CN113246148A - Distribution robot and positioning method thereof - Google Patents
Distribution robot and positioning method thereof Download PDFInfo
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- CN113246148A CN113246148A CN202110484126.0A CN202110484126A CN113246148A CN 113246148 A CN113246148 A CN 113246148A CN 202110484126 A CN202110484126 A CN 202110484126A CN 113246148 A CN113246148 A CN 113246148A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000009826 distribution Methods 0.000 title abstract description 24
- 230000003993 interaction Effects 0.000 claims description 9
- 230000006378 damage Effects 0.000 abstract description 6
- 235000012054 meals Nutrition 0.000 abstract description 4
- 235000013305 food Nutrition 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 235000013410 fast food Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The delivery robot comprises a movable chassis and a supporting part, wherein the top of the movable chassis is provided with a first edge and a second edge, the first edge and the second edge are arranged oppositely, the supporting part is arranged on the first edge, the top of the supporting part is provided with an eave extending towards the side where the second edge is located, the top surface of the eave is provided with a first camera used for collecting images of a positioning label pre-arranged in the ceiling direction, and the first camera is arranged horizontally; the distribution robot positioning method comprises the step of calculating the center positioning coordinate of the mobile chassis according to the positioning coordinate of the first camera and the preset distance. The distribution robot provided by the application acquires the images of the positioning labels arranged in the ceiling direction through the first camera to set up the traveling path of the distribution robot, and the distribution task is completed through the traveling path, so that the problem that the distribution robot cannot normally execute the meal delivery task due to the fact that the electromagnetic track is easy to damage is solved.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a distribution robot and a positioning method thereof.
Background
With the development of artificial intelligence technology, the robot replacing the human being gradually becomes a trend of business and life in the modern society. At present, catering modes of dining places such as restaurants and fast food restaurants are mainly of two types, one type is self-service by diners, the other type is delivery by waiters, the first mode saves labor cost, but the dining order is easy to be disordered, the dining experience of diners is influenced, and the second mode improves the service quality but increases labor cost. However, the food preparation is not like mechanical repetitive operation in production and processing, accurate distribution needs to be carried out for each diner, the mechanization difficulty is high, and under the condition, the robot for distributing the food is produced, so that the robot for distributing the food can replace manpower to deliver the food, avoids cross infection and is beneficial to improving the food sanitation quality.
The existing delivery robot usually uses an electromagnetic rail to set up a travel path, however, because the electromagnetic rail is used by being stuck on a floor, in places with dense people stream, such as restaurants, fast food restaurants and the like, the electromagnetic rail is easy to be repeatedly stepped to be damaged, so that the delivery robot cannot normally travel according to the set path to execute a meal delivery task.
Disclosure of Invention
The application aims to provide a delivery robot and a positioning method thereof, which comprises but is not limited to solving the technical problem that the delivery robot cannot normally execute a meal delivery task due to the fact that an electromagnetic track is easy to damage.
In order to achieve the above object, the present application adopts a technical solution that is a delivery robot, including:
the mobile chassis is used for automatically executing the tasks of moving, turning and stopping, and the top of the mobile chassis is provided with a first edge and a second edge, wherein the first edge is arranged opposite to the second edge; and
the supporting part is arranged on the first edge, an eave extending towards the side where the second edge is located is formed at the top of the supporting part, a first camera used for collecting images of the positioning labels pre-arranged in the ceiling direction is arranged on the top surface of the eave, and the first camera is arranged horizontally or approximately horizontally.
In one embodiment, the moving chassis has a central axis extending along the vertical direction, the image capturing center of the first camera is located on one side of the central axis close to the supporting portion, and the vertical distance from the image capturing center of the first camera to the central axis is a preset distance.
In one embodiment, the delivery robot further comprises:
the tray is arranged on the supporting part at intervals along the vertical direction and is positioned between the cornice and the moving chassis, the tray extends towards the side where the second edge is located, and the direction in which the tray extends towards the side where the second edge is located is the length direction;
the vertical distance of the cornice extending out of the supporting part is smaller than the length of the tray.
In one embodiment, the delivery robot further comprises:
the at least two second cameras are used for shooting an article containing area of the tray and an article containing area of the movable chassis, one of the second cameras is arranged on the bottom surface of the cornice and faces the top surface of the tray positioned at the topmost layer, and the rest second cameras are arranged in one-to-one correspondence with the tray;
the bottom surface of the tray is provided with the second camera, and the second camera faces the top surface of the tray or the top surface of the movable chassis at the bottom side of the second camera.
