CN111558927A - Cargo compartment structure, delivery robot and delivery method - Google Patents
Cargo compartment structure, delivery robot and delivery method Download PDFInfo
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- CN111558927A CN111558927A CN202010679549.3A CN202010679549A CN111558927A CN 111558927 A CN111558927 A CN 111558927A CN 202010679549 A CN202010679549 A CN 202010679549A CN 111558927 A CN111558927 A CN 111558927A
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- delivery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a warehouse structure, a delivery robot and a delivery method, wherein the warehouse structure comprises a shell, a storage bin and a functional module, wherein one side of the storage bin is provided with a first opening, one side of the shell is provided with a second opening, the storage bin is rotatably arranged in the shell, when the first opening is overlapped or partially overlapped with the second opening, the warehouse structure is in an open state so as to be convenient for taking and placing goods, and when the first opening is completely staggered with the second opening, the warehouse structure is in a closed state so as to ensure the safety of the goods in the delivery process; the storage bin is provided with an avoidance structure, the functional module is arranged on the shell and acts on an inner cavity of the storage bin through the avoidance structure, and the functional module comprises but is not limited to a light assembly and a cargo detection assembly; above-mentioned warehouse structure not only is integrated in an organic whole with functional module and warehouse structure, except that the storing storehouse moreover, shell and functional module all are static fixed state, can avoid the rotatory functional module pencil winding problem that brings of storing storehouse completely.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a cargo compartment structure, a delivery robot and a delivery method.
Background
Along with the popularization of robots, delivery robots have become a class of more common service robots, to this type of robot, lighting system and goods detecting system in the storing storehouse are indispensable, to a certain class of robot, because its storehouse structure is comparatively special, including the shell and rotate the storing storehouse that sets up in the shell, consequently how to set up fluorescent tube system and goods detecting system and avoid the winding problem of pencil in the storing storehouse, become the important technical problem that technical staff in the field await the opportune moment to solve.
Disclosure of Invention
The first objective of the present invention is to provide a warehouse structure, so as to avoid the problem of wiring harness winding while matching and fusing the functional modules, such as the lighting system and the cargo detection system, with the warehouse structure.
A second object of the present invention is to provide a delivery robot and a delivery method based on the above-described cargo compartment structure.
In order to achieve the purpose, the invention provides the following technical scheme:
a cargo compartment structure comprises a shell, a storage compartment and a functional module, wherein a first opening is formed in one side of the storage compartment, a second opening is formed in one side of the shell, the storage compartment is rotatably arranged in the shell, when the first opening and the second opening are overlapped or partially overlapped, the cargo compartment structure is opened, and when the first opening and the second opening are completely staggered, the cargo compartment structure is closed; the storage bin is provided with an avoiding structure, and the functional module is arranged on the shell and acts on the inner cavity of the storage bin through the avoiding structure.
Preferably, the storage bin further comprises a driving device, and the driving device is used for driving the storage bin to rotate relative to the outer shell.
Preferably, the shell includes a shell main body and a mounting seat, the mounting seat is detachably arranged at the top of the shell main body, the storage bin is rotatably arranged on the mounting seat through a bearing, and the functional module is arranged on the mounting seat.
Preferably, the mount pad has downwardly extending to dodge the structure of sinking in the structure, the storing storehouse pass through the bearing rotationally set up in the structure of sinking, functional module set up in the structure of sinking.
Preferably, the mounting seat comprises a lower shell and a cover plate, and the lower shell is detachably connected with the cover plate and encloses a cavity for accommodating the functional module.
Preferably, the functional module comprises a light assembly for illuminating the inside of the storage bin and a cargo detection assembly for detecting articles in the storage bin.
Preferably, the warehouse device further comprises a controller, wherein the controller is used for controlling the light assembly and the cargo detection assembly to be started when the warehouse structure is in the open state or when the warehouse structure is switched from the closed state to the open state;
the controller is used for controlling the light assembly and the goods detection assembly to be closed when the warehouse structure is in a closed state or when the warehouse structure is switched from an open state to a closed state.
A delivery robot, comprising:
a robot main body having a walking function;
the warehouse structure as claimed in any preceding claim, the warehouse structure being disposed on the robot body;
the user instruction sending and receiving module is used for receiving a user instruction;
the identity information acquisition module is used for acquiring the identity information of the user;
and the control system is used for controlling the robot main body and the warehouse structure to act according to the user instruction received by the user instruction sending and receiving module.
