battery
Electrical connection, for being rotated by 360 degree of horizontal rotation motors, is directed at charging hole and inserts, and is charged to rechargeable battery.
On the basis of above-described embodiment, further, the matter storage lattice is additionally provided with the instruction electrically connected with electric control lock
Lamp, the on off state for indicating electric control lock.
On the basis of above-mentioned any embodiment, further, the matter storage lattice sets dismountable individual layer, two-layer or many
Layer unit lattice；
When matter storage lattice sets dismountable single layer cell lattice, the door opening of the single layer cell lattice is upward；
When matter storage lattice sets dismountable two-layer or multilevel-cell lattice, the door opening court of the two-layer or multilevel-cell lattice
Outward.
On the basis of above-mentioned any embodiment, further, the main support rod is electric expansion bar.
On the basis of above-mentioned any embodiment, further, first distance threshold is 90~120mm.
A kind of intelligent article that make use of any of the above-described device delivers robot control method, including：
Autonomous step：
Sound source information is obtained by microphone, messenger is determined whether, and determine messenger direction；
According to sound source information, control and rotated by 360 degree of main cameras of horizontal rotation motor control, towards messenger
Direction, gathers image information, and the range information of messenger is synchronously gathered by range sensor；
According to image information and range information, control robot advances, retreats or stops movement；
Part cast step：
When artificial courier is carried out, according to image information and range information, the height of courier and main camera is judged
With result；
According to the matched result, control second support bar performs descending operation, until courier and main camera
Matched, Synchronization Control main support rod performs lifting, to match the optimum height that courier operates panel computer；
Part cast Quick Response Code or part cast bar code that courier provides, control and part cast are scanned by the camera of panel computer
The electric control lock of Quick Response Code or the corresponding matter storage lattice of part cast bar code is opened；Or, express delivery is received by the touch screen of panel computer
The part cast password of member's input, controls the electric control lock of matter storage lattice corresponding with part cast password to open；The part cast password, Quick Response Code,
Bar code, by the data interaction between software systems and remote server, matches acquisition, or pass through after obtaining express delivery list information
Default courier's member account password match is obtained in software systems, in working order under, registered software systems member's
Courier subscribes matter storage lattice in advance by telnet system, and the matter storage lattice subscribed directly is opened by part cast password；
After matter storage lattice is closed, software systems send to sender and deliver successfully logistics information, while sent to addressee wrapping
Message in pickup notifying messages or software systems containing pickup password, or the pickup comprising pickup Quick Response Code, pickup password
Message in notifying messages or software systems；
Voluntarily pickup step：
When artificial addressee is carried out, according to image information and range information, the height of addressee and main camera is judged
With result；
According to the matched result, control second support bar performs descending operation, until addressee and main camera
Matched, Synchronization Control main support rod performs lifting, to match the optimum height that addressee operates panel computer；
The pickup Quick Response Code that addressee provides is scanned by the camera of panel computer, is controlled corresponding to the pickup Quick Response Code
Matter storage lattice electric control lock open；Or, the pickup password that addressee is input into is received by the touch screen of panel computer, control with
The electric control lock of the corresponding matter storage lattice of pickup password is opened；
Default pickup is spaced after matter storage lattice closing and completes node time, by software systems to courier and sender
Send the pickup message in the short message or software systems for confirming pickup；
Independently send part step：
Robot receives deliver goods to the customers announcement information of the addressee by transmission in short message or software systems；
When robot is in the working condition operated by people, software systems are notified from the delivery of trend addressee's forward delay interval
Information, and send confirmation of visiting to addressee when unattended；
Posting address information and addressee's telephone number are inquired about by software systems；The posting address information includes addressee
Floor number, addressee room number；
During delivery, by the image information in front of the collection of main camera, gathered by the camera of panel computer
The image information of front lower place, when occurring avoidance type barrier in the image information in front, gathers described by range sensor
The range information of avoidance type barrier, the image information of image information, front lower place according to front, to the avoidance type barrier
Carry out barrier active dodge；The avoidance type barrier is personnel or medium-and-large-sized object；
Elevator button, the movement of control robot and the lifting of second support bar are found by main camera, by 360 degree of water
Flat electric rotating machine drives the rotation of main power source charging plug, alignment elevator button, and software systems are according to range sensor Real-time Collection
Elevator button range information, control robot move forward, press elevator button；
Floor button corresponding with addressee floor number, the movement of control robot and second support bar are recognized by main camera
Lifting, drive main power source charging plugs to rotate by 360 degree of horizontal rotation motors, alignment floor button, software systems according to
The range information of the floor button corresponding with addressee floor number of range sensor Real-time Collection, control robot is moved forward,
Press floor button corresponding with addressee floor number；Whether respective storey is reached by main camera head monitor, when main camera quilt
When blocking, voice help information is played by loudspeaker, the audio-frequency information collected according to microphone is confirmed whether to reach corresponding
Floor, or the special floor distinguishing mark of robot is found by automatic lifting second support bar, it is confirmed whether to reach corresponding building
Layer；
The room number distribution map and route map of current floor are inquired about by software systems, after arrival floor, according to room number point
Butut, route map, are positioned by main camera and software systems, find room number corresponding with addressee room number；
When the distance of robot and posting address information is second distance threshold value, sends delivery to addressee and reach short message
Breath, sent to addressee in software systems and delivery arrival notice information or dial addressee's phone；
Into voluntarily pickup step；
Charge step：
When the electricity of rechargeable battery reaches early warning power threshold, robot passes through 360 degree of rotating acquisitions of main camera
Surrounding enviroment image information, is identified matching with the environment picture prestored in software systems, with control the movement of robot with
Return, when occurring charging hole in image information, by image recognition judging distance, controls the movement and the second support of robot
The lifting of bar, when robot reaches default distance threshold apart from wall where charging hole, by range sensor harvester
Device people to charging hole range information and with reference to image processing data calculate robot to the accurate distance information in charging hole,
The movement of control robot and the lifting of second support bar, drive main power source charging plug to rotate by 360 degree of horizontal rotation motors,
Alignment charging hole, according to the range information in the charging hole of range sensor Real-time Collection, control robot is to reach for software systems
It is dynamic, insertion charging hole.