In one embodiment, the distribution robot comprises a plurality of trays, and the vertical distance between the tray positioned at the uppermost layer and the cornice is larger than the vertical distance between two adjacent trays and larger than the vertical distance between the tray positioned at the lowermost layer and the moving chassis.
In one embodiment, the delivery robot further comprises:
the control display assembly is arranged at the top of the supporting part and electrically connected with the mobile chassis and the first camera, and a human-computer interaction interface of the control display assembly forms an included angle of 30-60 degrees with the horizontal direction.
In one embodiment, an emergency stop switch is arranged on the bottom surface of the cornice, and the emergency stop switch is electrically connected with the control display assembly and is positioned on the edge of the bottom surface of the cornice, which is far away from the control display assembly.
In one embodiment, the mobile chassis is provided with a speaker, which is electrically connected with the control and display assembly.
In one embodiment, the moving chassis is provided with a radar and two third cameras, the radar and the two third cameras are located on the same side of the supporting part, and the two third cameras are located on the left side and the right side of the radar.
In one embodiment, the mobile chassis is further provided with one or more of an anti-collision strip, a charging interface and a power-on switch, the anti-collision strip is arranged on the bottom edge of the mobile chassis, and the charging interface and the power-on switch are respectively arranged on the side wall of the mobile chassis.
The embodiment of the application further provides a distribution robot positioning method, which is used for the distribution robot and comprises the following specific steps:
acquiring a label image of the positioning label in a working environment through the first camera; the positioning label is preset in the ceiling direction of the working environment;
after the positioning tag is identified from the tag image, acquiring the distance between the positioning tag and the first camera;
acquiring a positioning coordinate of the first camera according to a prestored coordinate of the positioning label and the distance;
and calculating the central positioning coordinate of the mobile chassis according to the positioning coordinate of the first camera and the preset distance.
The delivery robot and the positioning method thereof have the advantages that: the adoption sets up first camera on the cornice that the supporting part top formed, gather the image of arranging the location label in the ceiling direction through first camera and set up its route of marcing, and accomplish the delivery task through this route of marcing, thereby replaced and set up the mode of its route of marcing with the electromagnetic track, avoided the electromagnetic track to be trampled the condition of destruction and taken place, solved the electromagnetic track easily to damage the technical problem who leads to the unable normal execution food delivery task of delivery robot effectively, be favorable to reducing the fortune dimension cost of delivery robot, user's use experience effect has been promoted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of a dispensing robot provided in an embodiment of the present application;
fig. 2 is a schematic right view of a dispensing robot provided in an embodiment of the present application;
FIG. 3 is a schematic top view of FIG. 2;
FIG. 4 is a schematic rear view of a dispensing robot provided in an embodiment of the present application;
FIG. 5 is a schematic view of the internal structure of FIG. 2;
fig. 6 is a schematic internal structural view of a front view direction of a dispensing robot according to an embodiment of the present disclosure;
fig. 7 is a flowchart of a positioning method for a delivery robot according to an embodiment of the present disclosure.
The figures are numbered:
the system comprises 1-a distribution robot, 10-a moving chassis, 20-a support part, 30-a tray, 40-a first camera, 50-a second camera, 60-a control display component, 70-an emergency stop switch, 80-a loudspeaker, 11-a frame, 12-a radar, 13-a third camera, 14-an avoidance groove, 15-an anti-collision strip, 16-a charging interface, 17-an on-off switch, 21-a cornice, 22-a first support frame, 31-a second support frame, 100-a central axis, 111-a first edge, 112-a second edge, 221-a vertical beam, 222-a first beam, 311-a longitudinal beam, 312-a second beam, D1-a preset interval, D2-a vertical distance that the cornice extends out of the support part, a length of the longest part of an L-projection area, and a width of the widest part of the W-projection area.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly connected to the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element. When a component is referred to as being "electrically connected" to another component, it can be electrically connected by conductors, or can be electrically connected by radios, or can be connected by various other means capable of carrying electrical signals. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience of description only and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore are not to be construed as limiting the patent, the particular meaning of which terms will be understood by those skilled in the art as appropriate. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 3 together, a dispensing robot 1 provided by the present application includes a movable chassis 10 and a supporting portion 20, wherein the movable chassis 10 is used for automatically performing tasks such as moving, turning, and stopping, and the top of the movable chassis 10 has a first edge 111 and a second edge 112, and the first edge 111 is opposite to the second edge 112; the support 20 is disposed on the first edge 111, and an eave 21 is formed on the top of the support 20, the eave 21 extends from the top of the support 20 toward the side of the second edge 112, and a first camera 40 for capturing an image of a positioning tag pre-set in the ceiling direction is disposed on the top surface of the eave 21, the first camera 40 being disposed horizontally or substantially horizontally. It is understood that the mobile chassis 10 is an Automatic Guided Vehicle (AGV) customized according to a desired size, and the mobile chassis 10 may be controlled to operate by a built-in controller or a mobile intelligent terminal (e.g., a mobile phone, a tablet computer, a smart watch, etc.); the cornice 21 provides a sufficient installation position for ensuring that the first camera 40 is installed in a horizontal state, so that the first camera 40 obtains a maximum shooting range towards the upper part of the delivery robot 1, and the sensitivity of identifying and positioning labels is improved; the first camera 40 is electrically connected with the mobile chassis 10 and powered by a mobile circuit built in the mobile chassis 10, the first camera 40 can be directly connected with a controller built in the mobile chassis 10 and feeds back collected image information to the controller, and the collected image information can also be sent to a mobile intelligent terminal or the internet through a wireless transmission module, and then an operation instruction is sent to the mobile chassis 10 through the mobile intelligent terminal or the internet.
