CN109623831A - A kind of intelligence express delivery robot - Google Patents
A kind of intelligence express delivery robot Download PDFInfo
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- CN109623831A CN109623831A CN201710931053.9A CN201710931053A CN109623831A CN 109623831 A CN109623831 A CN 109623831A CN 201710931053 A CN201710931053 A CN 201710931053A CN 109623831 A CN109623831 A CN 109623831A
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 238000003384 imaging method Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 17
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 5
- 230000004888 barrier function Effects 0.000 claims description 20
- 238000013461 design Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 12
- 230000032258 transport Effects 0.000 claims description 10
- 238000004886 process control Methods 0.000 claims description 8
- 238000013507 mapping Methods 0.000 claims description 7
- 238000007726 management method Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 claims description 4
- 239000000919 ceramic Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000013439 planning Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims 1
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 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
- B25J11/008—Manipulators for service tasks
Abstract
There is a shell in a kind of intelligence express delivery robot, and housing bottom is a movable chassis, and the movable chassis is equipped with driving wheel and driven wheel, and wherein two-wheeled is driving wheel, other are driven wheel；Driving wheel is driven by motor, and driven wheel is universal wheel；Upper position is disposed with camera and 3D visual imaging sensor before and after shell；Shell surrounding is arranged with upper layer and lower layer ultrasonic sensor, is used for ranging and avoidance；Shell is inwardly recessed, and locker can be combined by being provided with；System is powered by rechargeable lithium battery group；It further include having: positioning and self-navigation module in real time, automatic obstacle avoidance functions module；Automatic charging module；Speech recognition and session module；WIFI communication module.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of intelligent express delivery robot.
Background technique
People's lives are more entered with the development in epoch, robot and artificial intelligence with advances in technology, together
When with network development and logistics business it is convenient, people more and more use express delivery, and existing express company mostly uses
Courier directly transports express delivery, and personnel cost is higher, and is easy to damage cargo in courier's transport, although now numerous
Cell is also equipped with convenient for the cellular system of self-carry, but it can not transport and register one's residence, and therefore, courier and cellular system exist
Defect.It is complete in order to which the express delivery transport outfit obvious cost of special messenger for completing last one kilometer is excessively high, and in order to which express delivery reception is more convenient
At this last one kilometer, improves service quality and be very important.
Based on this, a kind of new intelligent express delivery robot is provided, while meeting transport and registering one's residence, and cost can be saved, very well
Protection privacy of user, using cloud encryption and client network unlock just seem particularly necessary.
Summary of the invention
To solve the above-mentioned problems of the prior art, the purpose of the present invention is to provide a kind of intelligent express delivery robot,
Meet transport simultaneously to register one's residence, and cost can be saved, protect privacy of user well, is networked and unlocked using cloud encryption and client,
Can also automatic obstacle avoiding, operational efficiency is high, and intelligence is high, has good practicability, is worth a wide range of and promotes.
