CN112828852B

CN112828852B - Distribution robot

Info

Publication number: CN112828852B
Application number: CN202110206717.1A
Authority: CN
Inventors: 李良源; 谢彦腾; 王松青
Original assignee: Guangzhou Saite Intelligent Technology Co Ltd
Current assignee: Guangzhou Saite Intelligent Technology Co Ltd
Priority date: 2020-12-22
Filing date: 2021-02-24
Publication date: 2022-07-12
Anticipated expiration: 2041-02-24
Also published as: CN112828852A

Abstract

The invention discloses a delivery robot, comprising: the robot comprises a robot body, a control module arranged on the robot body, and a driving wheel and a universal wheel which are arranged at the bottom of the robot body, wherein a cavity is formed in the robot body, a taking and placing window is arranged on a side plate of the robot body, and a first distribution outlet is arranged on a front panel of the robot body; a first conveying belt is arranged at the first distribution outlet, one end of the first conveying belt extends out of the robot body, and the other end of the first conveying belt extends into the robot body; the robot is characterized in that a storage rack capable of moving up and down is arranged in the robot body, the storage rack is controlled to lift by a storage rack lifting assembly, a plurality of layers of second conveying belts are arranged on the storage rack at intervals along the vertical direction, and the discharge end of each second conveying belt can be opposite to the feed end of each first conveying belt. The distribution robot has certain capacity and can realize the batch transfer and distribution of articles.

Description

Distribution robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a distribution robot.

Background

With the development of science and technology, mechanical automation gradually enters the daily life field of people from the industrial production field. At present, the three-meal distribution of prisons still adopts a manual distribution mode, food to be distributed is independently distributed by diners and then placed into meal boxes, then the meal boxes are placed on a hand-push dining car, and the food to be distributed is distributed to doors of all rooms by the distributors through the hand-push dining car. The manual meal delivery mode has low distribution efficiency, high working strength of distribution personnel, more manpower is needed to complete distribution, and the conditions of distribution errors and food pollution are easy to occur.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide an intelligent delivery robot with high efficiency and accuracy in food delivery.

The purpose of the invention is realized by adopting the following technical scheme:

a dispensing robot, comprising: the robot comprises a robot body, a control module arranged on the robot body, and a driving wheel and a universal wheel which are arranged at the bottom of the robot body, wherein a cavity is formed in the robot body, a taking and placing window is arranged on a side plate of the robot body, and a first distribution outlet is arranged on a front panel of the robot body; a first conveying belt is arranged at the first distribution outlet, one end of the first conveying belt extends out of the robot body, and the other end of the first conveying belt extends into the robot body; the robot is characterized in that a storage rack capable of moving up and down is arranged in the robot body, the storage rack is controlled to lift by a storage rack lifting assembly, a plurality of layers of second conveying belts are arranged on the storage rack at intervals in the vertical direction, and the discharge end of each second conveying belt can be opposite to the feed end of each first conveying belt.

As a specific embodiment of the delivery robot of the present invention, the delivery robot further includes a storage box disposed in the robot body, the storage box has a box-shaped structure with an open side, the open side of the storage box corresponds to the side of the robot body where the pick-and-place window is disposed, a second delivery outlet corresponding to the first delivery outlet is disposed on a front panel of the storage box, one end of the first conveyor belt extends out of the robot body, and the other end of the first conveyor belt extends into the storage box; the storage frame is arranged in the storage box and can move up and down in the storage box.

As a specific embodiment of the dispensing robot of the present invention, the storage rack lifting assembly is a scissor lift, and the storage rack is disposed on the scissor lift.

As a specific embodiment of the dispensing robot according to the present invention, a first position sensor is disposed at a front end of the second conveyor, and a second position sensor matched with the first position sensor is disposed at a rear end of the first conveyor.

As a specific embodiment of the dispensing robot of the present invention, the discharge end of the first conveyor belt is provided with a pair of oppositely disposed limiting plates.