In actual use, the moving chassis 10 sets up its traveling path by the first camera 40 capturing an image of the positioning tags arranged in the ceiling direction, thereby causing the dispensing robot 1 to travel on a previously designed path.
The utility model provides a delivery robot 1, adopt and set up first camera 40 on the eaves 21 that forms at supporting part 20 top, gather the image of arranging the location label in the ceiling direction through first camera 40 and set up its route of marcing, and accomplish the delivery task through this route of marcing, thereby replaced and utilized the electromagnetic track to set up its mode of marcing the route, the condition of having avoided the electromagnetic track to be trampled the destruction and taken place, the easy damage of electromagnetic track has been solved effectively and has leaded to the unable normal execution of delivery task of delivery robot technical problem, be favorable to reducing the fortune dimension cost of delivery robot 1, user's use experience effect has been promoted.
Optionally, referring to fig. 3, as a specific embodiment of the dispensing robot provided by the present application, the first camera 40 is an infrared camera, and the positioning tag is an infrared reflective tag. So that the first camera 40 can accurately recognize the path made up of the location tag even in a dimly lit room. Of course, in other embodiments of the present application, the first camera 40 may be a conventional camera and the locator tag may be a conventional retroreflective tag, as long as sufficient illumination is provided, depending on the particular situation and need.
Alternatively, referring to fig. 2 and 3, as an embodiment of the dispensing robot provided by the present application, the moving chassis 10 has a central axis 100 extending in a vertical direction, the image capturing center of the first camera 40 is located on a side of the central axis 100 close to the support 20, and a vertical distance from the image capturing center of the first camera 40 to the central axis 100 is a preset distance D1. That is, the image capturing center of the first camera 40 is not on the central axis 100, and the mounting position of the first camera 40 is close to the side of the first edge 111 of the mobile chassis 10, so that the extension length of the cornice 21 can be shortened, and the difficulty in designing and processing the cornice 21 is effectively reduced. It will be appreciated that the longer the overhang 21, the greater the strength of the support structure required, the more material required and hence the higher the cost.
Due to the existence of the preset distance D1, in the embodiment of the present application, the dispensing robot 1 is positioned in real time by a dispensing robot positioning method, please refer to fig. 7, which includes the following specific steps:
acquiring a label image of the positioning label in a working environment through a first camera 40; a positioning label is preset in the ceiling direction of the working environment;
after the positioning tag is identified from the tag image, acquiring the distance between the positioning tag and the first camera 40;
acquiring a positioning coordinate of the first camera 40 according to a pre-stored coordinate of the positioning tag and a distance between the positioning tag and the first camera 40;
and calculating the central positioning coordinate of the mobile chassis 10 according to the positioning coordinate of the first camera 40 and the preset distance D1.
Specifically, the position of the dispensing robot 1 is based on the central axis 100 of the mobile chassis 10, that is, the central positioning coordinate of the mobile chassis 10 is the coordinate of the dispensing robot 1, when the dispensing robot 1 needs to determine the position in the working environment, the first camera 40 will shoot and obtain the label image of the positioning label arranged in the ceiling direction, and then send the label image to the control system, the control system will recognize the positioning label and the vertical distance between the positioning label and the first camera 40 from the label image, and obtain the coordinate of the positioning label in the database, so as to calculate the positioning coordinate of the first camera 40, and since the vertical distance from the image collection center of the first camera 40 to the central axis 100 is the preset distance D1, the control system can calculate the real-time coordinate of the central axis 100 according to the positioning coordinate of the first camera 40 and the preset distance D1, i.e. the centre positioning coordinates of the mobile chassis 10.