On the basis of above-described embodiment, further, the part cast step also includes：
Within the predetermined part cast fault-tolerant time, by the camera of panel computer scan part cast Quick Response Code that courier provides or
Part cast bar code, controls the electric control lock of matter storage lattice corresponding with part cast Quick Response Code or part cast bar code to open；Or, by flat board
The touch screen of computer receives the part cast password of courier's input, controls the electric control lock of matter storage lattice corresponding with part cast password to open；
After matter storage lattice is automatically switched off, robot is sent comprising pickup password by software systems to sender and addressee
Correct pickup short message or comprising amendment pickup announcement information in pickup Quick Response Code, the software systems of pickup password.
On the basis of above-mentioned any embodiment, further, the voluntarily pickup step also includes：
Within the predetermined pickup time, pickup people can repeatedly open matter storage lattice corresponding with pickup password with pickup password.
On the basis of above-mentioned any embodiment, further, the software systems are additionally operable to set anti-Disturb state；
When robot enters anti-Disturb state, when the touch screen of panel computer is touched or robot be blocked outlet without
When method is taken action, by microphone broadcasting machine people just in delivery way, the voice messaging for being serviced for you again is waited a moment.
On the basis of above-mentioned any embodiment, further, also step is precisely played including active voice video：
Audio-frequency information, the camera collection image information by panel computer are gathered by microphone；
According to audio-frequency information, image information, determine whether that messenger is close to；
When there is messenger to be close to, by 360 degree of main cameras rotations of horizontal rotation motor control, towards messenger direction, broadcast
Put greeting audio/video information or advertisement audio frequency and video, shopping guide's audio/video information；
By recognition of face historical data, judge whether messenger is to have recorded face, memory or history sound are played to continue
Video information；It is described to have recorded the face recorded in face behaviour face identification historical data.
The beneficial effects of the invention are as follows：
Robot device and its control method are delivered the invention provides a kind of intelligent article, judged using sound source of sound,
Voice broadcast, speech recognition, recognition of face, image recognition, electromechanical movement control technology, realize human-computer interaction, recharging, from
Master send part to visit function, and compared to the intelligent robot for being used to deliver in the prior art, its intellectuality is further improved；
The present invention dexterously performs calling elevator, the task of selection floor using main power source charging plug, is not increasing complex structure
Independence, the multifunctionality of robot are greatly improved in degree, with very outstanding creativeness and practical value.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 shows that a kind of intelligent article provided in an embodiment of the present invention delivers the structural representation of robot device；
Fig. 2 shows a kind of 360 degree of structural representations of guiding power wheel of motorized motions provided in an embodiment of the present invention.
Fig. 3 a show a kind of structural representation of individual layer matter storage lattice provided in an embodiment of the present invention, and Fig. 3 b show this hair
A kind of structural representation of multilayer matter storage lattice that bright embodiment is provided；
Fig. 4 shows that a kind of intelligent article provided in an embodiment of the present invention delivers the flow of the control method of robot device
Schematic diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
Limit the present invention.
Specific embodiment one
As shown in figure 1, the embodiment of the invention provides a kind of intelligent article delivers robot device, below by the robot
Device is referred to as robot, including：
Base 1, the base include rechargeable battery, four mechanical 360 degree of directive wheels a1~a4 positioned at bottom and
One motorized motions, 360 degree of guiding power wheel b, the rechargeable battery is used to provide power, the motorized motions for robot
360 degree are oriented to power wheel b and drive mechanical 360 degree of directive wheels a1~a4, realize the advance of robot, retreat or stop；This hair
Bright embodiment is not limited rechargeable battery, and it can be hydrogen lithium battery, as robot electrical source of power, while being also to maintain
The part of robot balance and stability；The embodiment of the present invention is not limited the shape of base 1, size, material, weight capacity
Fixed, it can be the rectangular structure of 600mmx400mmx200mm, and using stainless steel, its design weight capacity can be
100kg~200kg；The embodiment of the present invention is not limited mechanical 360 degree of directive wheels a1~a4, and it can add differential for motor
Gear structure, realizes that constant speed is advanced or fall back；The embodiment of the present invention is not limited 360 degree of guiding power wheel b of motorized motions
Fixed, it can be with as shown in Fig. 2 including horizontal motor b1, forward-reverse electric rotating machine b2, rubber tyre b3, horizontal motor b1 bears
360 degree of duty power wheel turns, and forward-reverse electric rotating machine b2 is responsible for driving forward-reverse, and rubber tyre b3 is used to strengthen earth-grasping force,
Its wheel footpath can be 150~180mm, and it can be 30~50mm that wheel face is wide；Power wheel b realizes advancing by driving wheel a1~a4
Retreat；Horizontal motor b1 can be responsible for steering by robot guidance system control, and the guidance system is known with the image of main camera
It is not related to steering angle, specifically, horizontal motor b1 can be electrically connected with 360 degree of horizontal rotation motor 6a, at 360 degree
Adjustment robot is horizontally diverted angle under the control of horizontal rotation motor 6a, and its operation principle is：Robot passes through left and right wheat
Gram wind 4a, 4b collection sound judges whether that someone is close to, and controls main cameras 6 to turn to by 360 degree horizontal rotation motor 6a, master
Camera 6 gathers shadow image, by judging center ofthe position of the shadow image in view-finder, adjusts main camera 6
The height of angle and second support bar 5 is horizontally diverted, being horizontally diverted angle and control to move by 360 degree of horizontal rotation motor 6a
Force direction wheel b's is horizontally diverted angle, realizes being moved to messenger, while by built-in range sensor 6b in 6, with reference to messenger
Size of the image in view-finder, judge the accurate distance of messenger and the machine human world, control robot advances, retreat or
Stop；
Matter storage lattice 2, the matter storage lattice 2 is arranged at the upper end of base 1, and the matter storage lattice 2 is provided with door and electric control lock 2a, described
Electric control lock 2a is electrically connected with rechargeable battery, the opening and closing for controlling door；The embodiment of the present invention is to the matter storage lattice 2
Material is not limited, and it can use metal material, such as iron to make iron pipe type framework, sheet metal stressed-skin construction；It is of the invention real
Apply example not limit the structure of matter storage lattice 2, it could be arranged to many lattice of dismountable multilayer (the large, medium and small various bin chis of lattice point