In order to achieve the above objectives, the technical solution of the present invention is as follows:
, there is a shell 1 in a kind of intelligence express delivery robot, and 1 bottom of shell is a movable chassis 2, the removable bottom
Disk 2 is equipped with driving wheel 21 and driven wheel 22, and wherein two-wheeled is driving wheel 21, other are driven wheel 22；Driving wheel 21 is driven by motor
Dynamic, driven wheel 22 is universal wheel；1 front and back upper position of shell is disposed with camera 5 and 3D visual imaging sensor 4；Shell 1 four
It is arranged with upper layer and lower layer ultrasonic sensor 3 week, is used for ranging and avoidance；Shell 1, which is inwardly recessed to be provided with, can combine locker
9；The locker 9 that combines divides for multiple independent glove units 8, and each glove unit 8 includes cabinet door 6, the electricity in cabinet door 6
Son lock 7 and glove bottom plate 13, the glove bottom plate 13 design for fast demountable；System passes through rechargeable lithium battery group 10
Power supply；
It further include having: master control hardware module 11 and in real time positioning and self-navigation module；Automatic obstacle avoidance functions module；Automatically
Charging module；Speech recognition and session module；Wherein:
Master control hardware module: using Cortex-A15 as main control chip, operating system Linux, Ubuntu16.04 edition
This, functional software is developed using C++；Using the image data of USB3.0 interface camera, configure WIFI module be used for and
Server communication；
Intelligent code key module includes electronic lock and cloud confirming call module on cabinet body, the electronic lock can remote opening,
Robot according to preset address by mail delivery to addressee entrance when, can be called by cell phone application, addressee receive
After calling and confirming and can receive mail, passes through APP and send the order for opening electronic lock.Addressee is not as in specified addressee
Point can also request other people to withhold, and confirm that receiver reaches by the camera of robot front end and open electronic lock again.It is complete
Cabinet door is closed at addressee after addressee, robot can voluntarily carry out next address transport；
Real-time positioning and self-navigation module: for the positioning of robot, planning walking path and self-navigation, by positioning
Label, camera, server and its map management software are constituted, and positioning label letter is established first in robot target environment
Breath, positioning label are divided into special tags and codeless common label with encoded information；By to target environment and above-mentioned
The mapping of label is positioned, the channel information of positioning tag coordinate and robot ambulation is determined, thus on the ground for being installed on server
Target environment map is established in figure management software；
Camera is used for shooting environmental image during robot ambulation, therefrom identifies positioning label, and calculate
Position the pixel coordinate of label in the picture；By the pre- mapping relations obtained by calibrating, robot is calculated relative to label
Coordinate；The label that will identify that again is matched with label in map, coordinate of the label in map is obtained, in conjunction with machine
Coordinate of the people relative to the label can calculate coordinate of the robot in map, complete the real-time positioning of robot；
When robot is connected to instruction, by A* algorithm, the optimal path that target position is reached from current location is calculated；?
When robot is run, navigation module provides machine and advances, retreats and turn to according to gained path and the data of real-time positioning system
Instruction；
Automatic obstacle avoidance functions module；By two sets of the 3D visual imaging sensors for being respectively installed on robot front and back, one
The ultrasonic distance-measuring sensor and obstacle avoidance algorithm module composition that group is arranged along robot shells periphery；The 3D visual imaging sensing
Device shooting has the image of depth information, thus constructs space three-dimensional mathematical model, and then judges the space with the presence or absence of influence
Whether the barrier and barrier peripheral space width that robot moves forward or back pass through for robot；If there is obstacle
Object, but there is passable space in side, and obstacle avoidance algorithm module sets avoidance path, so that robot is detoured from barrier side logical
It crosses；If there is barrier and its periphery can not also pass through, then this point is set as choke point, and start navigation algorithm, planned again
Path；The reliable areas imaging of 3D visual imaging sensor is 0.5~3 meter, the investigative range of ultrasonic distance-measuring sensor is 0~
0.5 meter, make up the measurement blind area of 3D visual imaging sensor；Ultrasonic sensor device divides two layers of cloth along robot shells periphery
It sets, every layer is equipped with 6~8, covers all areas within the scope of the 0.5m of 360 ° of robot periphery；
Automatic charging module comprising being installed on the cradle on ground, and is installed on the charge management module on robot chassis,
Include electric power detection module, charging process control module；Electric quantity monitoring carried out to robot, the judgement of cradle state and it is automatic just
Position charge control, design is there are two elastic electrode on cradle, and robot chassis divides into meter, and there are two contact zone 12, charging systems
Using 24V low-voltage power supply, electric power detection module judges whether to need to charge immediately by detection battery both end voltage；If electric
It forces down in preset threshold, then robot is set as low battery state, no longer receive new task, and set pre- for navigation target
If cradle position；After judging that robot enters charge position, starting charging process control module charges；If current
For the working time, then enter fast charge mode；If being currently non-working time section, enter trickle charge mode, trickle charge mode can be with
More effective electricities are poured, are also beneficial to extend battery life；Judge to enter standby after electricity is full of, receives work and refer to
It enables；
Speech recognition and session module, have the function of independent communication.