Optionally, referring to fig. 1 to 3, as an embodiment of the dispensing robot provided by the present application, the dispensing robot 1 further includes at least one tray 30, the at least one tray 30 is disposed on the supporting portion 20 at intervals along the vertical direction, and all the trays 30 are located between the cornice 21 and the moving chassis 10, meanwhile, each tray 30 extends toward the side of the second edge 112 of the moving chassis 10, the direction in which the tray 30 extends toward the side of the second edge 112 is the length direction, and the vertical distance D2 that the cornice 21 extends out of the supporting portion 20 is smaller than the length of the tray 30. Specifically, at least one tray 30 is horizontally or substantially horizontally disposed on the side wall of the supporting portion 20 facing the side of the second edge 112, that is, each tray 30 is an open structure in all directions except the side of the supporting portion 20, and by such a single-side supporting structure, it is not only beneficial to reduce the occupied space of the dispensing robot 1, but also convenient to pick and place the articles on the tray 30; the vertical distance D2 that the cornice 21 extends out of the supporting portion 20 is preferably less than or equal to half the length of the tray 30, that is, the cornice 21 only shields a small part of the space above the topmost tray 30, so that most of the space above the topmost tray 30 is in an unshielded state, which is beneficial for the topmost tray 30 to place high-height articles, and of course, in this embodiment, the vertical distance D2 that the cornice 21 extends out of the supporting portion 20 may also be less than the entire length of the tray 30 and greater than half the length of the tray 30.
Optionally, referring to fig. 2, as a specific embodiment of the dispensing robot provided by the present application, the dispensing robot 1 further includes at least two second cameras 50, wherein one second camera 50 is disposed on the bottom surface of the cornice 21 and faces the top surface of the tray 30 located at the topmost layer for photographing the article containing area of the tray 30 located at the topmost layer, and the remaining second cameras 50 are disposed in one-to-one correspondence with the trays 30 for photographing the article containing area of the tray 30 located at the lower layer and the article containing area of the movable chassis 10, in this embodiment, the bottom surface of each tray 30 is provided with one second camera 30, and the second camera 30 faces the top surface of the tray 30 located at the bottom side thereof or the top surface of the movable chassis 10. Specifically, the second camera 50 is a binocular vision camera, and can collect a stereoscopic image of an article in the article containing area; assuming that the at least two second cameras 50 are respectively one second camera 50a and at least one second camera 50b, when only one tray 30 is mounted on the support 20, the dispensing robot 1 includes one second camera 50a and one second camera 50b, wherein the second camera 50a is disposed on the bottom surface of the cornice 21, and the second camera 50a faces the top surface of the tray 30 for taking an image of the top surface of the tray 30 and further identifying whether an article is placed on the tray 30, and the second camera 50b is disposed on the bottom surface of the tray 30 and faces the top surface of the moving chassis 10 for moving the image of the top surface of the moving chassis 10 and further identifying whether an article is placed on the moving chassis 10; when two trays 30 are mounted on the support 20, the dispensing robot 1 includes one second camera 50a and two second cameras 50b, wherein the second camera 50a is disposed on the bottom surface of the cornice 21, and the second camera 50a faces the top surface of the tray 30 located at the topmost layer, the two second cameras 50b are respectively disposed on the bottom surfaces of the two trays 30, and the second camera 50b mounted on the tray 30 located at the topmost layer faces the top surface of the tray 30 located at the bottom side thereof, and the second camera 50b mounted on the tray 30 located at the bottommost layer faces the top surface of the moving chassis 10. The object is identified by the second camera 50, which has higher accuracy than the object identified by the existing photoelectric switch, and has lower requirements on the installation structure. It can be understood that the second camera 50 is a single-ended device, and is used for directly identifying an article through an image, and the photoelectric switch is a double-ended device including a transmitting end and a receiving end, and is used for judging whether the article exists or not by judging whether the receiving end receives an optical signal, and once the receiving end is accidentally blocked, misjudgment is easy to occur.
