CN109278056A - Unmanned dispensing machine people - Google Patents
Unmanned dispensing machine people Download PDFInfo
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- CN109278056A CN109278056A CN201811399445.6A CN201811399445A CN109278056A CN 109278056 A CN109278056 A CN 109278056A CN 201811399445 A CN201811399445 A CN 201811399445A CN 109278056 A CN109278056 A CN 109278056A
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- 238000004891 communication Methods 0.000 claims abstract description 41
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000002452 interceptive effect Effects 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims abstract description 6
- 230000003993 interaction Effects 0.000 claims description 48
- 230000006870 function Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 238000005457 optimization Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of unmanned dispensing machine people, are made of wireless communication module, interactive module, background server module and robot body module；Wherein, S1: the wireless communication module is responsible for the communication of background server module Yu interactive module and robot body module；S2: the interactive module is mobile operating terminal, background server module is accessed by mobile operating terminal, background server module is according to the request of interactive module, it sends and instructs to robot body module, robot body module receives background server control instruction, object access is completed, to complete to dispense；S3: module connects interactive module and robot body module to the background server module by wireless communication, sends command information for receiving and processing the communication instruction of interactive module transmission, and to interactive module and robot body module；S4: it after the robot body module receives the instruction from background server module, takes action and completes task.
Description
Technical Field
The invention relates to the technical robot and the application field, in particular to an unmanned distribution robot.
Background
With the rapid development of internet shopping, logistics distribution service is obviously delayed, and the timeliness and service capability of the distribution service become main short boards. At present, logistics distribution is mainly achieved through manual distribution or by combining with self-taking of recipients, the manual distribution is high in cost and low in timeliness, and for example, the problem that the distributors cannot find distribution places frequently and cannot enter a park where the recipients are located due to safety control is often caused; when the addressee is informed to take the mail, the addressee often does not take the mail in time, so that the stack of the express mails is serious, and the large shopping festival is particularly serious.
With the rapid development of artificial intelligence, the service robot gradually enters various industries, the robot is used in the field of logistics distribution to solve the problem of the last kilometer, the working efficiency is greatly improved, and potential safety hazards caused by manual distribution in a park can be avoided.
In particular, in a road system in an area such as a campus, a residential area, or an industrial park, there is generally no clear traffic regulation on a public road, and the crowd and the action area of various vehicles are mixed together. In such a scene of a limited complex type, it would be very convenient to use an unmanned delivery robot to deliver articles such as takeouts, couriers, and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the unmanned distribution robot, which realizes unmanned distribution under a limited complex scene.
In order to achieve the above object, the present invention provides the following technical solutions: an unmanned distribution robot comprises a wireless communication module, an interaction module, a background server module and a robot body module; wherein,
s1: the wireless communication module is responsible for the communication between the background server module and the interaction module as well as the robot body module;
s2: the interaction module is a mobile operation terminal, the background server module is accessed through the mobile operation terminal, the background server module sends an instruction to the robot body module according to the request of the interaction module, and the robot body module receives a background server control instruction to finish the access of objects so as to finish the distribution;
s3: the background server module is connected with the interaction module and the robot body module through the wireless communication module, and is used for receiving and processing a communication instruction sent by the interaction module and sending command information to the interaction module and the robot body module;
s4: and after receiving the instruction from the background server module, the robot body module takes action to complete the task.
Furthermore, the wireless communication module consists of a 4G router and a data conversion unit and is respectively communicated with the background server module; the 4G router realizes communication between the robot body module and the background server; the data conversion unit is used for communication between a cabinet door control module in the robot body module and the background server module; and the interaction module is communicated with the server through the 4G router to realize corresponding functions.
Further, after the interactive module places a sending order, the robot automatically gets the mail according to the position of the sender; the interaction module carries out bidirectional information interaction with the background server module and sends request information to the background server module, and the background server module transmits data to the robot body module through the data conversion unit after receiving the request from the interaction module, so that a container door of the robot body is opened; the running condition of the robot is sent to the interaction module through the background server module, and the robot can be monitored by the interaction module.