As a specific embodiment of the distribution robot of the present invention, the second conveyor belt is provided with lunch box position-limiting members at intervals, and the lunch box position-limiting members protrude from the surface of the second conveyor belt.

As a specific embodiment of the distribution robot of the present invention, the robot body is provided with a display screen, a speaker, an ultrasonic sensor, and a laser radar; the control module comprises a main controller, a man-machine interaction module, a motion control module, a wireless communication module, a navigation positioning module and a safety auxiliary module, wherein the man-machine interaction module, the motion control module, the navigation positioning module and the safety auxiliary module are connected with the main controller, the man-machine interaction module is connected with a display and a loudspeaker, the motion control module is connected with the storage rack lifting assembly, the navigation positioning module is connected with the laser radar, and the safety auxiliary module is connected with the ultrasonic sensor.

As a specific implementation manner of the distribution robot of the present invention, the control module further includes an initialization module, an interrupt module, and a data acquisition module, which are connected to the main controller, where the initialization module is used to initialize a system clock, an I/O port function, a system timer, serial communication, and an AD/digital converter of the control module; the interrupt module is used for setting timer interrupt, external event interrupt and serial communication interrupt; the data acquisition module is used for acquiring sensor data.

As a specific embodiment of the dispensing robot of the present invention, the dispensing robot further includes an automatic charging module disposed at a lower portion of the robot body.

As a specific embodiment of the dispensing robot of the present invention, the robot body is provided with a GPS module, a vision sensor, and a proximity sensor.

Compared with the prior art, the invention has the beneficial effects that: the robot body is internally provided with an inner cavity with certain containing capacity, articles such as lunch boxes and the like which can be distributed for the next time can be placed in the inner cavity, the storage rack which can move up and down is arranged in the inner cavity, a plurality of layers of conveying belts for bearing the articles are arranged on the storage rack, meanwhile, another conveying belt is arranged at the distribution outlet position of the robot body, and the conveying belts on the storage rack are aligned with the conveying belts at the distribution outlet position through the up and down movement of the storage rack, so that the articles borne by the storage rack are automatically and orderly conveyed outwards, the distribution work can be automatically completed, and the distribution efficiency is greatly improved.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a side view of an embodiment of the present invention;

FIG. 3 is a schematic view of a storage case according to an embodiment of the present invention;

FIG. 4 is a schematic view of the internal structure of the storage case according to the embodiment of the present invention;

FIG. 5 is a block diagram of a control module according to an embodiment of the present invention;

fig. 6 is a block diagram of another implementation manner of the control module according to the embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the following embodiments.

Referring to fig. 1 and 2, the intelligent delivery robot of the embodiment includes a robot body 1, a taking and placing window 1a is provided on a side plate of the robot body 1, a movable cover plate 4 capable of being opened and closed is provided at the taking and placing window 1a, a cavity capable of placing an article is provided inside the robot body 1, and after the movable cover plate 4 is opened, the article can be placed into or taken out of the robot body 1 from the taking and placing window 1 a. A first dispensing outlet 1b is provided in a front panel of the robot body 1, and articles placed in the robot body 1 can be discharged from the first dispensing outlet 1 b. This embodiment still is provided with display screen 5, speaker 6, ultrasonic sensor 7, lidar 8 and position detection sensor 9 on the front panel of robot 1, and display screen 5, speaker 6, ultrasonic sensor 7, lidar 8, position detection sensor 9 all are connected with the control module who sets up in robot 1 inside. Laser radar 8 and ultrasonic sensor 7 are used for realizing the automation of device and keep away the barrier function, and position detection sensor 9 is used for and outside charging device cooperation, realizes automatic counterpoint and charges. The bottom of the robot body 1 is provided with a driving wheel 2 and an outward wheel 3, and the driving wheel 2 is controlled by a driving module connected with a control module to realize self-walking. The driving module comprises a servo motor, a motor controller and a speed reducer. The robot body 1 is further provided with a GPS module (not shown) for coordinate positioning, a vision sensor (not shown) for scanning a road surface and detecting serial number information of the robot and a proximity sensor (not shown) for detecting the alignment accuracy between the robot and a meal delivery position based on different metal characteristic principles, the GPS module is arranged in the robot body 1, the vision sensor is arranged at the front part and the side part of the robot body 1, and the proximity sensor is embedded in the front part of the robot body 1.