A delivery method is applied to the delivery robot and comprises the following steps:
a: receiving a delivery instruction of a delivery party, wherein the delivery instruction comprises delivery party position information, delivery party identity information, cargo type information, delivery party position information and delivery party identity information;
b: the delivery robot moves to the position of the delivery party according to the delivery party position information, the warehouse structure of the delivery robot is controlled to be opened after the acquired user identity information is matched with the received delivery party identity information, and meanwhile, a light assembly and a cargo detection assembly in the warehouse structure are started;
c: after the cargo detection component detects the preset time of the cargo corresponding to the cargo type information, the cargo cabin structure is closed;
d: the delivery robot moves to the position of the receiver according to the position information of the receiver, controls the opening of a warehouse structure of the delivery robot after acquiring the user identity information and matching the receiver identity information so as to facilitate the receiver to take out the goods, and simultaneously starts a lighting assembly and a goods detection assembly in the warehouse structure;
e: after the goods detecting component detects that the goods are taken out for the preset time, the warehouse structure is closed.
Preferably, step f is further included after step e: and sending delivery completion information to the delivery party.
According to the technical scheme, the warehouse structure comprises a shell, a storage bin and a functional module, wherein a first opening is formed in one side of the storage bin, a second opening is formed in one side of the shell, the storage bin is rotatably arranged in the shell, when the first opening and the second opening are overlapped or partially overlapped, the warehouse structure is in an open state so as to be convenient for taking and placing goods, and when the first opening and the second opening are completely staggered, the warehouse structure is in a closed state so as to ensure the safety of the goods in the conveying process; the storage bin is provided with an avoidance structure, the functional module is arranged on the shell and acts on an inner cavity of the storage bin through the avoidance structure, and the functional module comprises but is not limited to a light assembly and a cargo detection assembly; above-mentioned warehouse structure not only is integrated in an organic whole with functional module and warehouse structure, except that the storing storehouse moreover, shell and functional module all are static fixed state, can avoid the rotatory functional module pencil winding problem that brings of storing storehouse completely.
The invention also provides a delivery robot and a delivery method based on the warehouse structure, so that the beneficial effects of the delivery robot and the delivery method are the same as those of the warehouse structure, and the delivery robot and the delivery method are not limited herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an exploded view of a cargo compartment structure provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a cargo compartment structure provided by an embodiment of the present invention;
FIG. 3 is a schematic structural view of a lower housing of a mounting seat of a cargo compartment structure according to an embodiment of the present invention from one perspective;
fig. 4 is a structural schematic diagram of the lower housing of the installation seat of the cargo compartment structure provided by the embodiment of the invention in another view.
Wherein:
1 is a shell; 101 is a shell main body; 102 is a lower shell; 102a is a cavity; 102b is a through hole; 102c is a sinking structure; 103 is a cover plate; 2 is a storage bin; 3 is a bearing; 4 is a ring-shaped lamp; and 5, a camera.
Detailed Description
The core of the invention is to provide a warehouse structure, so that functional modules such as a lighting system, a cargo detection system and the like are matched and fused with the warehouse structure, and meanwhile, the problem of winding of wiring harnesses is avoided.
The other core of the invention is to provide a delivery robot and a delivery method based on the cargo cabin structure.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, fig. 1 is an exploded view of a cargo compartment structure according to an embodiment of the present invention, and fig. 2 is a sectional view of the cargo compartment structure according to the embodiment of the present invention.
The embodiment of the invention discloses a warehouse structure which is used for a delivery robot and comprises a shell 1, a storage bin 2 and a functional module.
The storage bin 2 is rotatably arranged in the shell 1, when the first opening and the second opening are overlapped or partially overlapped, the bin structure is in an open state so as to be convenient for taking and placing goods, and when the first opening and the second opening are completely staggered, the bin structure is in a closed state so as to ensure the safety of the goods in the conveying process; be provided with on the storing storehouse 2 and dodge the structure, should dodge the structure and can with the inside and outside intercommunication of storing storehouse 2, functional module installs on shell 1 and acts on the inner chamber of storing storehouse 2 through dodging the structure, and functional module includes but not limited to light subassembly and goods detecting component.
In summary, compared with the prior art, the cargo bin structure provided by the embodiment of the invention not only achieves the purpose of integrating the functional module and the cargo bin structure into a whole, but also completely avoids the problem of winding of the functional module wire harness caused by rotation of the storage bin 2 because the shell 1 and the functional module are in a static fixed state except the storage bin 2.
Preferably, the cargo compartment structure further comprises a driving device, the driving device is used for driving the storage compartment 2 to rotate relative to the housing 1, the driving device can be arranged above, below or on the side of the storage compartment 2, and specifically, the driving device comprises a motor and a speed change mechanism composed of a gear set or a wheel-belt wheel set.