Further, the robot body includes:
s41: cabinet door control module: directly communicating with the background server module to finish the operation of storing and taking articles;
s42: an automatic driving module: completing an autonomous navigation task according to the ambient environment information of the robot and the instruction of the background server module;
s43: a mechanical chassis: the mechanical chassis consists of five parts, namely a fixed bottom plate, a lithium iron phosphate battery pack, a servo motor, a planetary speed reducer, a servo driver and the like; the chassis master control module realizes the control of the chassis action through a driver.
Furthermore, two-dimensional code information convenient for the interaction module to read is pasted on the robot body.
Furthermore, the cabinet door control module is independent of the automatic driving module and the mechanical chassis and is directly communicated with the background server through the data conversion unit.
Furthermore, the automatic driving module mainly comprises an outdoor positioning module, an environment sensing module and a mobile planning module, and is used for carrying out deep optimization on sensing and path planning; the automatic driving module makes a decision according to the ambient environment information of the robot and sends a control command to the chassis main control module in a CAN communication mode.
Furthermore, the automatic driving module acquires high-precision positioning information through the outdoor positioning module, the mobile planning module plans a global path from the current position to the destination at first, the chassis main control module is responsible for controlling the robot to move along the path at the moment, and in the moving process, the environment sensing module identifies surrounding dynamic environment information through various sensors, transmits real-time information to the mobile planning module to calculate a local path and avoid obstacles; when an emergency situation occurs, the anti-collision sensor in the environment sensing module can directly drive the controller to emergently stop in place.
Furthermore, the outdoor positioning module realizes outdoor high-precision absolute positioning in a GNSS + IMU combined positioning mode.
Furthermore, the environment perception module comprises two industrial cameras with a function of collecting surrounding image information, wherein the collected image information is used for identifying surrounding environment on one hand and is uploaded to a background server as monitoring data on the other hand; the laser radar is used for acquiring point cloud data of the surrounding environment, namely distance and angle; the millimeter wave radar has a function of detecting the speed and the orientation of a dynamic moving object.
Compared with the prior art, the invention has the following advantages: the logistics distribution based on the unmanned technology is realized, two key parts such as visual perception and local path planning are optimized and upgraded, and unmanned distribution under a limited complex scene is realized.
The robot comprises a mobile phone operating end, a robot body and a rear-end server, wherein the mobile phone operating end mainly comprises functional modules such as two-dimensional code scanning sending and receiving, robot state checking and the like; the robot body mainly comprises a cabinet door control module, an automatic driving module and a mechanical chassis; the back-end server is used as a middle layer to process the request of the mobile phone operating terminal, issue command information to the robot body, collect and process information and feed back the information to the mobile phone operating terminal and the robot body. The user terminal scans the two-dimensional code on the robot through the small program at the mobile phone terminal, and fills information such as the address, name, mobile phone number and the like of a receiver, so that the door of the storage cabinet on the robot body is automatically opened, and the robot starts to move towards a destination after articles are put in and the door is closed. When the robot is about to arrive, the receiver can receive the short message and remind, and a two-dimensional code is scanned, so that the cabinet door can be opened to take the parts, and distribution is completed. The invention has strong practicability, can replace most of manpower, and helps to realize unmanned distribution in typical scenes such as campus, residential community, industrial park and the like.
Drawings
FIG. 1 is a block diagram of a RoboWay unmanned delivery robot in its entirety;
FIG. 2 is a cabinet door control block diagram;
FIG. 3 is an autopilot block diagram;
FIG. 4 is a mechanical chassis hardware block diagram;
FIG. 5 is a pictorial view of a robot body;
FIG. 6 is an interaction module interface diagram;
in the figure: 1-wifi antenna, 2-laser radar, 3-industrial camera, 4-millimeter wave radar, 5-front air grid, 6-collision detection sensor, 7-GNSS antenna, 8-4G antenna, 9-container, 10-two-dimensional code, and 11-heat dissipation exhaust port.
