CN114264306A - Indoor and outdoor combined distribution robot and distribution method - Google Patents
Indoor and outdoor combined distribution robot and distribution method Download PDFInfo
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- CN114264306A CN114264306A CN202111456851.3A CN202111456851A CN114264306A CN 114264306 A CN114264306 A CN 114264306A CN 202111456851 A CN202111456851 A CN 202111456851A CN 114264306 A CN114264306 A CN 114264306A
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Abstract
The invention provides a distribution robot and a distribution method combining indoor and outdoor, which can be seamlessly connected. A distribution robot combining indoor and outdoor comprises a sensing system, a calculating system and a control system, wherein the sensing system is used for acquiring surrounding environment signals and sending the signals to the calculating system; the computing system comprises a perception processing computing unit and a navigation processing computing unit, wherein the perception processing computing unit receives signals of the sensing system to perceive the surrounding environment, dynamically monitors the change of the surrounding environment in real time, and transmits perceived object information to the decision planning module; the navigation processing calculation unit carries out decision judgment according to the object information obtained by the sensing processing calculation unit, forms a safe and reasonable path plan and transmits the path plan to the control execution module; the distribution robot further comprises a man-machine interaction system, a ladder control system, an outdoor navigation system and an indoor navigation system.
Description
Technical Field
The invention relates to a distribution robot, in particular to an indoor and outdoor combined distribution robot and a distribution method, and belongs to the technical field of robots.
Background
An automatic automobile driving system is an intelligent automobile system which realizes unmanned driving through a vehicle-mounted computer system, and is also called an unmanned automobile, a computer-driven automobile or a wheeled mobile robot. At present, the key technologies of the automatic driving automobile mainly comprise environment perception, accurate positioning, decision and planning, control and execution, high-precision maps and an internet of vehicles V2X. The automatic driving automobile can sense the surrounding environment through vehicle-mounted sensors such as a camera, a laser radar, a millimeter wave radar, ultrasonic waves and the like, dynamically monitor the change of the surrounding environment in real time, and carry out decision judgment according to the acquired information to form safe and reasonable path planning. After the path is planned, the automobile execution system controls the vehicle to finish driving along the planned path.
The service robot wants to walk freely, and it is the key to realize autonomous positioning navigation, including positioning, mapping and path planning. Because the GPS satellite signal has extremely low power and poor penetrating power, the GPS satellite signal is often blocked by a building wall and cannot enter the room, and therefore, the laser radar is generally adopted to build a map to realize indoor autonomous navigation. SLAM is continuously gaining importance in the industry as a core technology of robot positioning and navigation, but SLAM only completes positioning and map creation. Path planning related algorithms are also needed to move from one point to another.
A robot wireless elevator control system is an intelligent floor registration system based on wireless Internet of things. Through installing in the inside and outside ladder accuse system of elevator car and installing in the inside wireless communication module of intelligent robot additional, whole butt joint robot intelligent control system realizes the robot and the seamless butt joint of building accuse system's zero artificial intervention, accomplishes the robot and takes advantage of the ladder flow by oneself of the intelligence that the elevator reciprocated target floor.
However, at present, no service robot capable of getting through indoors and outdoors is available in the market, and a service robot capable of seamlessly connecting indoors and outdoors is urgently needed.
Disclosure of Invention
The invention aims to provide a delivery robot and a delivery method combining indoor and outdoor, which can be seamlessly connected.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an indoor and outdoor combined distribution robot comprises
The sensing system is used for acquiring ambient environment signals and sending the signals to the computing system;
the computing system comprises a perception processing computing unit and a navigation processing computing unit, wherein the perception processing computing unit receives signals of the sensing system to perceive the surrounding environment, dynamically monitors the change of the surrounding environment in real time, and transmits perceived object information to the decision planning module; the navigation processing calculation unit carries out decision judgment according to the object information obtained by the sensing processing calculation unit, forms a safe and reasonable path plan and transmits the path plan to the control execution module;
the human-computer interaction system is used for finishing the interface interaction between the robot and a human, and the human issues an instruction task through voice or keys;
the elevator control system comprises a wireless communication module, an elevator control module and a robot control module; the elevator control module is arranged in a control box of the elevator and sends an instruction to the elevator, and the elevator completes the instruction sent by the robot; the wireless communication module is arranged in the elevator, and before the robot enters the elevator, the robot communicates with the wireless communication module and issues an instruction issued by the robot to the elevator control module; the robot control module generates a control command, and generates a corresponding command to control the operation of the elevator when the robot wants to get on or off the elevator;
the outdoor navigation system comprises a sensing module, a decision planning module, a control execution module and a high-precision map building module, wherein the sensing module is used for sensing the surrounding environment and dynamically monitoring the change of the surrounding environment in real time, the decision planning module is used for planning a path and sensing a final driving path, and the control execution module converts the output information of the decision planning module into a control instruction and controls steering, braking, an accelerator and gears;
the indoor navigation system comprises a map building and positioning module, a route planning module and an execution module.