Preferably, in the embodiment of the present invention, the housing 1 includes a housing main body 101 and a mounting seat, the mounting seat is detachably disposed on the top of the housing main body 101, the storage bin 2 is rotatably disposed on the mounting seat through the bearing 3, the functional module is disposed on the mounting seat, and the functional module can be disposed inside or outside the mounting seat.
Specifically, as shown in fig. 2, in order to facilitate the fitting installation with the storage bin 2, the mounting seat has a sinking structure 102c extending downward into the avoiding structure, the storage bin 2 is rotatably disposed on the sinking structure 102c through the bearing 3, and the function module is disposed on the sinking structure 102 c.
Further, as shown in fig. 3 and 4, the mounting seat is of a split structure, and includes a lower housing 102 and a cover plate 103, the lower housing 102 and the cover plate 103 are detachably connected and enclose a cavity 102a for accommodating the functional module, for example, when the functional module includes a cargo detection assembly, a through hole 102b communicating with the cavity 102a is further formed in the bottom of a sinking structure 102c of the lower housing 102 of the mounting seat, so that when an image acquisition device of the cargo detection assembly is disposed in the cavity 102a, a camera 5 of the image acquisition device can act on the storage bin 2 through the through hole 102 b.
Further optimizing the technical scheme, the functional module comprises a light assembly for illuminating the inside of the storage bin 2 and a cargo detection assembly for detecting articles in the storage bin 2, specifically, in the embodiment of the invention, the light assembly comprises an annular lamp 4, the annular lamp 4 is fixed on the end surface of the sinking structure 102c extending into the storage bin 2, and the cargo detection assembly comprises a camera 5 arranged in the mounting seat cavity 102 a.
Preferably, the warehouse structure further comprises a controller, wherein the controller is used for controlling the light assembly and the cargo detection assembly to be started when the warehouse structure is in the open state or when the warehouse structure is converted from the closed state to the open state; the controller is also used for controlling the light assembly and the goods detection assembly to be closed when the warehouse structure is in a closed state or when the warehouse structure is converted from an open state to a closed state.
The embodiment of the invention also provides a delivery robot, which comprises a robot main body, a user instruction sending and receiving module, an identity information acquisition module, a control system and the cargo cabin structure, wherein the robot main body has a walking function and can avoid obstacles, the user instruction sending and receiving module is used for receiving user instructions, the identity information acquisition module is used for acquiring user identity information for verification, and the control system is used for controlling the robot main body and the cargo cabin structure to act according to the user instructions received by the user instruction sending and receiving module.
Based on the delivery robot, the embodiment of the invention also provides a delivery method, which comprises the following steps:
a: receiving a delivery instruction of a delivery party, wherein the delivery instruction comprises delivery party position information, delivery party identity information, cargo type information, delivery party position information and delivery party identity information;
the goods delivery party identity information and the goods receiving party identity information comprise but are not limited to house cards and mobile phone verification codes, the robot firstly positions the position of the robot after receiving the goods delivery party position information, and then plans the goods taking route and the goods delivering route according to the goods delivery party position information and the goods receiving party position information.
b: the goods delivery robot moves to the position of the goods delivery party according to the position information of the goods delivery party, the opening of a goods warehouse structure of the goods delivery robot is controlled after the obtained user identity information is matched with the received identity information of the goods delivery party, and meanwhile, a light assembly and a goods detection assembly in the goods warehouse structure are started;
the light subassembly starts firstly and cooperates the goods to detect the subassembly and scan the goods in to the warehouse, but the user of being convenient for puts into the goods in to the warehouse.
c: after the cargo detection component detects the preset time of the cargo which is consistent with the cargo type information, the cargo cabin structure is closed;
the preset time is used for enabling the delivery party to have enough time to withdraw the hands, of course, the preset time can also be 0, and by arranging the foreign matter detection device at the position of the cargo hold door (namely, the overlapping position of the first opening and the second opening), when the foreign matter detection device sends a signal, the delivery party does not withdraw the hands, the storage bin 2 keeps in the original position, and when the foreign matter detection device does not send a signal, the delivery party completes cargo prevention, and the door can be closed.
d: the goods delivery robot moves to the position of the goods receiver according to the position information of the goods receiver, controls the opening of a goods warehouse structure of the goods delivery robot after the obtained user identity information is matched with the identity information of the goods receiver so that the goods receiver can take out the goods, and simultaneously starts a lighting assembly and a goods detection assembly in the goods warehouse structure;
e: after the goods detecting component detects that the goods are taken out for the preset time, the warehouse structure is closed.