Very little specification), it is as shown in Figure 3 b, it is also possible to be set to many lattice of dismountable individual layer, as shown in Figure 3 a, so modular detachable
Structure, it is the module of not apposition number that can freely change the outfit；Individual layer can be canopy switch bin structure, and multilayer can be positive side switch
Bin structure, per lattice one, each has independent electric control lock 2a, the opening and closing of electric control lock 2a, for controlling beating for door
It is open and close；The electric control lock 2a is arranged in framework steel pipe, the circuit hole communicated with the top of base 1 by the bottom of matter storage lattice 2
Road is from rechargeable battery power taking；The indicator lamp 2b electrically connected with electric control lock can be set on the door of matter storage lattice, it is automatically controlled for indicating
The on off state of lock, indicator lamp can be LED；The shaft of matter storage lattice switch gate can be delivered and completed with built-in return spring
After people looses one's grip, door rebounds automatically because returning power, magnetic attracting device can also be set between door and electric control lock, it is ensured that door and sealed reality, and
Automatic locking matter storage lattice；Storing lattice door can be with manually opened to 90~100 degree by limiter；
Panel computer 3, the panel computer 3 is connected by main support rod 4 with base 1, described positioned at the upper end of matter storage lattice 2
Panel computer 3 can include touch screen, microphone 4a~4b, camera 3b~3d, loudspeaker 3a, and the touch screen is used to realize
With the data interaction of operating personnel, for gathering audio-frequency information, the camera 3b~3d is for supervising for the microphone 4a~4b
Control, collection facial image, the loudspeaker 3a are used to play audio-frequency information；The panel computer 3 is provided with software systems, described
Software systems be used for realize it is man-machine between information data interaction with communication, and set early warning power threshold；The present invention is implemented
Example is not limited the touch screen of panel computer, and it can be 10~40 cun of capacitance type touch control screens；The embodiment of the present invention is to being pacified
The software systems of dress are not limited, and it can be the APP softwares based on Android system exploitation；The software systems can utilize existing
Standard communication protocol such as 485, CANBUS, MODBUS, profibus etc., realizes the Information Number between software systems and robot hardware
According to interaction and communication；Software systems are constantly in background operation state, and panel computer desktop can set express delivery and take the fast of part cast
Prompt function button；When many people use simultaneously, according to sequencing queuing operation, pickup password, part cast password do not interfere with each other mutually, storage
Thing lattice are separate, and same matter storage lattice is not in that the repetition in the same time period is delivered, and matter storage lattice must be in an idle state
(never have part cast is recorded or last part cast is had been acknowledged before not having other new parts inputs after taking-up) can be realized unlocking and deliver；
Part cast password has the absolute property of can not be overlapped with pickup password, i.e., each possess unique condition code；
Main support rod 4, is arranged between base 1 and panel computer 3, for connect base 1 and panel computer 3；The present invention
Embodiment is not limited main support rod, and it can be electronic telescopic rod, and the height for realizing 50mm~300mm is adjusted automatically
Section, adapts to adult, child and operates with；When mounted, the lower end of main support rod 4 can be connected in the middle of the rear portion of base 1, upper end
In the middle of connection panel computer 3 back, main support rod 4 can use straight line curved structure, forward fold so that panel computer 3
In the surface space of base 1, it is ensured that overall balance and the controlling convenient of panel computer 3；
Second support bar 5, is arranged between base 1 and main CCD camera assembly, and the second support bar is 5 electric expansions
Bar, for connect base 1 and main CCD camera assembly, and by the lifting of second support bar 5, makes main power source charging plug 7 pairs
The equipment that standard needs docking；The equipment docked can be including charging hole, elevator button, floor button etc.；Bottom can be arranged on
The left and right sides of seat, is electronic telescopic rod, is capable of achieving the electric up-down " in the range of 5mm~50mm "；The embodiment of the present invention is to
Two support bars 5 are not limited with the connected mode of base 1, and it can need the status of equipment of docking to adjust installation position according to scene
Fixation is postponed, the main monitoring camera-shooting part for ensuring second support bar 5, main CCD camera assembly, the composition of main power source charging plug 7
In the case of the synchronous coordination for moved by whole machine, lifting, the equipment that 100% alignment needs docking, it is ensured that dock successfully safety
It is safe；
Main CCD camera assembly, the main CCD camera assembly is connected by second support bar 5 with base 1, the main camera
Component includes 360 degree of horizontal rotation motor 6a being connected with second support bar, and the master being installed on 360 degree of horizontal rotation motors
Camera 6, the main built-in range sensor 6b of camera, for gathering image information, collection range information, and 360
Realize that charging hole seeks position, elevator button and seeks position, the function of floor identification, the distance letter under the control of degree horizontal rotation motor 6a
Cease the distance to robot for object；The main camera 6 when charging is required, passes through in front of being aligned when that need not charge
The image information for collecting searches out charging hole, orientation, scale by charging hole position in view-finder, judges charging hole
Position and the distance between robot and orientation, control robot to close the movement in charging hole orientation, make robot and charging hole
Front linear aspect is kept, and when the range information in charging hole is less than the first distance threshold, by 360 degree of horizontal rotation motor 6a
Control main power source charging plug 7 is directed at charging hole；The embodiment of the present invention is not limited the first distance threshold, and it can be by software
System pre-sets, and its value can be 90~120mm；The main camera 6 can be wide-angle camera；
Main power source charging plug 7, the main power source charging plug 7 is connected with 360 degree of horizontal rotation motor 6a, and chargeable
Battery is electrically connected, and for being rotated by 360 degree of horizontal rotation motor 6a, is directed at charging hole and is inserted, and is filled to rechargeable battery
Electricity；The embodiment of the present invention is not limited main power source charging plug 7, its can be earphone type plug, and with metope on set
Charging hole or private jack hole match；By the automatic localization and the auxiliary positioning of second support bar 5 of main camera 6, it is ensured that
Main power source charging plug 7 is properly inserted in charging hole or private jack hole, realizes safe charging, and when charging, robot can be with
Automatic locking base is moved；
Main monitoring camera-shooting part can be used for being identified messenger, and it can catch face, be judged by software systems
Position of the front number of people in the view-finder of main camera 6, with reference to range sensor 6b, recognizes the height and main camera 6 of people