The preferable scheme of the indoor and outdoor combined distribution robot is that a sensing system comprises 4 laser radars, 2 millimeter wave radars, 20 ultrasonic radars, 8 cameras, 2 GPS and 1 IMU.
According to the preferable scheme of the indoor and outdoor combined distribution robot, the sensing module comprises a vehicle-mounted sensor camera, a laser radar, a millimeter wave radar and an ultrasonic sensor.
According to the preferable scheme of the indoor and outdoor combined distribution robot, the mapping and positioning module adopts an inertial sensor IMU and a laser radar.
According to the indoor and outdoor combined distribution robot optimal selection scheme, the high-precision map building module is divided into 4 steps for manufacturing a high-precision map:
1) map collection: the collection vehicle uses a GPS, an inertia measurement unit and a laser radar, and collects road information uninterruptedly;
2) point cloud map making: generating a point cloud map according to data obtained in the map acquisition process;
3) map labeling: marking out lane line, traffic sign, intersection and deceleration strip information by a map marking tool;
4) and storing the map into a high-precision map.
A distribution method by utilizing a distribution robot combining indoor and outdoor comprises the following steps:
1) issuing a task instruction to the robot through a human-computer interaction interface;
2) after receiving the task instruction, the robot moves downstairs to a specified place by using an outdoor navigation technology through a sensor;
3) switching to an indoor navigation mode, and enabling the robot to enter and exit the elevator by using the elevator control system;
4) according to the indoor map, delivering the delivered articles to a designated position;
5) and after the service of the robot is finished, the robot moves to a designated elevator, goes in and out of the elevator, goes downstairs, switches to an outdoor navigation mode and returns to a designated position.
The invention has the advantages that:
the man-machine interaction system, the outdoor navigation system, the elevator control system and the indoor navigation system are combined to enable indoor and outdoor seamless connection.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
Detailed Description
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.
An indoor and outdoor combined distribution robot comprises
The sensing system comprises 4 laser radars, 2 millimeter wave radars, 20 ultrasonic radars, 8 cameras, 2 GPS and 1 IMU and is used for acquiring surrounding environment signals and sending the signals to the computing system;
the computing system comprises a perception processing computing unit and a navigation processing computing unit, wherein the perception processing computing unit receives signals of the sensing system to perceive the surrounding environment, dynamically monitors the change of the surrounding environment in real time, and transmits perceived object information to the decision planning module; the navigation processing calculation unit carries out decision judgment according to the object information obtained by the sensing processing calculation unit, forms a safe and reasonable path plan and transmits the path plan to the control execution module;
the human-computer interaction system is used for finishing the interface interaction between the robot and the human, the human issues an instruction task through voice or keys, the human issues the instruction task through voice or keys, if the robot is a distribution robot, the human can issue an article distribution task to the robot through voice or keys and send the article to a certain room of a certain floor, the robot can plan a path to a destination, the planning can fail due to the fact that a map is not built for the certain floor, the planning can prompt an information prompt that the distribution task cannot be finished, and if the path can be planned, the robot starts to execute the task;
the elevator control system comprises a wireless communication module, an elevator control module and a robot control module; the elevator control module is arranged in a control box of the elevator and sends an instruction to the elevator, and the elevator completes the instruction sent by the robot; the wireless communication module is arranged in the elevator, and before the robot enters the elevator, the robot communicates with the wireless communication module and issues an instruction issued by the robot to the elevator control module; the robot control module generates a control command, and generates a corresponding command to control the operation of the elevator when the robot wants to get on or off the elevator;
the outdoor navigation system comprises a sensing module, a decision planning module, a control execution module and a high-precision map building module, wherein the sensing module is used for sensing the surrounding environment and dynamically monitoring the change of the surrounding environment in real time, the decision planning module is used for planning a path and sensing a final driving path, and the control execution module converts the output information of the decision planning module into a control instruction and controls steering, braking, an accelerator and gears;
the indoor navigation system comprises a map building and positioning module, a route planning module and an execution module.
In this embodiment, the sensing module includes a vehicle-mounted sensor camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor.
In this embodiment, the mapping and positioning module employs an inertial sensor IMU and a laser radar.
In this embodiment, the process of making the high-precision map by the high-precision map building module is divided into 4 steps:
1) map collection: the collection vehicle uses a GPS, an inertia measurement unit and a laser radar, and collects road information uninterruptedly;
2) point cloud map making: generating a point cloud map according to data obtained in the map acquisition process;
3) map labeling: marking out lane line, traffic sign, intersection and deceleration strip information by a map marking tool;
4) and storing the map into a high-precision map.
In this embodiment, the decision planning module is divided into three levels:
after receiving a given driving destination, global path Planning (Route Planning) generates a global path by combining map information as a reference for Planning subsequent specific paths;
after receiving the global path, the behavior decision Layer (Behavioral Layer) combines the environmental information (including other vehicles and pedestrians, obstacles and traffic rule information on roads) obtained from the perception module to make specific behavior decision (such as selecting lane change and overtaking or following, etc.)