Detailed Description
The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way.
An unmanned distribution robot comprises a wireless communication module, an interaction module, a background server module and a robot body module; wherein,
s1: the wireless communication module is responsible for the communication between the background server module and the interaction module as well as the robot body module;
s2: the interaction module is a mobile operation terminal, the background server module is accessed through the mobile operation terminal, the background server module sends an instruction to the robot body module according to the request of the interaction module, and the robot body module receives a background server control instruction to finish the access of objects so as to finish the distribution;
s3: the background server module is connected with the interaction module and the robot body module through the wireless communication module, and is used for receiving and processing a communication instruction sent by the interaction module and sending command information to the interaction module and the robot body module;
s4: and after receiving the instruction from the background server module, the robot body module takes action to complete the task.
The wireless communication module is composed of a 4G router and a DTU (data transfer unit). The two work independently and are communicated with the background server module respectively. The 4G router realizes communication between the robot body module and the background server module; the DTU realizes the communication between the cabinet door control module in the robot body and the background server. The interaction module is communicated with the background server through the 4G network to realize corresponding functions.
The interaction module accesses the background server module through the wireless communication module, the background server module sends an instruction to the robot body module according to a request of the interaction module, and the robot body module finishes object access under the request of the interaction module, so that distribution is finished.
After the interactive module sends a mail order, the robot automatically gets on the door according to the position of the sender.
The interaction module comprises functional modules such as two-dimensional code scanning and robot state checking; the receiving and sending persons open the container door of the robot body by scanning the two-dimensional code in the robot body module, and the robot state checking module monitors the running condition of the robot.
In the interaction module, the two-dimensional code scanning function can identify the two-dimensional code on the container of the robot body, the sender can open the container of the robot body to store objects after filling information such as the name, address, mobile phone number and the like of the sender through scanning the two-dimensional code, and when the robot is delivered to a specified position, the receiver scans the two-dimensional code, the container door is opened, so that the pickup is completed.
In the interaction module, the robot state viewing module can display the running state and the distribution process of the robot, and can remind a sender of completing an order after the picking of the piece is completed.
The background server module is connected with the interaction module and the robot body module through the wireless communication module, and is used for receiving and processing the communication instruction sent by the interaction module and sending command information to the interaction module and the robot body module.
The robot body module comprises a cabinet door control module, an automatic driving module and a mechanical chassis, and the robot body module and the background server module are in two-way communication to complete the opening and closing of the container and the autonomous navigation task.
In the robot body module, the cabinet door control module directly communicates with a background server through a DTU (data conversion unit) to finish the operation of storing and taking articles.
In the robot body module, the automatic driving module mainly comprises a sensor group and an industrial personal computer and can be divided into an outdoor positioning module, an environment sensing module and a mobile planning module according to functions. And completing the autonomous navigation task according to the ambient environment information of the robot and the instruction of the background server module.
In the robot body module, the mechanical chassis consists of a fixed bottom plate, a lithium iron phosphate battery pack, a servo motor, a planetary speed reducer, a servo driver and the like; the chassis master control module is developed by using an STM32F103VET6 platform, and the control of the chassis action is realized through a driver. The control chassis is flexible in movement, excellent in road condition adaptability, reasonable in size and convenient to install and debug indoors and outdoors.
In the robot body module, an industrial personal computer is used for running an unmanned software system and providing an execution order for a lower main control MCU; the lower main control MCU is used for controlling the motor, the indicator light and the robot remote control and acquiring, processing and uploading chassis state data; and the cabinet door control MCU is used for communicating with the DTU, acquiring server data and further controlling the opening and closing of the container door.
The automatic driving module is based on an Apollo automatic driving source-opening framework, part of software runs on an industrial personal computer and comprises an outdoor positioning module, an environment sensing module and a mobile planning module, and smooth delivery of objects is completed through actions such as accurate positioning, surrounding environment recognition, obstacle avoidance and the like.