Alternatively, referring to fig. 1 and 2, as an embodiment of the dispensing robot provided by the present application, the dispensing robot 1 includes a plurality of trays 30, a vertical distance between the tray 30 and the cornice 21 on the uppermost layer is greater than a vertical distance between two adjacent trays 30, and a vertical distance between the tray 30 and the cornice 21 on the uppermost layer is greater than a vertical distance between the tray 30 and the moving chassis 10 on the lowermost layer. Specifically, the dispensing robot 1 includes more than two trays 30, and the more than two trays 30 are spaced and arranged in parallel on the side wall of the support portion 20 facing the second edge 112 along the vertical direction, wherein the vertical distance between the tray 30 at the topmost layer and the cornice 21 is preferably 22-24 cm, the vertical distance between two adjacent trays 30 is preferably 20-22 cm, and the vertical distance between the tray 30 at the lowest layer and the top surface of the moving chassis 10 is preferably 19-23 cm, so that the tray 30 at the topmost layer has a larger storage space and can store higher articles.
Optionally, referring to fig. 1 and fig. 2, as an embodiment of the dispensing robot provided by the present application, the dispensing robot 1 further includes a control display assembly 60, the control display assembly 60 is disposed on the top of the supporting portion 20, and the control display assembly 60 is electrically connected to the moving chassis 10 and the first camera 40, wherein an angle between a human-computer interface of the control display assembly 60 and a horizontal direction is 30 to 60 degrees. Specifically, the control display assembly 60 is detachably mounted on the top of the support portion 20, and according to specific conditions and requirements, a user can fix the control display assembly 60 on the support portion 20 for use and can also hold the control display assembly 60 for operation, which is beneficial to improving the use experience effect of the user; in this embodiment, the control display component 60 includes a touch display screen and a single chip microcomputer, the touch display screen, the mobile chassis 10, the first camera 40 and the second camera 50 are respectively electrically connected with the single chip microcomputer, and the single chip microcomputer is used for receiving an instruction of the touch display screen, processing and analyzing image information acquired by the first camera 40 and the second camera 50, and outputting an instruction to the touch display screen and the mobile chassis 10, so that the control of the distribution robot 1 can be completed through a human-computer interaction interface of the touch display screen, and the distribution robot 1 can be controlled by the single chip microcomputer to automatically complete a distribution task; the human-computer interaction interface of the touch display screen faces upwards, an included angle of 30-60 degrees, preferably an included angle of 45 degrees, is formed between the human-computer interaction interface and the horizontal direction, and faces away from the supporting portion 20, so that the arrangement of the touch display screen is more in line with human-computer engineering, and the human-computer interaction interface is favorable for an operator to enter an input instruction operation on the human-computer interaction interface.
Optionally, referring to fig. 2 and 4, as an embodiment of the dispensing robot provided by the present application, an emergency stop switch 70 is disposed on the bottom surface of the cornice 21, and the emergency stop switch 70 is electrically connected to the control display assembly 60 and is located on an edge of the bottom surface of the cornice 21 away from the control display assembly 60. Specifically, the emergency stop switch 70 is arranged on the edge of the bottom surface of the cornice 21 away from the control display component 60, the operating surface of the emergency stop switch faces downward, and forms an included angle of 30-60 degrees, preferably 45 degrees, with the horizontal direction, and faces away from the control display component 60, so that an operator can press the emergency stop switch 70 in an emergency; due to the emergency stop switch 70 and the control display component 60, in an emergency, the emergency program loaded in the control display component 60 is started by pressing the emergency stop switch 70, and then the emergency program sends an instruction to the mobile chassis 10 to control the mobile chassis 10 to stop, so that the control circuit is prevented from being damaged by direct power failure.
Optionally, referring to fig. 1 and fig. 2, as an embodiment of the dispensing robot provided in the present application, a speaker 80 is disposed on the mobile chassis 10, and the speaker 80 is electrically connected to the control and display assembly 60. Specifically, one or more speakers 80 are disposed in the mobile chassis 10, and when the control system mounted on the control display assembly 60 needs to communicate with a user, the speakers 80 can emit sound through sound-transmitting holes formed in the side wall of the mobile chassis 10, and the user can directly obtain communication information through hearing, and does not need to pay attention to a touch display screen all the time, so that the communication between the dispensing robot 1 and the user is more vivid, and the user experience effect of the user is improved.