Matched be it is higher or relatively low, then simultaneously control 5 two electric expansion bars of main support rod 4 and second support bar perform liter
Drop, until software systems judge the height of messenger and the matched of main camera 6, realizes control panel computer 3 with ground
Distance is freely lifted between 100cm to 130cm, and to meet the age more than 6 years old, the crowd of height 110cm~200cm can comfortably grasp
Control；
Source of sound judgement, the Identification of Images of main camera 6, range sensor that the embodiment of the present invention passes through microphone 4a~4b
The distance identification of 6b, control robot is realized welcoming the autonomous of people, such as, in escalator, be may determine that by sound source
The elevator door in which direction is opened, and controls main camera 6 to be rotated to elevator door direction, to identify whether someone, by loudspeaker
3a voice broadcasts, realization is actively greeted with people, and advertisement report, electric business shopping guide voice are guided and information notifies report etc..
After courier's part cast, robot provided in an embodiment of the present invention can perform automatic delivering goods to the customers for task, machine
Device people can be voluntarily judged in unattended robot and sufficient electric power, autonomous to perform with reference to the time period that addressee confirms
Deliver goods to the customers；Addressee needs robot to deliver goods to the customers by short message or software systems operation acknowledgement first, and robot is by master
Camera 3b~the 3d of camera 6, panel computer, the cooperation collection external image information of range sensor 6b, barrier and machine
The range information of device people, lookup elevator button, the position of floor button, monitor elevator operation, search addressee's room number, real
Part is now independently sent to visit；
When addressee confirm needs deliver goods to the customers, and confirm time period in, if on the occasion of have other staff operate machine
Device people, robot independently can be sent because being busy with one's work by software systems to addressee, need time delay to deliver goods to the customers, and such as you are anxious
With information is notified in the short message or software systems of pickup of please voluntarily going downstairs；After the completion of other people operate, robot is actively selected again
Select and visit, and in decision behind the door, i.e., sent to addressee and confirm information of visiting；
During independently part is sent, robot control software's system halt performs other operation tasks, and backstage can open
It is dynamic to prevent bothering program, during when someone's touching panel computer touch screen, Dang Zhu robots outlet or so that robot cannot take action, machine
Device people can carry out voice broadcast by loudspeaker 3a：Robot is waited a moment again as you service just in delivery way；
Robot is performed when delivering goods to the customers, and if necessary to from caller ladder, just find elevator button by main camera 6, is led to
Cross image recognition and compare orientation, the mode of size, preliminary judging distance with view-finder, while cooperateing with range sensor to calculate
Go out accurate distance, so as to control robot to move, Collaborative Control second support bar 5 is lifted, 360 degree of horizontal rotation motor 6a
Main power source charging plug 7 is directed at elevator button by rotation, cooperates with range sensor 6b, and control robot is moved forward, using master
Slight strong collision of the power source charges plug 7 to elevator button, realizes button terraced function；
Similar, by image recognition technology, robot can recognize the floor button in elevator, then using same side
Formula realizes the selection to floor；If main camera 6 judges someone in elevator, can actively pass through voice broadcast, claimant side
Help and be ladder；Robot monitors whether to make ladder or floor confirm successfully, to judge whether arrival floor by main camera 6, if main
Camera 6 is blocked by crowd, it is impossible to when directly judging floor, can be confirmed whether arrival floor, together by voice help crowd
When automatic lifting second support bar 5, actively seek floor identification；The embodiment of the present invention can be disposed with the big of robot device
In each floor elevator Room in building, the special floor distinguishing mark of robot is set in the eminence of artificial survivable shield, it can
So that positioned at the position just to elevator door, a ladder one facilitates the quick special identification of robot；
Software systems in panel computer 3 can prestore each floor in building that robot serviced room number distribution map and
Route map, after robot reaches floor corresponding with addressee floor, is accurately looked for by distribution map navigating robot in each floor
To position corresponding with addressee room number；Robot delivers goods to the customers and reaches when near door, is sent automatically to up to information or dials receipts
Part people's phone, notifies that addressee, addressee go out and get quick despatch, when time-out does not have addressee to respond or after the completion of pickup, machine
Device people can await orders seat in the plane according to the floor auto-returned that navigates；
Robot can independently be sought when the electricity of rechargeable battery reaches early warning power threshold in the embodiment of the present invention
Charge：It is robot autonomous seek to charge when, by 360 degree rotations of horizontal rotation motor 6a, and default second supports
The height of bar 5, controls main camera 6 to carry out 360 degree and catches the specific Special-purpose power socket of metope automatically, and control robot to power supply
Socket alignment, mobile, close, during range sensor 6b judging distance the first distance thresholds of metope, 360 degree horizontally rotate motor 6a
Rotation, main power source charging plug 7 is rotated to predetermined angle, and control robot continues to be shifted near to metope, until main power source charges
Plug 7 inserts private jack, realizes recharging；
Software systems can also pre-set the recharging time period, or set early warning power threshold and perform electricity threshold
Value, performs the difference that power threshold is the power threshold for performing recharging task, early warning power threshold and execution power threshold
It can be the interval consume electricity of 20 minutes；When the electricity of rechargeable battery reaches early warning power threshold, robot is logical by active
Cross main camera 6 and check on the circuit for going to charging hole that with the presence or absence of barrier, such as because of barrier obstruction, robot cannot be close to
During charging hole, will notify that attendant goes to treatment by software systems automatic remote, or voice will be played when crowd is associated with,
Seek help pedestrians, and after barrier releasing, robot can be by software systems proactive notification remote service personnel；The charging phase
Between, robot can still perform except mobile and other all monitoring as you were in addition to independently sending part to visit, operate and look into
Ask work；When not charging, robot powers by rechargeable battery；In the embodiment of the present invention, the chargeable electricity for being used
Pond design electricity can be to meet robot continuous walking more than 3km, and continuous panel computer operation is played with video monitoring, advertisement
Work is more than 12 hours, standby 48~36 hours；Work as not enough power supply, or within the recharging time period of setting, robot can
It is autonomous to find charging hole, charged.