In the automatic driving module, the outdoor positioning module comprises a high-precision integrated navigation sensor; the environment sensing module consists of sensors such as an industrial camera, a laser radar, a millimeter wave radar and the like; the mobile planning module mainly comprises a local planning algorithm and an anti-collision sensor.
In the automatic driving module, the outdoor positioning module realizes outdoor high-precision absolute positioning in a GNSS + IMU combined positioning mode.
In the automatic driving module, in the environment perception module, two industrial cameras have the function of collecting surrounding image information, wherein the collected image information is used for identifying surrounding environment on one hand and is uploaded to a background server as monitoring data on the other hand; the laser radar is used for acquiring point cloud data of the surrounding environment, namely distance and angle; the millimeter wave radar has a function of detecting the speed and the orientation of a dynamic moving object.
In the automatic driving module, the mobile planning module plans a local route to avoid the obstacle by reading the ambient environment information acquired from the environment sensing module under the normal operation condition, and directly drives the controller through the anti-collision sensor to emergently stop in place when an emergency occurs.
As shown in fig. 1, an unmanned distribution robot is composed of an interaction module, a wireless communication module, a background server module and a robot body module. The wireless communication module comprises a mobile phone 4G network, a 4G router and a DTU (data conversion unit). The interaction module mainly comprises a two-dimensional code scanning and robot state checking function module and is in two-way communication with the back-end server module through a mobile phone 4G network; the robot body module mainly comprises a cabinet door control module, an automatic driving module and a mechanical chassis, wherein the cabinet door control module is independently communicated with a rear-end server module through a DTU (data transfer unit), the automatic driving module is connected with the mechanical chassis through a CAN (controller area network) bus, and information is exchanged with the rear-end server through a 4G router.
As shown in fig. 2, in the cabinet door control module, an STM32F103VET6 single chip microcomputer is connected with a DTU (data transmission unit) through a serial communication port, and an electromagnetic lock is connected with the single chip microcomputer through a wire.
As shown in fig. 3, the hardware of the automatic driving module is composed of an industrial personal computer and a sensor group. In the sensor group, two industrial cameras transmit data to an industrial personal computer through a USB 3.0; the millimeter wave radar is connected with the industrial personal computer through a CAN port; the GNSS + IMU combined positioning is connected with an industrial personal computer through a serial communication interface; the laser radar is connected with the industrial personal computer through the Ethernet.
As shown in fig. 4, the mechanical chassis is composed of five parts, namely a fixed bottom plate, a lithium iron phosphate battery pack, a servo motor, a planetary reducer, a servo driver and the like; the battery pack is connected with the four servo motors, the planetary reducer and the four drivers through leads for power supply. The chassis master control module is developed by using an STM32F103VET6 platform, and the control of the chassis action is realized through a driver.
As shown in fig. 5, the robot body includes
S41: cabinet door control module: directly communicating with the background server module to finish the operation of storing and taking articles;
s42: an automatic driving module: completing an autonomous navigation task according to the ambient environment information of the robot and the instruction of the background server module;
s43: a mechanical chassis: the mechanical chassis consists of five parts, namely a fixed bottom plate, a lithium iron phosphate battery pack, a servo motor, a planetary speed reducer, a servo driver and the like; the chassis master control module realizes the control of the chassis action through a driver.
The specific structure includes wifi antenna 1, laser radar 2, industry camera 3, millimeter wave radar 4, air grid 5 advances, collision detection sensor 6, GNSS antenna 7, 4G antenna 8, packing cupboard 9, two-dimensional code 10, heat dissipation gas vent 11.
The 4G antenna, the Wifi antenna and the GNSS antenna belong to a signal transceiving end of the wireless communication module; multiple sensors such as a laser radar, a millimeter wave radar and an industrial camera are fused to the environment sensing module of the robot body; the anti-collision sensor belongs to a mobile obstacle avoidance module; the front exhaust grille, the rear exhaust grille and the heat dissipation exhaust port are used for heat dissipation of the robot body; and the container can be opened only by scanning the two-dimensional code.