And a Motion Planning (Motion Planning) layer generates a track meeting specific constraint conditions (such as dynamic constraint of the vehicle, collision avoidance, passenger comfort and the like) according to specific behavior decisions, and the track is used as the input of the control module to determine the final driving path of the vehicle.
A distribution method by utilizing the indoor and outdoor combined distribution robot comprises the following steps:
1) issuing a task instruction to the robot through a human-computer interaction interface;
2) after receiving the task instruction, the robot moves downstairs to a specified place by using an outdoor navigation technology through a sensor;
3) switching to an indoor navigation mode, and enabling the robot to enter and exit the elevator by using the elevator control system;
4) according to the indoor map, delivering the delivered articles to a designated position;
5) and after the service of the robot is finished, the robot moves to a designated elevator, goes in and out of the elevator, goes downstairs, switches to an outdoor navigation mode and returns to a designated position.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an indoor outer delivery robot that combines together which characterized in that: comprises that
The sensing system is used for acquiring ambient environment signals and sending the signals to the computing system;
the computing system comprises a perception processing computing unit and a navigation processing computing unit, wherein the perception processing computing unit receives signals of the sensing system to perceive the surrounding environment, dynamically monitors the change of the surrounding environment in real time, and transmits perceived object information to the decision planning module; the navigation processing calculation unit carries out decision judgment according to the object information obtained by the sensing processing calculation unit, forms a safe and reasonable path plan and transmits the path plan to the control execution module;
the human-computer interaction system is used for finishing the interface interaction between the robot and a human, and the human issues an instruction task through voice or keys;
the elevator control system comprises a wireless communication module, an elevator control module and a robot control module; the elevator control module is arranged in a control box of the elevator and sends an instruction to the elevator, and the elevator completes the instruction sent by the robot; the wireless communication module is arranged in the elevator, and before the robot enters the elevator, the robot communicates with the wireless communication module and issues an instruction issued by the robot to the elevator control module; the robot control module generates a control command, and generates a corresponding command to control the operation of the elevator when the robot wants to get on or off the elevator;
the outdoor navigation system comprises a sensing module, a decision planning module, a control execution module and a high-precision map building module, wherein the sensing module is used for sensing the surrounding environment and dynamically monitoring the change of the surrounding environment in real time, the decision planning module is used for planning a path and sensing a final driving path, and the control execution module converts the output information of the decision planning module into a control instruction and controls steering, braking, an accelerator and gears;
the indoor navigation system comprises a map building and positioning module, a route planning module and an execution module.
2. The indoor and outdoor combined dispensing robot of claim 1, wherein: the sensing system comprises 4 laser radars, 2 millimeter wave radars, 20 ultrasonic radars, 8 cameras, 2 GPS and 1 IMU.
3. The indoor and outdoor combined dispensing robot of claim 1, wherein: the sensing module comprises a vehicle-mounted sensor camera, a laser radar, a millimeter wave radar and an ultrasonic sensor.
4. The indoor and outdoor combined dispensing robot of claim 1, wherein: the mapping positioning module adopts an inertial sensor IMU and a laser radar.
5. The indoor and outdoor combined dispensing robot of claim 1, wherein: the high-precision map building module is divided into 4 steps for manufacturing a high-precision map:
1) map collection: the collection vehicle uses a GPS, an inertia measurement unit and a laser radar, and collects road information uninterruptedly;
2) point cloud map making: generating a point cloud map according to data obtained in the map acquisition process;
3) map labeling: marking out lane line, traffic sign, intersection and deceleration strip information by a map marking tool;
4) and storing the map into a high-precision map.
6. A distribution method using a combined indoor and outdoor distribution robot according to any one of claims 1 to 5, comprising the steps of:
1) issuing a task instruction to the robot through a human-computer interaction interface;
2) after receiving the task instruction, the robot moves downstairs to a specified place by using an outdoor navigation technology through a sensor;
3) switching to an indoor navigation mode, and enabling the robot to enter and exit the elevator by using the elevator control system;
4) according to the indoor map, delivering the delivered articles to a designated position;
5) and after the service of the robot is finished, the robot moves to a designated elevator, goes in and out of the elevator, goes downstairs, switches to an outdoor navigation mode and returns to a designated position.
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| CN202111456851.3A CN114264306A (en) | 2021-12-02 | 2021-12-02 | Indoor and outdoor combined distribution robot and distribution method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114906326A (en) * | 2022-05-06 | 2022-08-16 | 大连理工大学 | Closed living area intelligent material distribution robot based on unmanned aerial vehicle and mobile ground platform |
| US20220308586A1 (en) * | 2021-03-24 | 2022-09-29 | Fresenius Medical Care Holdings, Inc. | Home Dialysis Supplies Delivery Robot, Network, and Method |
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Application publication date: 20220401 |