The embodiment of the present invention is not limited the whole set equipment size of robot, volume, size, it is preferred that it can be
600mmX400mmX1600mm, or 500mmX300mmX1600mm, volume crosses the scope of application that conference limits robot.
The embodiment of the present invention is coordinated by the work of the software systems in above-mentioned hardware, component, sensor and panel computer,
Using the judgement of sound source of sound, voice broadcast, speech recognition, facial image identification, electromechanical movement control technology, it is possible to achieve whole machine
It is autonomous, identification crowd, identification sound source, human-computer interaction, switch matter storage lattice, voice broadcast, automatic lifting regulation, automatic
Navigation, recharging, the autonomous function such as send part to visit, compared to the intelligent robot for being used to deliver in the prior art, its intelligence
Change is further improved；The embodiment of the present invention dexterously performs calling elevator, selection building using main power source charging plug
The task of layer, is not increasing independence, multifunctionality that robot is greatly improved in complex degree of structure, with very outstanding
Creativeness and practical value.
Specific embodiment two
As shown in figure 4, the embodiment of the invention provides a kind of intelligent article transaction apparatus that make use of any of the above-described device
Device people's control method, including：
Step S101, autonomous step can include：Audio-frequency information is gathered by microphone；According to audio-frequency information, sentence
It is disconnected whether to there is messenger to be close to；When have messenger near when, rotated by 360 degree main cameras of horizontal rotation motor control, towards
People direction, by main camera collection image information, the range information of messenger is gathered by range sensor；According to image information
And range information, control robot advances, retreats or stops to move.
Step S102, part cast step can include：When artificial courier is carried out, according to image information and range information, sentence
Disconnected courier and the matched result of main camera；According to the matched result, control second support bar performs lifting
Operation, until courier and the matched of main camera, meanwhile, Synchronization Control main support rod performs lifting, to match express delivery
The optimum height of member's operation panel computer；Part cast Quick Response Code or the part cast that courier provides are scanned by the camera of panel computer
Bar code, the electric control lock of the idle matter storage lattice of control is opened；Or, the throwing that courier is input into is received by the touch screen of panel computer
Part password, control the electric control lock opening of corresponding with part cast password matter storage lattice, and the part cast password, Quick Response Code, bar code are obtained
The mode of taking can be：First, by the data interaction between local software and remote server, matched after acquisition express delivery list information and obtained
Take, then by scanning or Password Input judge with courier deliver object entrained by " password, Quick Response Code, bar code " whether
Unanimously, so as to control the opening of electric control lock；Second, by the default exclusive member account password of courier's the machine in local software
Matching is obtained, and the courier of registered software systems member can in advance subscribe matter storage lattice, pass through by telnet system
Part cast password directly opens the matter storage lattice subscribed, during delivery, robot by software systems scan courier's part cast Quick Response Code,
Part cast bar code or the password of typing, automatically open up corresponding electric control lock, in the case where indicator lamp is provided with, with electric control lock phase
The indicator lamp answered can show the open mode of electric control lock, and the door of courier's manual unlocking matter storage lattice is placed quick despatch and accorded with regular rules.
Deliver successfully, after matter storage lattice is closed, sent to sender by software systems and deliver successfully logistics information, while to
Addressee sends the message or close comprising pickup Quick Response Code, pickup in pickup notifying messages or software systems comprising pickup password
Message in the pickup notifying messages or software systems of code.
In view of the issuable delivery mistake of courier, the part cast step S102 of the embodiment of the present invention can also include：
Within the predetermined part cast fault-tolerant time, part cast Quick Response Code or the part cast bar shaped that courier provides are scanned by the camera of panel computer
Code, controls the electric control lock of matter storage lattice corresponding with part cast Quick Response Code or part cast bar code to open；Or, by touching for panel computer
Control screen receives the part cast password of courier's input, controls the electric control lock of matter storage lattice corresponding with part cast password to open；Matter storage lattice is certainly
It is dynamic close after, robot by software systems to sender and addressee send the amendment pickup short message comprising pickup password or
Comprising amendment pickup announcement information in pickup Quick Response Code, the software systems of pickup password.