Further, in the real-time positioning and self-navigation module, common label be have in target environment it is obvious special
The object or figure of sign, including but not limited to the decorative pattern on floor/ceramic tile, emergency exit label etc., or specifically for leading
The label or other customized labels with environment friendly for design of navigating；The encoded information of special tags is in a map
With uniqueness, special tags play robot initial positioning and significant error deviation-correcting function.
Further, there are two driven in parallel wheels (21) in movable chassis (2) front, and rear portion has two driven wheels (22)；
Further, there are two driving wheels 21 in the middle part of the movable chassis 2, there are multiple driven wheels 22, driven wheel 22 in front and back
Positioned at 21 two sides of driving wheel and it is uniformly distributed.
Further, the movable chassis 2 can also be equipped with bogie, and driving wheel 21 is mounted on bogie, apply
While differential steering mechanism, 21 direction of truck swing driving wheel is controlled, keeps robot turning more flexible.
Further, the camera 5 uses the camera of the full HD standard resolution of 1920*1080, and can be equipped with
The wide-angle lens at 150 ° of visual angles, camera quantity are two or more；It is not less than with high frame per second or global exposure function, frame per second
60 frames/second；With Cortex-M3 and USB3.0 interface；
Further, it is described it is real-time positioning and self-navigation module in, can arrangement wheel displacements sensor and inertial navigation system
System increases the reliability of positioning system.
Further, the speech recognition and session module are using the winged speech recognition of news and intelligent semantic analysis module.
Further, the WIFI communication module can automatically switch in 2.4G and 5G channel, avoid leading because of channel disturbance
The communication failure of cause.
Further, the glove unit 8 contacts two sides with glove bottom plate 13 and is provided with sliding slot 14, glove bottom plate 13 to two
Side chute 14 protrudes slide head 15；Glove bottom plate 13 need to slide to cabinet door direction and just can be packed into or take out, and close cabinet after cabinet door
Door, which withstands glove bottom plate, makes it that can not move or take out, and avoids loss of goods under unauthorized state.
Compared with the existing technology, the invention has the benefit that
A kind of intelligence express delivery robot, while meeting transport and registering one's residence, and cost can be saved, privacy of user is protected well,
It is networked and is unlocked using cloud encryption and client, moreover it is possible to automatic obstacle avoiding, operational efficiency is high, and intelligence is high, has good practicability,
It is worth a wide range of to promote.
Ultrasonic sensor have biggish angle of flare, can not the orientation to target accurately measured, apart from farther out when
Its measurement data is unable to satisfy the requirement of avoidance, so the design is mutually tied using 3D visual imaging sensor with ultrasonic sensor
The mode of conjunction, the function of realizing the flexible avoidance of robot well and avoid collision.
When automatic charging, contact zone area is larger, and robot location has certain deviation when may be allowed charging, lowers machine
The required precision of people's positioning, improves system reliability and availability.
Charging system uses 24V low-voltage power supply, far below the voltage that can be caused harm to the human body.
Detailed description of the invention
Fig. 1 is positive structure schematic of the invention.
Fig. 2 is the structural schematic diagram of movable chassis of the present invention.
Fig. 3 is the structural schematic diagram that the present invention can combine locker.
Fig. 4 is the structural schematic diagram of glove bottom plate of the present invention.