Optionally, referring to fig. 1 and fig. 2, as an embodiment of the dispensing robot provided in the present application, a radar 12 and two third cameras 13 are further disposed on the moving chassis 10, wherein the radar 12 and the two third cameras 13 are located on the same side of the supporting portion 20, and the two third cameras 13 are located on left and right sides of the radar 12. Specifically, the radar 12, the two third cameras 13 and the support portion 20 are located on the same side of the mobile chassis 10, wherein the radar 12 and the two third cameras 13 are disposed on a side wall of the mobile chassis 10 on the side of the first edge 111, an avoidance groove 14 is formed in the side wall of the mobile chassis 10 on the side of the first edge 111, the radar 12 is accommodated in the avoidance groove 14, and the two third cameras 13 are respectively embedded in local side walls on the bottom side of the avoidance groove 14, so that the radar 12 and the two third cameras 13 do not protrude out of the side walls, thereby avoiding increasing the volume of the mobile chassis 10 and making the appearance of the mobile chassis 10 more beautiful; in the present embodiment, the radar 12 is preferably a photoelectric radar, which is located at the bottom side of the support portion 20 and the detection surface of which is exposed to the external environment, and can detect a range of an angle less than or equal to 180 degrees, and the two third cameras 13 are disposed at the bottom side of the radar 12 and are symmetrically disposed at the left and right sides of the radar 12, so that an obstacle can be detected by the radar 12 and an image of the obstacle can be captured by the two third cameras 13, which is advantageous for the mobile chassis 10 to identify and avoid the obstacle.
Optionally, referring to fig. 2 and 4, as an embodiment of the dispensing robot provided by the present application, the mobile chassis 10 is further provided with one or more of a bumper strip 15, a charging interface 16, and an energizing switch 17 in addition to the speaker 80, the radar 12, and the third camera 13, wherein the bumper strip 15 is disposed on a bottom edge of the mobile chassis 10, and the charging interface 16 and the energizing switch 17 are respectively disposed on a sidewall of the mobile chassis 10. Specifically, the bumper strip 15 is circumferentially disposed on the bottom edge of the mobile chassis 10, and plays a role in preventing rigid impact and cushioning; the charging interface 16 and the power-on switch 17 are respectively arranged on the side wall of the mobile chassis 10 on the side of the second edge 112 and are flush with the outer surface of the side wall of the mobile chassis 10 on the side of the second edge 112, that is, the charging interface 16 and the power-on switch 17 are embedded on the side wall of the mobile chassis 10 far away from the radar 12, so that the appearance of the mobile chassis 10 is smoother and more attractive, wherein the charging interface 16 is used for being connected with a charger adapted to the distribution robot 1, and the power-on switch 17 is used for turning on or turning off a mobile power supply built in the mobile chassis 10.
Optionally, referring to fig. 3, 5 and 6, as an embodiment of the dispensing robot provided by the present application, projections of the moving chassis 10, the supporting portion 20, the tray 30 and the control display assembly 60 on the same horizontal plane are overlapped to form a projection area, a length L of a longest portion of the projection area is 40 to 50 cm, and a width W of a widest portion of the projection area is 35 to 45 cm. Specifically, the mobile chassis 10 includes a first housing and a frame 11, the support portion 20 includes a second housing and a first support frame 22, the tray 30 includes a tray body and a second support frame 31, the control and display assembly 60 includes a third housing, wherein the first support frame 22 is vertically installed on one side edge of the top of the frame 11, which is understood to be the first edge 111, and the first support frame 22 is located at the front side or the rear side of the advancing direction of the mobile chassis 10, the second support frame 31 is horizontally installed at the middle portion of the first support frame 22, which is located directly above the frame 11 and extends in the direction away from the first support frame 22, the first support frame 22 may be composed of two upright beams 221 and at least one first cross beam 222, which may be Jiong-shaped or crescent-shaped in entirety, etc., the second support frame 31 may be composed of two longitudinal beams 311 and at least one second cross beam 312, the whole body can be in a U shape or a Chinese character 'ri' shape, so that the supporting strength can be effectively improved; the bottom of the second shell is connected with the first shell, the wrapping frame 11 is wrapped together to be assembled into the mobile chassis 10, the first support frame 22 is wrapped together to be assembled into the support part 20 by the second shell, the second support frame 31 penetrates out of the second shell, the tray body is sleeved on the second support frame 31 to be assembled into the tray 30, the third shell is connected to the top of the second shell, and the touch display screen and the single chip microcomputer are wrapped together to be assembled into the control display assembly 60; after the distribution robot 1 is assembled, the projection of the moving chassis 10 on the floor, the projection of the support part 20 on the floor, the projection of the tray 30 on the floor and the projection of the control display assembly 60 on the floor are overlapped to form a projection area, the projection area is approximately rectangular, the length L of the projection area is within the range of 40-50 centimeters, and the width W of the projection area is within the range of 35-45 centimeters, so that the distribution robot 1 occupies a small space and can be applied to a passage with the width less than 0.7 meter.
