CN107577237B - Modularized distribution robot - Google Patents
Modularized distribution robot Download PDFInfo
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- CN107577237B CN107577237B CN201710934284.5A CN201710934284A CN107577237B CN 107577237 B CN107577237 B CN 107577237B CN 201710934284 A CN201710934284 A CN 201710934284A CN 107577237 B CN107577237 B CN 107577237B
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- 230000003993 interaction Effects 0.000 claims description 10
- 230000004927 fusion Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 1
Abstract
The utility model provides a modular delivery robot, includes the robot body, interactive module, actuating mechanism, first loading module, second loading module, its characterized in that, interactive module, actuating mechanism, first loading module, second loading module are fixed on the robot body and can dismantle, the robot body is cavity, adopts wheeled drive, and leg drive to have the function such as independently adjusting focus height and holding area, the omnidirectional movement, pivot turn, interactive module install in robot body front end top, actuating mechanism install in robot body rear end top, first loading module install in robot body cavity region, second loading module install in the top of robot body, first loading module with when any one or more module in the second loading module is dismantled, the robot body still can normally work.
Description
Technical Field
The invention relates to the field of logistics distribution, in particular to a modularized distribution robot.
Background
The establishment of intelligent cities is becoming a common research topic in society, intelligent transportation of goods is also becoming a hot topic of people's discussion, some robots are currently used for delivering goods in many industries, the scheme adopted by existing products is that the robots only transport one box module, and some functional modules are redundant in specific occasions, so that the space utilization is limited to a great extent, and in view of the above, a modularized delivery robot with a great space utilization and modular assembly can bring great improvement.
Disclosure of Invention
The invention aims to provide a modularized distribution robot, which can realize modularized assembly of the robot, and a distribution box body can be freely selected and assembled by people, so that the use freedom is increased and the space utilization rate is improved.
In order to achieve the above purpose, the following technical scheme is provided:
1. the utility model provides a modular distribution robot, includes the robot body, interactive module, actuating mechanism, first loading module, second loading module, its characterized in that, interactive module, actuating mechanism, first loading module, second loading module pass through interactive module interface respectively, the actuating mechanism interface, first loading interface, second loading interface are fixed on the robot body and can dismantle, interactive module interface, actuating mechanism interface, first loading module interface, second loading module interface possess simultaneously mechanical connection and electrically connected's function, the robot body cavity adopts wheel drive, and leg drive to have autonomous adjustment focus height and holding area, the omnidirectional movement, function such as pivot turn, interactive module install in robot body front end top, actuating mechanism install in robot body rear end top, first loading module install in robot body cavity region, second loading module install in the top of robot body, first loading module with second loading module has the storing function, first loading module with the second loading module can still be dismantled normally with the robot body one by one when one or more during the operation of the robot body.
2. Further, it is characterized in that:
(1) The robot body can move autonomously, the robot body can realize indoor and outdoor automatic positioning, obstacle avoidance, map building and navigation through a multi-sensor data fusion technology such as a camera, a laser radar, an IMU (inertial measurement unit), an encoder and the like and a GPS (global positioning system), and an optimal running path is obtained through distributed calculation planning, wherein the optimal path contains information including a starting point, a destination, an obstacle and a running path, and the camera comprises an RGBD depth camera, a monocular camera and a binocular camera;
(2) The robot body can communicate with the third party platform in real time and receive the instructions of the third party platform.
3. Further, it is characterized in that:
(1) The interaction module can interact with the outside, transmits information such as delivery orders and the like to the robot body, and displays current delivery information in real time;
(2) When the interaction module scene is not applicable or the robot body space is limited, the robot body can be detached, and the function of the interaction module is only lost, and other normal functions are not affected.
4. Further, it is characterized in that:
(1) The actuating mechanism is provided with a camera, the actuating mechanism adopts PID control and visual servo control, the actuating mechanism has one or more degrees of freedom, and in particular, the actuating mechanism can be used for pressing an elevator;
(2) The robot body can be detached when the actuator scene is not applicable or the space of the robot body is limited, and the robot body only loses the function of the module of the actuator, and other normal functions are not affected.
5. Further, the utility model is characterized in that the first loading module and the second loading module are more than one in shape, and the first loading module and the second loading module can be freely assembled under the condition of space permission.
Description of the drawings:
FIG. 1 is a schematic diagram showing the whole structure of an embodiment of the present invention
FIG. 2 is a schematic view of the first and second loading modules after being removed
Fig. 3 is a schematic structural view of a robot body according to an embodiment of the present invention.
Claims (1)
1. The modular distribution robot comprises a robot body, an interaction module, an execution mechanism, a first loading module and a second loading module, and is characterized in that the interaction module, the execution mechanism, the first loading module and the second loading module are respectively arranged above the front end of the robot body, the execution mechanism is connected with the first loading interface and the second loading interface, the first loading interface and the second loading interface are fixed on the robot body and can be detached, the interaction module interface and the execution mechanism interface are respectively arranged on the first loading interface and the second loading interface, the first loading module interface and the second loading module interface simultaneously have the functions of mechanical connection and electrical connection, the robot body is hollow, adopts wheel type driving and leg type driving, has the functions of autonomously adjusting the gravity center height and the supporting area, moves omnidirectionally and turns in situ, the interaction module is arranged above the rear end of the robot body, the first loading module is arranged in a hollow area of the robot body, the second loading module is arranged on the top of the robot body, the first loading module and the second loading module are arranged on the top of the robot body, and the first loading module and the second loading module are still detached from the robot body when the robot body is in a normal state;
the executing mechanism is provided with a camera, the executing mechanism adopts PID control and visual servo control, the number of degrees of freedom of the executing mechanism is not less than 3, and the executing mechanism can be used for pressing an elevator;
when the actuating mechanism scene is not applicable or the space of the robot body is limited, the robot body can only lose the function of the actuating mechanism module, and other normal functions are not affected;
the robot body can move autonomously, the robot body can realize indoor and outdoor automatic positioning, obstacle avoidance, map building and navigation through a camera, a laser radar, an IMU (inertial measurement unit), an encoder multi-sensor data fusion technology and a GPS (global positioning system), and an optimal running path is obtained through distributed calculation planning, wherein the optimal running path comprises information including a starting point, a destination, an obstacle and a running path, and the camera comprises an RGBD depth camera, a monocular camera and a binocular camera;
the robot body can communicate with a third party platform in real time and receive a third party platform instruction;
the interaction module can interact with the outside, transmits the distribution order information to the robot body, and displays the current distribution information in real time;
when the interaction module scene is not applicable or the robot body space is limited, the robot body can be detached, and the function of the interaction module is only lost, and other normal functions are not affected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934284.5A CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934284.5A CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107577237A CN107577237A (en) | 2018-01-12 |
| CN107577237B true CN107577237B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710934284.5A Active CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544912A (en) * | 2018-03-16 | 2018-09-18 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differentia all-terrain mobile robot control system and its control method |
| CN111413963B (en) * | 2020-02-20 | 2021-10-15 | 上海交通大学 | Multifunctional robot autonomous distribution method and system |
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| CN107577237A (en) | 2018-01-12 |
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