1- shell, 2- movable chassis, 21- driving wheel, 22- driven wheel, 3- ultrasonic sensor, 4-3D visual imaging pass
Sensor, 5- camera, 6- cabinet door, 7- electronic lock, 8- glove unit, 9- can combine locker, 10- rechargeable lithium battery group, 11-
Master control hardware module, the contact zone 12-, 13- glove bottom plate, 14- sliding slot, 15- slide head.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawings and detailed description:
As shown in Figs 1-4, there is a shell 1 in a kind of intelligent express delivery robot, and 1 bottom of shell is a movable chassis 2,
The movable chassis 2 is equipped with driving wheel 21 and driven wheel 22, and wherein two-wheeled is driving wheel 21, other are driven wheel 22；Driving
Wheel 21 is driven by motor, and driven wheel 22 is universal wheel；1 front and back upper position of shell is disposed with camera 5 and 3D visual imaging passes
Sensor 4；1 surrounding of shell is arranged with upper layer and lower layer ultrasonic sensor 3, is used for ranging and avoidance；Shell 1, which is inwardly recessed, to be provided with
Locker 9 can be combined；The locker 9 that combines divides for multiple independent glove units 8, and each glove unit 8 includes cabinet door
6, electronic lock 7 and glove bottom plate 13 in cabinet door 6, the glove bottom plate 13 design for fast demountable；System is by that can fill
Electric lithium battery group 10 is powered；
It further include having: master control hardware module 11 and in real time positioning and self-navigation module；Automatic obstacle avoidance functions module；Automatically
Charging module；Speech recognition and session module；Wherein:
Master control hardware module: using Cortex-A15 as main control chip, operating system Linux, Ubuntu16.04 edition
This, functional software is developed using C++；Using the image data of USB3.0 interface camera, configure WIFI module be used for and
Server communication；
Intelligent code key module includes electronic lock and cloud confirming call module on cabinet body, the electronic lock can remote opening,
It when robot runs mail to addressee entrance according to preset address, can be called by cell phone application, addressee receives
After calling and confirming and can receive mail, passes through APP and send the order for opening electronic lock.Addressee is not as in specified addressee
Point can also request other people to withhold, and confirm that receiver reaches by the camera of robot front end and open electronic lock again.It is complete
Cabinet door is closed at addressee after addressee, robot can voluntarily carry out next address transport；
Real-time positioning and self-navigation module: for the positioning of robot, planning walking path and self-navigation, by positioning
Label, camera, server and its map management software are constituted, and positioning label letter is established first in robot target environment
Breath, positioning label are divided into special tags and codeless common label with encoded information；By to target environment and above-mentioned
The mapping of label is positioned, the channel information of positioning tag coordinate and robot ambulation is determined, thus on the ground for being installed on server
Target environment map is established in figure management software；
Camera is used for shooting environmental image during robot ambulation, therefrom identifies positioning label, and calculate
Position the pixel coordinate of label in the picture；By the pre- mapping relations obtained by calibrating, robot is calculated relative to label
Coordinate；The label that will identify that again is matched with label in map, coordinate of the label in map is obtained, in conjunction with machine
Coordinate of the people relative to the label can calculate coordinate of the robot in map, complete the real-time positioning of robot；
When robot is connected to instruction, by A* algorithm, the optimal path that target position is reached from current location is calculated；?
When robot is run, navigation module provides machine and advances, retreats and turn to according to gained path and the data of real-time positioning system
Instruction；
Automatic obstacle avoidance functions module；By two sets of the 3D visual imaging sensors for being respectively installed on robot front and back, one
The ultrasonic distance-measuring sensor and obstacle avoidance algorithm module composition that group is arranged along robot shells periphery；The 3D visual imaging sensing
Device shooting has the image of depth information, thus constructs space three-dimensional mathematical model, and then judges the space with the presence or absence of influence
Whether the barrier and barrier peripheral space width that robot moves forward or back pass through for robot；If there is obstacle
Object, but there is passable space in side, and obstacle avoidance algorithm module sets avoidance path, so that robot is detoured from barrier side logical
It crosses；If there is barrier and its periphery can not also pass through, then this point is set as choke point, and start navigation algorithm, planned again
Path；The reliable areas imaging of 3D visual imaging sensor is 0.5~3 meter, the investigative range of ultrasonic distance-measuring sensor is 0~
0.5 meter, make up the measurement blind area of 3D visual imaging sensor；Ultrasonic sensor device divides two layers of cloth along robot shells periphery
It sets, every layer is equipped with 6~8, covers all areas within the scope of the 0.5m of 360 ° of robot periphery；
Automatic charging module comprising being installed on the cradle on ground, and is installed on the charge management module on robot chassis,
Include electric power detection module, charging process control module；Electric quantity monitoring carried out to robot, the judgement of cradle state and it is automatic just
Position charge control, design is there are two elastic electrode on cradle, and robot chassis divides into meter, and there are two contact zone 12, charging systems
Using 24V low-voltage power supply, electric power detection module judges whether to need to charge immediately by detection battery both end voltage；If electric
It forces down in preset threshold, then robot is set as low battery state, no longer receive new task, and set pre- for navigation target
If cradle position；After judging that robot enters charge position, starting charging process control module charges；If current
For the working time, then enter fast charge mode；If being currently non-working time section, enter trickle charge mode, trickle charge mode can be with
More effective electricities are poured, are also beneficial to extend battery life；Judge to enter standby after electricity is full of, receives work and refer to
It enables；
Speech recognition and session module, have the function of independent communication.