The embodiment of the present invention provides two kinds of pickup methods, is used to improve the Consumer's Experience of addressee, and addressee can be with taking
The voluntarily pickup downstairs of part password, can also be confirmed by robot at one's leisure, independently by sending short message or being operated by software systems
Part is sent to visit.
Step S103, voluntarily pickup step can include：When artificial addressee is carried out, according to image information and distance letter
Breath, judges the matched result of addressee and main camera；According to the matched result, control second support bar is performed
Descending operation, until addressee and the matched of main camera；Scan what addressee provided by the camera of panel computer
Pickup Quick Response Code, controls the electric control lock of matter storage lattice corresponding with the pickup Quick Response Code to open；Or, by the touch-control of panel computer
Screen receives the pickup password of addressee's input, controls the electric control lock of matter storage lattice corresponding with pickup password to open；Addressee's pickup
When, pickup password can be input into the touch screen of panel computer or by panel computer with pickup Quick Response Code or pickup password
Camera scanning pickup Quick Response Code, corresponding matter storage lattice top cover LED is bright, opens corresponding matter storage lattice pickup, and pickup is completed,
The storing lattice door of resiliency can self-return locking；The predetermined pickup time is spaced after matter storage lattice closing, by software systems
Sent to courier and sender and confirm pickup short message or sent in software systems to confirm pickup announcement information；It is described pre-
Determining the pickup time can be for 3 minute；Within the predetermined pickup time, addressee arbitrarily can repeatedly open matter storage lattice with pickup password,
Avoiding addressee's imprudence cannot take out express delivery after closing matter storage lattice.
Step S104, independently send part step to include：Robot receives addressee by short message or software systems
The announcement information of delivering goods to the customers for sending；When robot is in the working condition operated by people, software systems are from trend addressee
Forward delay interval delivery announcement information, and send confirmation of visiting to addressee when unattended；By software systems
Inquiry posting address information and addressee's telephone number；The posting address information includes addressee floor number, addressee room number；Sending
During goods, by the image information in front of the collection of main camera, the image of front lower place is gathered by the camera of panel computer
Information, when occurring avoidance type barrier in the image information in front, the avoidance type barrier is gathered by range sensor
Range information, the image information of image information, front lower place according to front carries out obstacle owner to the avoidance type barrier
It is dynamic to evade；The avoidance type barrier is personnel or medium-and-large-sized object；The embodiment of the present invention is not limited obstacle avoidance algorithm,
It can be the algorithm by video image cross validation, realize the accurate route identification recognized and obstacle avoidance；By main shooting
Head finds elevator button, the movement of control robot and the lifting of second support bar, and main electricity is driven by 360 degree of horizontal rotation motors
Source charging plug rotates, alignment elevator button, and software systems are believed according to the distance of the elevator button of range sensor Real-time Collection
Breath, control robot is moved forward, and presses elevator button；Recognize that floor corresponding with addressee floor number is pressed by main camera
Button, the movement of control robot and the lifting of second support bar, drive main power source charging plug to revolve by 360 degree of horizontal rotation motors
Turn, be directed at floor button, software systems are according to the floor button corresponding with addressee floor number of range sensor Real-time Collection
Range information, control robot is moved forward, and presses floor button corresponding with addressee floor number；It is by main camera head monitor
No arrival respective storey, when main camera is blocked, voice help information is played by loudspeaker, is collected according to microphone
Audio-frequency information be confirmed whether to reach respective storey, or the special floor of robot found by automatic lifting second support bar know
Do not indicate, be confirmed whether to reach respective storey；The room number distribution map and route map of current floor are inquired about by software systems, is arrived
Up to after floor, according to room number distribution map, route map, room number corresponding with addressee room number is found by main camera；In robot
When distance with posting address information is second distance threshold value, to addressee's transmission delivery arrival short message, in software systems
Delivery arrival notice information is sent to addressee or dial addressee's phone；Into voluntarily pickup step S103.
Step S105, charge step can include：When the electricity of rechargeable battery reaches early warning power threshold, robot
By main camera collection image information, when occurring charging hole in image information, charging hole is gathered by range sensor
Range information, the movement of control robot and the lifting of second support bar, drive main power source to charge by 360 degree of horizontal rotation motors
Plug rotation, alignment charging hole, software systems control machine according to the range information in the charging hole of range sensor Real-time Collection
People moves forward, insertion charging hole.
The embodiment of the present invention is coordinated by the work of the software systems in nextport hardware component NextPort and panel computer, using sound source of sound
Judgement, voice broadcast, speech recognition, facial image identification, electromechanical movement control technology, it is possible to achieve whole machine autonomous, knowledge
Others' group, identification sound source, human-computer interaction, switch matter storage lattice, voice broadcast, automatic lifting regulation, self-navigation, independently fill
Electricity, the autonomous function such as send part to visit, compared to the intelligent robot for being used to deliver in the prior art, its intellectuality is obtained further
Improve on ground；The present invention dexterously performs calling elevator, the task of selection floor using main power source charging plug, is not increasing knot
Independence, the multifunctionality of robot are greatly improved in structure complexity, with very outstanding creativeness and practical value.
On the basis of above-mentioned any embodiment, it is preferred that software systems can be also used for described in the embodiment of the present invention
Anti- Disturb state is set；When robot enters anti-Disturb state, when the touch screen of panel computer is touched or robot is kept off
When firmly outlet cannot take action, by microphone broadcasting machine people just in delivery way, the voice messaging for being serviced for you again is waited a moment.This
The benefit that sample does is the Consumer's Experience for improving the guest that can not be serviced in time.