A single robot is provided with a 48V 40AH large-capacity battery, is fully charged once, and can autonomously run for 7 hours and deliver the goods when carrying 150 kilograms in the garden. The robot body is driven by 4 servo motors with large torque and high precision, and has flexible action and excellent road condition adaptability; by adopting a GNSS + IMU tight coupling positioning technology, high-precision positioning with an error of 1cm can be achieved; and (3) performing global path planning according to the high-precision positioning information by adopting an A-algorithm, sensing the surrounding environment information by fusing multiple sensors, performing real-time dynamic planning on the local path, and performing obstacle identification and motion trail prediction by using a deep learning algorithm.
The maximum speed of the robot body in running is 2 meters per second, and objects with the self as the center and the peripheral radius within 2.5 meters can be automatically identified. If objects enter this area, R1 can know what they are, understand their speed, direction of travel, trend of position change in the next few seconds, and then autonomously decide whether to stop, go around, follow them or go beyond them.
As shown in fig. 6, the interface of the mobile phone of the unmanned delivery robot exists in the form of a WeChat applet, and the interface can appear by scanning a two-dimensional code on the cargo cabinet door of the robot body. By clicking the 'storage' button, an information input window appears, the sender inputs information such as the address, name, mobile phone number and the like of the receiver, the cargo cabinet door on the robot body is automatically opened, and after articles are put in and the door is closed, the robot starts to move towards the destination. When the robot is about to arrive, the receiver receives the short message prompt. The addressee just can open the cabinet door through the two-dimensional code of believe scanning packing cupboard on, gets the piece, accomplishes the delivery. If only one article exists, the receiver can open the cabinet door by scanning the two-dimensional code, and when a plurality of articles exist, the receiver needs to click the 'taking' button.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned delivery robot, characterized in that: the robot comprises a wireless communication module, an interaction module, a background server module and a robot body module; wherein,
s1: the wireless communication module is responsible for the communication between the background server module and the interaction module as well as the robot body module;
s2: the interaction module is a mobile operation terminal, the background server module is accessed through the mobile operation terminal, the background server module sends an instruction to the robot body module according to the request of the interaction module, and the robot body module receives a background server control instruction to finish the access of objects so as to finish the distribution;
s3: the background server module is connected with the interaction module and the robot body module through the wireless communication module, and is used for receiving and processing a communication instruction sent by the interaction module and sending command information to the interaction module and the robot body module;
s4: and after receiving the instruction from the background server module, the robot body module takes action to complete the task.
2. An unmanned delivery robot as recited in claim 1, wherein: the wireless communication module consists of a 4G router and a data conversion unit and is respectively communicated with the background server module; the 4G router realizes communication between the robot body module and the background server; the data conversion unit is used for communication between a cabinet door control module in the robot body module and the background server module; and the interaction module is communicated with the server through the 4G router to realize corresponding functions.
3. An unmanned delivery robot as recited in claim 1, wherein: after the interactive module sends a mail sending order, the robot automatically gets the mail according to the position of the sender; the interaction module carries out bidirectional information interaction with the background server module and sends request information to the background server module, and the background server module transmits data to the robot body module through the data conversion unit after receiving the request from the interaction module, so that a container door of the robot body is opened; the running condition of the robot is sent to the interaction module through the background server module, and the robot can be monitored by the interaction module.
4. An unmanned delivery robot as recited in claim 3, wherein: the robot body includes:
s41: cabinet door control module: directly communicating with the background server module to finish the operation of storing and taking articles;
s42: an automatic driving module: completing an autonomous navigation task according to the ambient environment information of the robot and the instruction of the background server module;
s43: a mechanical chassis: the mechanical chassis consists of five parts, namely a fixed bottom plate, a lithium iron phosphate battery pack, a servo motor, a planetary speed reducer, a servo driver and the like; the chassis master control module realizes the control of the chassis action through a driver.
5. An unmanned delivery robot as recited in claim 3, wherein: and two-dimensional code information convenient for the interaction module to read is pasted on the robot body.