Further, in the real-time positioning and self-navigation module, common label be have in target environment it is obvious special
The object or figure of sign, including but not limited to the decorative pattern on floor/ceramic tile, emergency exit label etc., or specifically for leading
The label or other customized labels with environment friendly for design of navigating；The encoded information of special tags is in a map
With uniqueness, special tags play robot initial positioning and significant error deviation-correcting function.
Further, there are two driven in parallel wheels 21 in 2 front of movable chassis, and there are two driven wheels 22 at rear portion；
Further, there are two driving wheels 21 in the middle part of the movable chassis 2, there are multiple driven wheels 22, driven wheel 22 in front and back
Positioned at 21 two sides of driving wheel and it is uniformly distributed.
Further, the movable chassis 2 can also be equipped with bogie, and driving wheel 21 is mounted on bogie, apply
While differential steering mechanism, 21 direction of truck swing driving wheel is controlled, keeps robot turning more flexible.
Further, the camera 5 uses the camera of the full HD standard resolution of 1920*1080, and can be equipped with
The wide-angle lens at 150 ° of visual angles, camera quantity are two or more；It is not less than with high frame per second or global exposure function, frame per second
60 frames/second；With Cortex-M3 and USB3.0 interface；
Further, it is described it is real-time positioning and self-navigation module in, can arrangement wheel displacements sensor and inertial navigation system
System increases the reliability of positioning system.
Further, the speech recognition and session module are using the winged speech recognition of news and intelligent semantic analysis module.
Further, the WIFI communication module can automatically switch in 2.4G and 5G channel, avoid leading because of channel disturbance
The communication failure of cause.
Further, the glove unit 8 contacts two sides with glove bottom plate 13 and is provided with sliding slot 14, glove bottom plate 13 to two
Side chute 14 protrudes slide head 15；Glove bottom plate 13 need to slide to cabinet door direction and just can be packed into or take out, and close cabinet after cabinet door
Door, which withstands glove bottom plate, makes it that can not move or take out, and avoids loss of goods under unauthorized state.
The operation principle of the present invention is that:
In real work: a movable chassis and drive system, four-wheel are also designed to 4~6 wheel constructions, wherein two-wheeled
For driving wheel, other are driven wheel.Driving wheel is motor-driven directional wheel, and also provided with controllable bogie, driven wheel is general
Logical universal caster wheel.When driving wheel is directional wheel, robot is realized using two wheel guide robot and is turned to, that is, controls two driving wheel speeds not
Together, robot will turn to the lower wheel side of speed.When being equipped with the controllable bogie of control, driving wheel is mounted on bogie
On, while application differential steering mechanism, truck swing driving wheel direction is controlled, keeps robot turning more flexible.
A set of real-time positioning and automated navigation system.Positioning label is pasted on ground, positioning label is divided into coding letter
The special tags of breath and codeless common label.By being surveyed and drawn to target environment and above-mentioned positioning label, in host computer
Software (being installed on the map management software of server) establishes the map of target environment, removes in cartographic information comprising for real-time
It also include channel information outside the label of positioning.Above-mentioned codeless label is generally the object in target environment with obvious characteristic
Body or figure, including but not limited to the decorative pattern on floor/ceramic tile, emergency exit label etc., or specifically for navigation design
The label with environment friendly, be also possible to any customized label.The encoded information of the above-mentioned label for having coding is one
There is uniqueness in a map, need to only arrange on a small quantity, play robot initial positioning and significant error deviation-correcting function.Robot dress
Camera is had, camera shooting environmental image during robot ambulation therefrom sets out and positions label, and calculates bid
The pixel coordinate of label in the picture.By above-mentioned pre- mapping relations obtained by calibrating, robot can be calculated relative to label
Coordinate.The label that will identify that is matched with label in map, coordinate of the label in map is obtained, in conjunction with robot
Relative to the coordinate of the label, coordinate of the robot in map can be calculated, completes the real-time positioning of robot.In machine
When people is connected to instruction, by A* algorithm, the optimal path that target position is reached from current location is calculated.In robot operation,
Navigation module provides the instruction that machine advances, retreats and turns to according to gained path and the data of real-time positioning system.