The delivery and pickup processes are basically consistent and are not described in detail.
Further, step f is included after step e: and sending delivery completion information to the delivery party.
Further, the step d specifically includes:
d 1: the delivery robot moves to the position of the receiver according to the position information of the receiver;
d 2: if the acquired user identity information is matched with the identity information of the goods receiver, controlling a warehouse structure of the delivery robot, and simultaneously starting a lighting assembly and a goods detection assembly in the warehouse structure; and if the robot cannot acquire effective user identity information within a preset time after reaching the position of the receiving party, sending delivery failure information to the delivery party and returning the position of the delivery party.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A cargo compartment structure is characterized by comprising a shell, a storage compartment and a functional module, wherein a first opening is formed in one side of the storage compartment, a second opening is formed in one side of the shell, the storage compartment is rotatably arranged in the shell, when the first opening and the second opening are overlapped or partially overlapped, the cargo compartment structure is opened, and when the first opening and the second opening are completely staggered, the cargo compartment structure is closed; the storage bin is provided with an avoiding structure, and the functional module is arranged on the shell and acts on the inner cavity of the storage bin through the avoiding structure.
2. The cargo compartment structure according to claim 1, further comprising a drive device for driving the rotation of the storage compartment relative to the housing.
3. The cargo compartment structure according to claim 1 or 2, wherein the outer shell includes a shell main body and a mounting seat, the mounting seat is detachably disposed on a top portion of the shell main body, the storage compartment is rotatably disposed on the mounting seat through a bearing, and the functional module is disposed on the mounting seat.
4. The cargo compartment structure according to claim 3, wherein the mounting seat has a sinking structure extending downward into the avoiding structure, the storage compartment is rotatably disposed in the sinking structure through a bearing, and the function module is disposed in the sinking structure.
5. The cargo compartment structure according to claim 3, wherein the mounting seat comprises a lower housing and a cover plate, wherein the lower housing is detachably connected with the cover plate and encloses a cavity for accommodating the functional module.
6. The cargo compartment structure according to any one of claims 1 to 2 and 4 to 5, wherein the functional module comprises a light assembly for illuminating the interior of the storage compartment and a cargo detection assembly for detecting the contents of the storage compartment.
7. The bin structure according to claim 6, further comprising a controller for controlling the light assembly and the cargo detection assembly to be activated when the bin structure is in the open state or when the bin structure is transitioned from the closed state to the open state;
the controller is used for controlling the light assembly and the goods detection assembly to be closed when the warehouse structure is in a closed state or when the warehouse structure is switched from an open state to a closed state.
8. A delivery robot, comprising:
a robot main body having a walking function;
a warehouse structure as claimed in any one of claims 1 to 7, the warehouse structure being disposed on the robot body;
the user instruction sending and receiving module is used for receiving a user instruction;
the identity information acquisition module is used for acquiring the identity information of the user;
and the control system is used for controlling the robot main body and the warehouse structure to act according to the user instruction received by the user instruction sending and receiving module.
9. A delivery method applied to the delivery robot of claim 8, comprising the steps of:
a: receiving a delivery instruction of a delivery party, wherein the delivery instruction comprises delivery party position information, delivery party identity information, cargo type information, delivery party position information and delivery party identity information;
b: the delivery robot moves to the position of the delivery party according to the delivery party position information, the warehouse structure of the delivery robot is controlled to be opened after the acquired user identity information is matched with the received delivery party identity information, and meanwhile, a light assembly and a cargo detection assembly in the warehouse structure are started;
c: after the cargo detection component detects the preset time of the cargo corresponding to the cargo type information, the cargo cabin structure is closed;
d: the delivery robot moves to the position of the receiver according to the position information of the receiver, controls the opening of a warehouse structure of the delivery robot after acquiring the user identity information and matching the receiver identity information so as to facilitate the receiver to take out the goods, and simultaneously starts a lighting assembly and a goods detection assembly in the warehouse structure;
e: after the goods detecting component detects that the goods are taken out for the preset time, the warehouse structure is closed.
10. The delivery method of claim 9, further comprising, after step e, step f: and sending delivery completion information to the delivery party.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010679549.3A CN111558927B (en) | 2020-07-15 | 2020-07-15 | Cargo compartment structure, delivery robot and delivery method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010679549.3A CN111558927B (en) | 2020-07-15 | 2020-07-15 | Cargo compartment structure, delivery robot and delivery method |
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| CN111558927B CN111558927B (en) | 2020-10-20 |
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