6. An unmanned delivery robot as recited in claim 4, wherein: the cabinet door control module is independent of the automatic driving module and the mechanical chassis and is directly communicated with the background server through the data conversion unit.
7. An unmanned delivery robot as recited in claim 4, wherein: the automatic driving module mainly comprises an outdoor positioning module, an environment sensing module and a mobile planning module, and is used for carrying out deep optimization on sensing and path planning; the automatic driving module makes a decision according to the ambient environment information of the robot and sends a control command to the chassis main control module in a CAN communication mode.
8. An unmanned delivery robot as recited in claim 7, wherein: the automatic driving module acquires high-precision positioning information through the outdoor positioning module, the mobile planning module plans a global path from the current position to a destination at first, the chassis main control module is responsible for controlling the robot to move along the path at the moment, and in the moving process, the environment sensing module identifies surrounding dynamic environment information through various sensors, transmits real-time information to the mobile planning module to calculate a local path and avoid obstacles; when an emergency situation occurs, the anti-collision sensor in the environment sensing module can directly drive the controller to emergently stop in place.
9. An unmanned delivery robot as recited in claim 7, wherein: the outdoor positioning module realizes outdoor high-precision absolute positioning in a GNSS + IMU combined positioning mode.
10. An unmanned delivery robot as recited in claim 7, wherein: the environment sensing module comprises two industrial cameras with a function of collecting surrounding image information, and the collected image information is used for identifying surrounding environment on one hand and is uploaded to a background server as monitoring data on the other hand; the laser radar is used for acquiring point cloud data of the surrounding environment, namely distance and angle; the millimeter wave radar has a function of detecting the speed and the orientation of a dynamic moving object.
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| CN201811399445.6A CN109278056A (en) | 2018-11-22 | 2018-11-22 | Unmanned dispensing machine people |
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Cited By (11)
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| CN109848992A (en) * | 2019-02-19 | 2019-06-07 | 武汉理工大学 | A kind of complete autonomous hybrid power take-away dispenser in the cell range of campus |
| CN109895115A (en) * | 2019-03-21 | 2019-06-18 | 深兰科技（上海）有限公司 | A kind of delivery processing method, device, medium and the equipment of service robot |
| CN110347150A (en) * | 2019-05-28 | 2019-10-18 | 山东大学 | A kind of dispensing machine people based on electromagnetic lock, system and method |
| CN110618679A (en) * | 2019-08-22 | 2019-12-27 | 北京交通大学 | Multi-AGV intelligent cooperative work system based on wireless communication network |
| CN111413963A (en) * | 2020-02-20 | 2020-07-14 | 上海交通大学 | Multifunctional robot autonomous distribution method and system |
| CN111619698A (en) * | 2020-05-19 | 2020-09-04 | 徐州鑫路达配送服务有限公司 | Nonstandard express delivery modularization delivery self-lifting vehicle |
| CN112132338A (en) * | 2020-09-22 | 2020-12-25 | 上海茂声智能科技有限公司 | Dispatching optimization method and device for robot full-automatic delivery |
| CN112346459A (en) * | 2020-11-04 | 2021-02-09 | 深圳优地科技有限公司 | Robot operation method and device, robot and storage medium |
| CN112631310A (en) * | 2021-01-29 | 2021-04-09 | 泗阳县人民医院 | Multi-robot-cooperation in-building article distribution system |
| CN113679288A (en) * | 2020-05-14 | 2021-11-23 | 大富科技(安徽)股份有限公司 | Shared floor sweeping robot and control method thereof |
| CN115657645A (en) * | 2022-11-16 | 2023-01-31 | 北京理工大学 | Intelligent vehicle chassis and task load integrated control method and system |
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| CN112132338A (en) * | 2020-09-22 | 2020-12-25 | 上海茂声智能科技有限公司 | Dispatching optimization method and device for robot full-automatic delivery |
| CN112346459A (en) * | 2020-11-04 | 2021-02-09 | 深圳优地科技有限公司 | Robot operation method and device, robot and storage medium |
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Application publication date: 20190129 |