High definition high speed camera: the search range of positioning label is improved, while ensuring foot in the visual angle in order to expand robot
Enough image definitions are needed using high-definition camera, and the present invention takes the photograph using the full HD standard resolution of 1920*1080
As head, and it is equipped with the wide-angle lens at 150 ° of visual angles.To cover bigger region, two or more cameras can be equipped with.And because
Captured in real-time on the move is needed, to avoid image from smear or other distortion phenomenons occur, and then tag recognition is influenced, need to take the photograph
Picture head has high frame per second or global exposure function, and the frame per second that the present invention uses is 60 frames/second.In summary it requires, the present invention matches
Meet the view synthesis and transmission requirement of big data quantity for Cortex-M3 and USB3.0 interface.Above-mentioned parameter and configuration
A kind of implementation only of the invention can also suitably be adjusted according to the factors such as label scattered band and robot ambulation speed
It is whole.
Locating module: the image data of USB3.0 interface camera module.It further, is increase positioning system
Reliability can configure wheel displacements sensor and inertial navigation system.It is equipped with WIFI interface module, wireless data can be established with server
Communication.Cortex-A15 is equipped with as main control chip, using (SuSE) Linux OS, Ubuntu16.04 version, functional software is adopted
It is developed with C++, realizes image calibration function, tag recognition function and location Calculation function.
A set of automatic obstacle avoidance functions system is respectively installed on robot front and back 3D visual imaging sensing comprising two sets
Device, one group of ultrasonic distance-measuring sensor and obstacle avoidance algorithm module along robot shells periphery arrangement.3D visual imaging sensor
The image with depth information can be shot, space three-dimensional mathematical model thus can be constructed, and then judges the space with the presence or absence of shadow
Whether the barrier and barrier peripheral space width for ringing robot forward or backward pass through for robot.If there is barrier
Hinder object, but there is passable space in side, obstacle avoidance algorithm module sets avoidance path, so that robot is detoured from barrier side logical
It crosses.If there is barrier and its periphery can not also pass through, then this point is set as choke point, and start navigation algorithm, planned again
Path.Further, if without other can pass, to server send information, request manual intervention with the object that removes barriers.
The reliable areas imaging of 3D visual imaging sensor is 0.5~3 meter, and 0~0.5 meter is vision dead zone, can not be to close to robot
Barrier is detected within the scope of 0.5 meter.Ultrasonic distance-measuring sensor then covers this range, and ultrasonic sensor device is along machine
Two layers of arrangement of device people's housing perimeter point, every layer is equipped with 6~8, covers all areas within the scope of the 0.5m of 360 ° of robot periphery
Domain.Ultrasonic sensor have biggish angle of flare, can not the orientation to target accurately measured, distance farther out when its measurement
Data are unable to satisfy the requirement of avoidance, so the side that the design uses 3D visual imaging sensor and ultrasonic sensor to combine
Formula, the function of realizing the flexible avoidance of robot well and avoid collision.