Referring to fig. 3 and 4, in the present embodiment 1, a storage box 10 is disposed in the robot body 1, and the storage box 10 is independent from the robot body 1 and is accommodated in the robot body 1, so that food hygiene can be further ensured. However, in other embodiments, the storage compartment may not be provided. Deposit case 10 and be the open box structure in a side, this open side corresponds with the side that has set up of robot 1 and has put window 1a, be provided with the second delivery export 10a that corresponds with the first delivery export 1b position of robot 1 on the front panel of depositing case 10, be provided with the first conveyer belt 11 of horizontal extension in second delivery export 10a department, first conveyer belt 11 passes through conveyer belt support 12 to be fixed on depositing case 10, the one end of first conveyer belt 11 extends beyond robot 1 outside, the other end extends to in depositing case 10, conveyer belt drive unit 13 is fixed in on conveyer belt support 12, conveyer belt drive unit 13 of this embodiment adopts gear motor, gear motor passes through driving medium such as belt drive first conveyer belt 11 and rotates. In order to ensure that the lunch box deviates in the process of being conveyed by the first conveyor belt 11, two limiting plates 14 are respectively arranged on two sides of the discharge end of the first conveyor belt 11, the two limiting plates 14 are oppositely arranged, and the distance between the limiting plates 14 corresponds to the width of the lunch box, so that the lunch box cannot deviate in the conveying process. The limit plate 14 may be fixed to the storage box 10 or to the robot body 1.

A storage rack 15 is arranged in the storage box 10, the storage rack 15 can move up and down in the storage box 10 along the vertical direction, a scissors lift 16 is arranged in the storage box 10, the storage rack 15 is arranged on the scissors lift 16, and the storage rack 15 can move up and down through the scissors lift 16. The storage rack 15 is provided with a plurality of layers of second conveyor belts 17 arranged at intervals along the vertical direction, each layer of second conveyor belt 17 is driven by an independent conveyor belt driving unit 13, a plurality of lunch boxes can be placed on the second conveyor belts 17, and the lunch boxes carried by the second conveyor belts 17 can be conveyed forwards in sequence when the second conveyor belts 17 run. The discharge end of the second conveyor 17 can be opposite to the feed end of the first conveyor 11, so that the lunch boxes on the second conveyor 17 can be transferred onto the first conveyor 11 and conveyed outwards by the first conveyor 11. The front end of each layer of second conveyor belt 17 is provided with a first position sensor 18, the rear end of the first conveyor belt 17 is provided with a second position sensor 19, and the first position sensor 18 and the second position sensor 19 are matched with each other and used for detecting the height of each layer of second conveyor belt 17 on the storage rack 15, so that the second conveyor belt 17 can be aligned with the first conveyor belt 11, and lunch boxes can be conveyed onto the first conveyor belt 11 stably. The position sensor of the present invention may employ a photoelectric sensor. In order to ensure that the lunch boxes are sequentially and outwardly sent one by one, the second conveying belt 17 is provided with the limiting parts 21 at intervals, the limiting parts 21 of the embodiment are convex strips protruding out of the surface of the second conveying belt 17, the lunch boxes are placed between the adjacent limiting parts 21 and are separated by the limiting parts 21, so that the lunch boxes are placed more neatly, and workers can place the lunch boxes more conveniently. In other embodiments, a transmission structure such as a motor + screw rod, or a motor + belt, or a motor + chain may be used as the storage rack lifting assembly instead of the scissor lift to move the storage rack 15 up and down in the storage box 10. The first and second conveyor belts of the invention can be conventional belt conveyors.