Alternatively, referring to fig. 1 to 4, as an embodiment of the dispensing robot provided by the present application, the dispensing robot 1 may be used for dispensing food items in a dining room, and includes a moving chassis 10, a supporting portion 20, two trays 30, a first camera 40, three second cameras 50, a control display assembly 60, an emergency stop switch 70, and two speakers 80, wherein a longest portion of the moving chassis 10 has a length of 40 to 50 cm, a widest portion has a width of 35 to 45 cm, and a height of 24 to 26 cm, the moving chassis 10 has a first edge 111 and a second edge 112 in a forward direction, a radar 12, two third cameras 13, a bumper strip 15, a charging interface 16, and a power switch 17 are disposed on the moving chassis 10, the radar 12 and the two third cameras 13 are respectively disposed on a side wall of the moving chassis 10 on the side of the first edge 111, an avoidance groove 14 is formed in a side wall, located on the side where the first edge 111 is located, of the mobile chassis 10, the radar 12 is accommodated in the avoidance groove 14, the two third cameras 13 are respectively embedded in local side walls located on the bottom side of the avoidance groove 14, the anti-collision strip 15 is circumferentially arranged on the bottom edge of the mobile chassis 10, the charging interface 16 and the power-on switch 17 are respectively embedded in a side wall, located on the side where the second edge 112 is located, of the mobile chassis 10, a mobile power supply is arranged inside the mobile chassis 10, and the charging interface 16 and the power-on switch 17 are respectively connected with the mobile power supply; the support part 20 extends upwards from the first edge 111 along the vertical direction, the height of the support part 20 is 68-76 cm, an eave 21 is formed at the top of the support part 20, and the eave 21 extends from the top of the support part 20 to the side of the second edge 112; the two trays 30 are arranged in parallel at intervals on the side wall of the support part 20 facing the side of the second edge 112 in the vertical direction and extend towards the side of the second edge 112 respectively, wherein the length of the longest position of each tray 30 is 35-45 cm, the width of the widest position of each tray 30 is 30-45 cm, the vertical distance between each tray 30 positioned at the topmost layer and the corresponding cornice 21 is preferably 22-24 cm, the vertical distance between every two adjacent trays 30 is preferably 20-22 cm, and the vertical distance between each tray 30 positioned at the bottommost layer and the top surface of the mobile chassis 10 is preferably 19-23 cm; the first camera 40 is arranged on the top surface of the cornice 21, is in a horizontal or substantially horizontal state, and is used for collecting images of a positioning label preset in the ceiling direction, wherein the first camera 40 is an infrared camera, and the positioning label is an infrared reflective label; the three second cameras 50 are preferably binocular vision cameras, wherein one second camera 50 is arranged on the bottom surface of the cornice 21 and faces the top surface of the tray 30 positioned at the topmost layer, and the other two second cameras 50 are respectively arranged on the bottom surfaces of the two trays 30, wherein the second camera 50 mounted on the topmost layer tray 30 faces the top surface of the tray 30 positioned at the bottom side thereof, and the second camera 50 mounted on the bottommost layer tray 30 faces the top surface of the moving chassis 10; the control display component 60 is detachably arranged at the top of the support part 20, the control display component 60 comprises a touch display screen and a single chip microcomputer, the touch display screen, the mobile chassis 10, the first camera 40, the second camera 50, the emergency stop switch 70, the loudspeaker 80, the radar 12, the third camera 13 and the mobile power supply are respectively electrically connected with the single chip microcomputer, a human-computer interaction interface of the touch display screen faces upwards and forms an included angle of 30-60 degrees, preferably an included angle of 45 degrees with the horizontal direction, and the human-computer interaction interface faces away from the support part 20; the emergency stop switch 70 is arranged on the edge of the bottom surface of the cornice 21 away from the control display component 60, the operating surface of the emergency stop switch faces downwards, an included angle of 30-60 degrees, preferably 45 degrees is formed between the operating surface of the emergency stop switch and the horizontal direction, and the operating surface of the emergency stop switch faces away from the control display component 60; the two speakers 80 are provided in the mobile chassis 10, and emit sounds through sound-transmitting holes opened in two side walls of the mobile chassis 10 that are different from the radar 12, the third camera 13, the charging interface 16, and the energizing switch 17, respectively. The distribution robot 1 provided by the embodiment collects the images of the positioning tags arranged on the ceiling direction through the first camera 40 to set up the traveling path of the distribution robot, and completes the distribution task through the traveling path, so that the mode of setting up the traveling path by using the electromagnetic track is replaced, the phenomenon that the electromagnetic track is trampled and damaged is avoided, the technical problem that the distribution robot cannot normally execute the meal delivery task due to the fact that the electromagnetic track is easily damaged is effectively solved, and the volume can be miniaturized due to the fact that the structure that the tray 30 is supported by the unilateral supporting part 20 is adopted, and the distribution robot is convenient to be applied to catering places with narrow channels.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A dispensing robot, comprising:
the mobile chassis is used for automatically executing the tasks of moving, turning and stopping, and the top of the mobile chassis is provided with a first edge and a second edge, wherein the first edge is arranged opposite to the second edge; and
the supporting part is arranged on the first edge, an eave extending towards the side where the second edge is located is formed at the top of the supporting part, a first camera used for collecting images of the positioning labels pre-arranged in the ceiling direction is arranged on the top surface of the eave, and the first camera is arranged horizontally or approximately horizontally.