A set of automatic charge device comprising being installed on the cradle on ground, and is installed on the Charge Management on robot chassis
Module (electric quantity monitoring, the judgement of cradle state, automatic charging in place).There are two elastic electrode, robots for design on cradle
Chassis divides into meter, and there are two contact zones, and contact zone area is larger, and robot location has certain deviation when may be allowed charging, lower
The required precision of robot localization improves system reliability and availability.Meanwhile charging system uses 24V low-voltage power supply, it is remote low
In the voltage that can be caused harm to the human body (invention referring specifically to automatic charging system describes).Charge management module includes electricity
Detection module, charging process control module.Electric power detection module judges whether to need to fill immediately by detection battery both end voltage
Electricity.If voltage is lower than preset threshold, robot is set as low battery state, no longer receives new task, and the mesh that will navigate
Mark is set as preset cradle position.After judging that robot enters charge position, starting charging process control module is filled
Electricity.If being currently the working time, enter fast charge mode；If being currently non-working time section, enter trickle charge mode, slowly
Mold filling formula can pour more effective electricities, be also beneficial to extend battery life.Judge that electricity is full of afterwards and enters standby,
Acceptable work order.
A set of speech recognition and play system, have the function of independent communication.The present invention flies speech recognition and intelligence using news
Semantic module.
By WIFI communication module, interacted with server.WIFI module can automatically switch in 2.4G and 5G channel, avoid because
Communication failure caused by channel disturbance.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (10)
1. a kind of intelligence express delivery robot, has a shell (1), shell (1) bottom is a movable chassis (2), described removable
Dynamic chassis (2) are equipped with driving wheel (21) and driven wheel (22), and wherein two-wheeled is driving wheel (21), other are driven wheel (22)；It drives
Driving wheel (21) is driven by motor, and driven wheel (22) is universal wheel；Upper position is disposed with camera (5) and 3D before and after shell (1)
Visual imaging sensor (4)；Shell (1) surrounding is arranged with upper layer and lower layer ultrasonic sensor (3), is used for ranging and avoidance；Shell
Body (1) main body is that can combine locker (9)；The locker (9) that combines is divided into multiple independent glove units (8), each
Glove unit (8) includes cabinet door (6), electronic lock (7) and glove bottom plate (13) in cabinet door (6), the glove bottom plate (13)
It is designed for quick release；System is powered by rechargeable lithium battery group (10)；
It further include having: master control hardware module (11) and in real time positioning and self-navigation module；Automatic obstacle avoidance functions module；Automatically it fills
Electric module；Speech recognition and session module；Wherein:
Master control hardware module: using Cortex-A15 as main control chip, operating system Linux, Ubuntu16.04 version,
Functional software is developed using C++；Using the image data of USB3.0 interface camera, configures WIFI module and be used for and service
Device communication；
Intelligent code key module includes electronic lock and cloud confirming call module on cabinet body, the electronic lock can remote opening, machine
People according to preset address by mail delivery to addressee entrance when, can be called by cell phone application, addressee receives calling
And after confirmation can receive mail, passes through APP and send the order for opening electronic lock；Addressee if not in specified addressee place,
Other people can be requested to withhold, and confirm that receiver reaches by the camera of robot front end and open electronic lock again；It completes to receive
Addressee closes cabinet door after part, and robot can voluntarily carry out next address transport；
Real-time positioning and self-navigation module: for the positioning of robot, planning walking path and self-navigation are marked by positioning
Label, camera, server and its map management software are constituted, and positioning label information is established first in robot target environment,
Positioning label is divided into special tags and codeless common label with encoded information；By to target environment and above-mentioned fixed
The mapping of position label, determines the channel information of positioning tag coordinate and robot ambulation, thus in the map for being installed on server
Target environment map is established in management software；
Camera is used for shooting environmental image during robot ambulation, therefrom identifies positioning label, and calculate positioning
The pixel coordinate of label in the picture；By the pre- mapping relations obtained by calibrating, seat of the robot relative to label is calculated
Mark；The label that will identify that again is matched with label in map, coordinate of the label in map is obtained, in conjunction with robot phase
For the coordinate of the label, coordinate of the robot in map can be calculated, completes the real-time positioning of robot；
When robot is connected to instruction, by A* algorithm, the optimal path that target position is reached from current location is calculated；In machine
When people runs, navigation module provides the finger that machine advances, retreats and turns to according to gained path and the data of real-time positioning system