As shown in fig. 5, the control module of the present invention includes a main controller, a human-computer interaction module connected to the main controller, a motion control module, a wireless communication module, a navigation positioning module, and a security assistance module. The main controller is used for being in charge of logic control and data processing of the robot. The motion control module is used for controlling the lifting motion of the storage rack lifting assembly. The wireless communication module can be a wireless communication module such as WIFI, 4G communication, 433MHz and the like, and is used for realizing communication connection between the delivery device and the dispatching management center, so that the delivery robot can receive instructions from the dispatching management center, and simultaneously, the position information, the working state, the electric quantity information, the working condition and the like of the delivery robot are transmitted to the dispatching management center in real time, and the dispatching management center can conveniently monitor the delivery robot in real time. The navigation positioning module is used for controlling a laser radar arranged on the robot body, ensuring that the distribution robot transports objects along a set transportation path, and acquiring the position information of the distribution robot. The safety auxiliary module is used for controlling the ultrasonic sensors arranged on the robot body, the ultrasonic sensors detect whether obstacles appear or not in real time in the process of conveying articles by the delivery robot, when the ultrasonic sensors detect the obstacles, detected information is transmitted to the main controller, the main controller sends out an operation stopping instruction to the driving module, and the driving module controls the driving wheels to stop working when receiving the operation stopping instruction. The man-machine interaction module is used for controlling the display screen and the loudspeaker to realize man-machine interaction.

Furthermore, the control module further includes an initialization module, an interrupt module and a data acquisition module (fig. 6), where the initialization module is used to initialize the control system, and mainly includes initialization of a system clock, initialization of I/O port functions, initialization of a system timer, initialization of serial port communication and initialization of AD digital-to-analog conversion; the interrupt module is used for realizing logic control of the control system, the normal sequential logic of the control system is ensured through setting of a flag bit, and the interrupt module specifically comprises three interrupt settings, namely timer interrupt setting, external event interrupt setting, serial communication interrupt setting and the like, the timer interrupt setting provides a time sequence for system control, the external event interrupt setting comprises encoder interrupt setting and ultrasonic interrupt setting, and the data acquisition module is used for receiving and processing data and mainly acquiring position information, electric quantity information and the like of the distribution robot.

As a preferred embodiment, in order to facilitate charging of the distribution robot, the control system further includes an automatic charging module 20 disposed at a lower portion of the robot body, when charging is required, the distribution robot enters the charging station under the guiding action of the laser radar, and then the automatic charging module 20 is electrically connected to a charging port of the charging station, so that charging can be performed.

The working process of the dispensing robot of the present invention is explained below:

before the meal is delivered, the movable cover plate 4 is opened by a meal box distributing worker, the meal boxes are placed on the second conveying belts 17 of the storage rack 15 from the taking and placing window 1a, the meal boxes are filled with the second conveying belts 17 of all layers, after the meal boxes are loaded, the movable cover plate 4 is closed, and the distributing robot waits for a task instruction of the dispatching management center to go to each meal preparation point for meal delivery.

After the distribution robot loads the lunch boxes, the distribution robot is in communication connection with the dispatching management center through the wireless communication module, the dispatching management center line distribution robot sends a meal sending command, the distribution robot receives the meal sending command, the main controller controls the distribution robot to go to a meal distribution point, in the motion process of the distribution robot, the navigation positioning module and the safety auxiliary module send collected information to the main controller, and the main controller sends self position information, working states, electric quantity information, transportation path information and the like to the dispatching management center through the wireless communication module in real time, so that the dispatching management center can monitor the distribution robot in real time.