On the basis of above-mentioned any embodiment, it is preferred that the embodiment of the present invention can also include that active voice plays step
Suddenly：Audio-frequency information is gathered by microphone；According to audio-frequency information, determine whether that messenger is close to；When there is messenger to be close to, pass through
The rotation of 360 degree of horizontal rotation motor control main cameras, towards messenger direction, play greeting audio-frequency information or advertisement audio
Information.Advantage of this is that, the affinity of robot is improved, humane breath is increased, improve the business valency of robot
Value.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.Although present invention has been a certain degree of description, it will be apparent that, do not departing from the bar of the spirit and scope of the present invention
Under part, the appropriate change of each condition can be carried out.It is appreciated that the invention is not restricted to the embodiment, and be attributed to right and want
The scope asked, its equivalent for including each factor.
Claims (10)
1. a kind of intelligent article delivers robot device, it is characterised in that including：
Base, the base is including rechargeable battery, positioned at four mechanical 360 degree of directive wheels of bottom and a motorized motions
360 degree of guiding power wheels, the rechargeable battery is used to provide power, 360 degree of guiding power of the motorized motions for robot
The mechanical 360 degree of directive wheels of wheel drive, realize the advance of robot, retreat or stop；
Matter storage lattice, the matter storage lattice is arranged at base upper end, and the matter storage lattice is provided with door and electric control lock, the electric control lock with can
Rechargeable battery is electrically connected, and by being installed on the software systems of panel computer, controls the opening and closing of door；
Panel computer, the panel computer is connected by main support rod with base, positioned at matter storage lattice upper end, the panel computer bag
Touch screen, microphone, camera, loudspeaker are included, the touch screen is used to realize the data interaction with operating personnel, the Mike
Wind is used to gather audio-frequency information, and the camera is used to monitoring, gathering facial image, and the loudspeaker is used to play audio letter
Breath；The panel computer is provided with software systems, the software systems be used to realizing it is man-machine between, robot it is remote with external
Information data interaction and communication, the switch control of matter storage lattice electric control lock, audiovideo identifying processing, movement between journey server
Navigation Control and setting early warning power threshold；
Main support rod, is arranged between base and panel computer, and the main support rod is electric telescopic bar, for connect base
And panel computer, the height between panel computer and ground is automatically adjusted, used so that the crowd for adapting to different age group height is convenient；
Second support bar, is arranged between base and main CCD camera assembly, and the second support bar is electric expansion bar, for even
Base and main CCD camera assembly, and the lifting for passing through second support bar are connect, main power source charging plug is directed at needs docking
Equipment；
Main CCD camera assembly, the main CCD camera assembly is connected by second support bar with base, the main CCD camera assembly bag
360 degree of horizontal rotation motors being connected with second support bar, and the main camera being installed on 360 degree of horizontal rotation motors are included,
The built-in range sensor of main camera, between collection people and robot, robot and miscellaneous equipment facility
Range information, and 360 degree horizontally rotate motor control under realize charging hole seek position, elevator button seek position, floor know
Other function, the range information is distance of the object to robot；In front of the main camera is aligned when that need not charge,
When charging is required, the image information for being collected by main camera searches out charging hole, and range information in charging hole is small
When the first distance threshold, by 360 degree of horizontal rotation motor control main power source charging plug alignment charging holes；
Main power source charging plug, the main power source charging plug and 360 degree of horizontal rotation motor connections, are electrically connected with rechargeable battery
Connect, for being rotated by 360 degree of horizontal rotation motors, be directed at charging hole and insert, charged to rechargeable battery.
2. intelligent article according to claim 1 delivers robot device, it is characterised in that the matter storage lattice is additionally provided with
The indicator lamp electrically connected with electric control lock, the on off state for indicating electric control lock.
3. intelligent article according to claim 1 and 2 delivers robot device, it is characterised in that the matter storage lattice is set
Dismountable individual layer, two-layer or multilevel-cell lattice；
When matter storage lattice sets dismountable single layer cell lattice, the door opening of the single layer cell lattice is upward；
When matter storage lattice sets dismountable two-layer or multilevel-cell lattice, the door opening of the two-layer or multilevel-cell lattice is outwardly.
4. intelligent article according to claim 1 and 2 delivers robot device, it is characterised in that the main support rod is
Electric expansion bar.
5. intelligent article according to claim 1 and 2 delivers robot device, it is characterised in that described first apart from threshold
It is 90~120mm to be worth.