2. The dispensing robot as recited in claim 1, wherein the moving chassis has a central axis extending in a vertical direction, the image capturing center of the first camera is located on a side of the central axis adjacent to the support portion, and a vertical distance from the image capturing center of the first camera to the central axis is a predetermined distance.
3. The dispensing robot of claim 2, further comprising:
the tray is arranged on the supporting part at intervals along the vertical direction and is positioned between the cornice and the moving chassis, the tray extends towards the side where the second edge is located, and the direction in which the tray extends towards the side where the second edge is located is the length direction;
the vertical distance of the cornice extending out of the supporting part is smaller than the length of the tray.
4. The dispensing robot of claim 3, further comprising:
the at least two second cameras are used for shooting an article containing area of the tray and an article containing area of the movable chassis, one of the second cameras is arranged on the bottom surface of the cornice and faces the top surface of the tray positioned at the topmost layer, and the rest second cameras are arranged in one-to-one correspondence with the tray;
the bottom surface of the tray is provided with the second camera, and the second camera faces the top surface of the tray or the top surface of the movable chassis at the bottom side of the second camera.
5. The dispensing robot as claimed in claim 3, including a plurality of said trays, wherein a vertical spacing between said tray positioned at an uppermost layer and said cornice is greater than a vertical spacing between two adjacent said trays, and is greater than a vertical spacing between said tray positioned at a lowermost layer and said moving chassis.
6. The dispensing robot of claim 2, further comprising:
the control display assembly is arranged at the top of the supporting part and electrically connected with the mobile chassis and the first camera, and a human-computer interaction interface of the control display assembly forms an included angle of 30-60 degrees with the horizontal direction.
7. The dispensing robot of claim 6, wherein the bottom surface of the overhang has a crash stop switch electrically connected to the control and display assembly and located on an edge of the bottom surface of the overhang remote from the control and display assembly.
8. A dispensing robot as recited in claim 6, wherein said mobile chassis is provided with a speaker, said speaker being electrically connected to said control and display assembly.
9. The dispensing robot as claimed in any one of claims 2 to 8, characterized in that the moving chassis is provided with a radar and two third cameras, the radar and the two third cameras being located on the same side of the support, the two third cameras being located on the left and right sides of the radar.
10. The dispensing robot as recited in claim 9, wherein the movable chassis is further provided with one or more of a bumper strip, a charging interface, and a power switch, the bumper strip being disposed on a bottom edge of the movable chassis, the charging interface and the power switch being disposed on a side wall of the movable chassis, respectively.
11. A dispensing robot positioning method used for the dispensing robot according to any one of claims 2 to 10, comprising the steps of:
acquiring a label image of the positioning label in a working environment through the first camera; the positioning label is preset in the ceiling direction of the working environment;
after the positioning tag is identified from the tag image, acquiring the distance between the positioning tag and the first camera;
acquiring a positioning coordinate of the first camera according to a prestored coordinate of the positioning label and the distance;
and calculating the central positioning coordinate of the mobile chassis according to the positioning coordinate of the first camera and the preset distance.
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| CN202110484126.0A CN113246148A (en) | 2021-04-30 | 2021-04-30 | Distribution robot and positioning method thereof |
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| CN202110484126.0A CN113246148A (en) | 2021-04-30 | 2021-04-30 | Distribution robot and positioning method thereof |
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