When the distribution robot reaches a distribution point, the main controller controls the action of the scissor lift through the motion control module, the scissor lift moves the upper position and the lower position of the storage rack 15, firstly, the second conveyor belt 17 at the lowest layer is aligned with the height of the first conveyor belt 11, then, the second conveyor belt 17 is controlled to run, lunch boxes on the second conveyor belt 17 at the lowest layer are sequentially conveyed forwards to the first conveyor belt 11 and are conveyed out of the first feeding port 1b of the robot body 1 through the first conveyor belt 11, after one lunch box is taken away, the second conveyor belt 17 continues to convey another lunch box forwards until all the lunch boxes on the second conveyor belt 17 at the layer are sent out, the scissor lift moves the storage rack 15 downwards by one layer, the second conveyor belt 17 at the upper layer is controlled to run, the lunch boxes on the second conveyor belt 17 at the layer are sequentially conveyed outwards according to the same steps, after all the lunch boxes on the second conveyor belt 17 at the layer are sent out, repeating the above operations, the lunch boxes on each layer of the second conveyor belt 17 are sent out in sequence.

After all the lunch boxes are distributed, the dispatching management center sends a return instruction to the distribution robot, and after the distribution robot receives the return instruction, the main controller controls the distribution robot to return.

Various other changes and modifications to the above-described embodiments and concepts will become apparent to those skilled in the art from the above description, and all such changes and modifications are intended to be included within the scope of the present invention as defined in the appended claims.

Claims

1. A dispensing robot, comprising: the robot body, set up the control module on the robot body, set up in the drive wheel and the universal wheel of robot body bottom, its characterized in that:

the robot comprises a robot body, a storage box and a control system, wherein a cavity is formed in the robot body, a taking and placing window is arranged on a side plate of the robot body, a first distribution outlet is formed in a front panel of the robot body, the robot body is internally provided with the storage box, the storage box is of a box-type structure with one open side, the open side of the storage box corresponds to the side of the robot body, on which the taking and placing window is arranged, and a second distribution outlet corresponding to the first distribution outlet is formed in the front panel of the storage box;

a first conveying belt is arranged at the first distribution outlet, one end of the first conveying belt extends out of the robot body, and the other end of the first conveying belt extends into the storage box;

the storage box is internally provided with a storage rack capable of moving up and down, the storage rack is controlled to lift by a storage rack lifting assembly, the storage rack is provided with a plurality of layers of second conveying belts arranged at intervals along the vertical direction, the discharge end of each second conveying belt can be opposite to the feed end of each first conveying belt, the front end of each second conveying belt is provided with a first position sensor, the rear end of each first conveying belt is provided with a second position sensor matched with the first position sensor, and each second position sensor is used for detecting the height of each layer of the storage rack, so that the second conveying belts can be aligned with the first conveying belts.

2. The dispensing robot of claim 1, wherein: the storage rack lifting assembly is a scissor lift, and the storage rack is arranged on the scissor lift.

3. The dispensing robot of claim 1, wherein: the discharge end of the first conveying belt is provided with a pair of limiting plates which are oppositely arranged.

4. The dispensing robot of claim 1, wherein: lunch box limiting parts are arranged on the second conveying belt at intervals, and protrude out of the surface of the second conveying belt.

5. The dispensing robot of claim 1, wherein: the robot body is provided with a display screen, a loudspeaker, an ultrasonic sensor and a laser radar;

the control module comprises a main controller, a man-machine interaction module, a motion control module, a wireless communication module, a navigation positioning module and a safety auxiliary module, wherein the man-machine interaction module, the motion control module, the navigation positioning module and the safety auxiliary module are connected with the main controller, the man-machine interaction module is connected with the display screen and the loudspeaker, the motion control module is connected with the storage rack lifting assembly, the navigation positioning module is connected with the laser radar, and the safety auxiliary module is connected with the ultrasonic sensor.

6. The dispensing robot of claim 5, wherein: the control module also comprises an initialization module, an interruption module and a data acquisition module which are connected with the main controller, wherein the initialization module is used for initializing a system clock, an I/O port function, a system timer, serial port communication and an AD (analog-to-digital) converter of the control module; the interrupt module is used for setting timer interrupt, external event interrupt and serial communication interrupt; the data acquisition module is used for acquiring sensor data.

7. The dispensing robot of claim 1, wherein: the robot further comprises an automatic charging module arranged on the lower portion of the robot body.

8. The dispensing robot of claim 1, wherein: the robot body is provided with a GPS module, a vision sensor and a proximity sensor.