It enables；
Automatic obstacle avoidance functions module；By two sets of the 3D visual imaging sensors for being respectively installed on robot front and back, one group of edge
The ultrasonic distance-measuring sensor and obstacle avoidance algorithm module composition of robot shells periphery arrangement；The 3D visual imaging sensor is clapped
The image with depth information is taken the photograph, space three-dimensional mathematical model is thus constructed, and then judges the space with the presence or absence of influence machine
Whether the barrier and barrier peripheral space width that people moves forward or back pass through for robot；If there is barrier, but
There is passable space in side, and obstacle avoidance algorithm module sets avoidance path, so that robot is detoured from barrier side and pass through；If
There is barrier and its periphery can not also pass through, then this point is set as choke point, and start navigation algorithm, again planning path；3D
The reliable areas imaging of visual imaging sensor is 0.5~3 meter, and the investigative range of ultrasonic distance-measuring sensor is 0~0.5 meter,
Make up the measurement blind area of 3D visual imaging sensor；Ultrasonic sensor device divides two layers along robot shells periphery to be arranged, every layer
6~8 are equipped with, all areas within the scope of the 0.5m of 360 ° of robot periphery are covered；
Automatic charging module comprising being installed on the cradle on ground, and is installed on the charge management module on robot chassis, includes
Electric power detection module, charging process control module；Electric quantity monitoring is carried out to robot, cradle state judges and fills in place automatically
Electric control, design is there are two elastic electrode on cradle, and robot chassis divides into meter there are two contact zone 12, and charging system uses
24V low-voltage power supply, electric power detection module judge whether to need to charge immediately by detection battery both end voltage；If voltage is low
In preset threshold, then robot is set as low battery state, no longer receives new task, and set preset for navigation target
Cradle position；After judging that robot enters charge position, starting charging process control module charges；If being currently work
Make the time, then enters fast charge mode；If being currently non-working time section, enter trickle charge mode, trickle charge mode can pour
More effective electricities are also beneficial to extend battery life；Judge to enter standby after electricity is full of, receives work order；
Speech recognition and session module, have the function of independent communication.
2. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the real-time positioning and self-navigation
In module, common label is the object or figure in target environment with obvious characteristic, including but not limited on floor/ceramic tile
Decorative pattern, emergency exit label etc., or label specifically for navigation design with environment friendly or other are customized
Label；The encoded information of special tags in a map have uniqueness, special tags play robot initial positioning and again
Big error deviation-correcting function.
3. a kind of intelligent express delivery robot according to claim 1, which is characterized in that movable chassis (2) front
There are two driven in parallel wheels (21), rear portion there are two driven wheels (22).
4. a kind of intelligent express delivery robot according to claim 1, which is characterized in that in the middle part of the movable chassis (2)
Have two driving wheels (21), front and back has multiple driven wheels (22), and driven wheel (22) is located at driving wheel (21) two sides and is uniformly distributed.
5. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the movable chassis (2) may be used also
It is equipped with bogie, driving wheel (21) is mounted on bogie, and while application differential steering mechanism, control truck swing is driven
Driving wheel (21) direction keeps robot turning more flexible.
6. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the camera 5 uses 1920*
The camera of 1080 full HD standard resolutions, and it can be equipped with the wide-angle lens at 150 ° of visual angles, camera quantity is two or more
It is a；It is not less than 60 frames/second with high frame per second or global exposure function, frame per second；With Cortex-M3 and USB3.0 interface.
7. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the real-time positioning and self-navigation
In module, can arrangement wheel displacements sensor and inertial navigation system increase the reliability of positioning system.
8. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the speech recognition and session module
Fly speech recognition and intelligent semantic analysis module using interrogating.
9. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the WIFI communication module, it can be
2.4G and 5G channel automatically switches, communication failure caused by avoiding because of channel disturbance.
10. a kind of intelligent express delivery robot according to claim 1, which is characterized in that the glove unit (8) and glove
Bottom plate (13) contact two sides are provided with sliding slot (14), and glove bottom plate (13) protrudes slide head (15) to two side chutes (14)；It sets
Object bottom plate (13) need to slide to cabinet door direction and just can be packed into or take out, and closing cabinet door rear cabinet door, which withstands glove bottom plate, move it can not
Dynamic or taking-up, avoids loss of goods under unauthorized state.
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