6. a kind of intelligent article that make use of Claims 1 to 5 any one described device delivers robot control method, its feature
It is, including：
Autonomous step：
Sound source information is obtained by microphone, messenger is determined whether, and determine messenger direction；
According to sound source information, control and rotated by 360 degree of main cameras of horizontal rotation motor control, towards messenger side
To, image information is gathered, and synchronously by the range information of range sensor collection messenger；
According to image information and range information, control robot advances, retreats or stops movement；
Part cast step：
When artificial courier is carried out, according to image information and range information, the matched knot of courier and main camera is judged
Really；
According to the matched result, control second support bar performs descending operation, until courier and the height of main camera
Degree matching, Synchronization Control main support rod performs lifting, to match the optimum height that courier operates panel computer；
Part cast Quick Response Code or part cast bar code that courier provides, control and part cast two dimension are scanned by the camera of panel computer
The electric control lock of code or the corresponding matter storage lattice of part cast bar code is opened；Or, courier is received by the touch screen of panel computer defeated
The part cast password for entering, controls the electric control lock of matter storage lattice corresponding with part cast password to open；The part cast password, Quick Response Code, bar shaped
Code, by the data interaction between software systems and remote server, acquisition is matched after obtaining express delivery list information, or by software
Default courier's member account password match is obtained in system, in working order under, the express delivery of registered software systems member
Member subscribes matter storage lattice in advance by telnet system, and the matter storage lattice subscribed directly is opened by part cast password；
After matter storage lattice is closed, software systems send to sender and deliver successfully logistics information, while send to include to addressee taking
Message in the pickup notifying messages or software systems of part password, or the pickup comprising pickup Quick Response Code, pickup password is notified
Message in short message or software systems；
Voluntarily pickup step：
When artificial addressee is carried out, according to image information and range information, the matched knot of addressee and main camera is judged
Really；
According to the matched result, control second support bar performs descending operation, until addressee and the height of main camera
Degree matching, Synchronization Control main support rod performs lifting, to match the optimum height that addressee operates panel computer；
The pickup Quick Response Code that addressee provides is scanned by the camera of panel computer, pickup Quick Response Code is corresponding stores up with this for control
The electric control lock of thing lattice is opened；Or, the pickup password that addressee is input into, control and pickup are received by the touch screen of panel computer
The electric control lock of the corresponding matter storage lattice of password is opened；
Default pickup is spaced after matter storage lattice closing and completes node time, sent to courier and sender by software systems
Confirm the pickup message in the short message or software systems of pickup；
Independently send part step：
Robot receives deliver goods to the customers announcement information of the addressee by transmission in short message or software systems；
When robot is in the working condition operated by people, software systems notify to believe from the delivery of trend addressee's forward delay interval
Breath, and send confirmation of visiting to addressee when unattended；
Posting address information and addressee's telephone number are inquired about by software systems；The posting address information includes addressee floor
Number, addressee room number；
During delivery, by the image information in front of the collection of main camera, gather front lower by the camera of panel computer
The image information of side, when occurring avoidance type barrier in the image information in front, evades by described in range sensor collection
The range information of type barrier, the image information of image information, front lower place according to front is carried out to the avoidance type barrier
Barrier active dodge；The avoidance type barrier is personnel or medium-and-large-sized object；
Elevator button, the movement of control robot and the lifting of second support bar are found by main camera, is revolved by 360 degree of levels
Rotating motor drives the rotation of main power source charging plug, alignment elevator button, electricity of the software systems according to range sensor Real-time Collection
The range information of terraced button, control robot is moved forward, and presses elevator button；
The liter of floor button corresponding with addressee floor number, the movement of control robot and second support bar is recognized by main camera
Drop, drives main power source charging plug to rotate, is directed at floor button by 360 degree of horizontal rotation motors, and software systems are according to distance
The range information of the floor button corresponding with addressee floor number of sensor Real-time Collection, control robot is moved forward, and is pressed
Floor button corresponding with addressee floor number；Whether respective storey is reached by main camera head monitor, when main camera is blocked
When, voice help information is played by loudspeaker, the audio-frequency information collected according to microphone is confirmed whether to reach respective storey,
Or the special floor distinguishing mark of robot is found by automatic lifting second support bar, it is confirmed whether to reach respective storey；
By software systems inquire about current floor room number distribution map and route map, after arrival floor, according to room number distribution map,
Route map, is positioned by main camera and software systems, finds room number corresponding with addressee room number；
When the distance of robot and posting address information is second distance threshold value, to addressee send delivery reach short message,
Sent to addressee in software systems and delivery arrival notice information or dial addressee's phone；
Into voluntarily pickup step；
Charge step：
When the electricity of rechargeable battery reaches early warning power threshold, robot passes through 360 degree of rotating acquisition peripheries of main camera
Ambient image information, is identified matching with the environment picture prestored in software systems, to control movement and the return of robot,
When occurring charging hole in image information, by image recognition judging distance, movement and the second support bar of robot are controlled
Lifting, when robot reaches default distance threshold apart from wall where charging hole, robot is gathered by range sensor
To charging hole range information and with reference to image processing data calculate robot to the accurate distance information in charging hole, control
Robot moves the lifting with second support bar, and the rotation of main power source charging plugs, alignment are driven by 360 degree of horizontal rotation motors
Charging hole, software systems are according to the range information in the charging hole of range sensor Real-time Collection, and control robot is moved forward, slotting
Enter hole of charging.
7. intelligent article according to claim 6 delivers robot control method, it is characterised in that the part cast step is also
Including：
Within the predetermined part cast fault-tolerant time, part cast Quick Response Code or the part cast that courier provides are scanned by the camera of panel computer
Bar code, controls the electric control lock of matter storage lattice corresponding with part cast Quick Response Code or part cast bar code to open；Or, by panel computer
Touch screen receive the part cast password of courier's input, control the electric control lock opening of corresponding with part cast password matter storage lattice；
After matter storage lattice is automatically switched off, robot sends the amendment comprising pickup password by software systems to sender and addressee
Pickup short message or comprising in pickup Quick Response Code, the software systems of pickup password correct pickup announcement information.
8. the intelligent article according to claim 6 or 7 delivers robot control method, it is characterised in that described voluntarily to take
Part step also includes：
Within the predetermined pickup time, pickup people can repeatedly open matter storage lattice corresponding with pickup password with pickup password.
9. the intelligent article according to claim 6 or 7 delivers robot control method, it is characterised in that the software system
System is additionally operable to set anti-Disturb state；
When robot enters anti-Disturb state, when the touch screen of panel computer is touched or robot is blocked outlet and cannot go
When dynamic, by microphone broadcasting machine people just in delivery way, the voice messaging for being serviced for you again is waited a moment.
10. the intelligent article according to claim 6 or 7 delivers robot control method, it is characterised in that also including actively
Voice and video precisely plays step：
Audio-frequency information, the camera collection image information by panel computer are gathered by microphone；
According to audio-frequency information, image information, determine whether that messenger is close to；
When there is messenger to be close to, by 360 degree of main cameras rotations of horizontal rotation motor control, towards messenger direction, broadcasting is beaten
Greeting audio/video information or advertisement audio frequency and video, shopping guide's audio/video information；
By recognition of face historical data, judge whether messenger is to have recorded face, memory or history audio frequency and video are played to continue
Information；It is described to have recorded the face recorded in face behaviour face identification historical data.
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