CN115079703A - Takeout delivery robot and control method - Google Patents
Takeout delivery robot and control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention relates to the technical field of service robots, and discloses a takeout delivery robot and a control method, wherein the takeout delivery robot comprises the following components: the system comprises a chassis, a distribution carrying box, a moving device, a two-connecting-rod plane mechanical arm, a touch screen, a camera, a microphone array and a control system, wherein the distribution carrying box is arranged on the chassis, the moving device is arranged below the chassis, the two-connecting-rod plane mechanical arm is arranged on the distribution carrying box, the touch screen and the camera are fixed at the top of the distribution carrying box, and the microphone array is fixed on the chassis; the bottom of the chassis is provided with a central processing unit, a driving module, a voice broadcasting module, a wireless transceiving module, a navigation module, an inertial sensor and an ultrasonic sensor, and the driving module, the voice broadcasting module, the navigation module, the wireless transceiving module, the inertial sensor, the ultrasonic sensor and the touch screen are all connected with the central processing unit; the driving module is used for driving the moving device, the two-connecting-rod planar mechanical arm and the camera to work; the output end of the voice broadcasting module is connected with the microphone array. The delivery of many people's takeaway can once only carry out, has improved takeaway delivery robot's efficiency.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to a take-out delivery robot.
Background
The community takeout delivery robot is one of service robots, most of existing community takeout orders are distributed by takeout personnel at community gates, and customers are required to go to appointed places to take takeout, so that the community takeout delivery robot is very inconvenient. And with the gradual disappearance of the population dividend in the traditional takeout distribution mode, the service quality is gradually reduced, the takeout is placed at the gate of the community everywhere and the phenomenon of takeout loss is endless, which brings extremely poor consumption experience to consumers and is not beneficial to the construction of community civilization and community safety.
In recent years, with the explosion of service robots, there are more and more functions that can be executed by robots in the service industry, and the robots can assist users in takeout transportation by delivering community takeout. When the existing community takeout delivery robot is used, the robot cannot enter a corridor for delivery, can only deliver takeout to a customer at each time, and is low in working efficiency.
Based on this, the current situation of community takeout delivery can not meet the requirements of delivery accuracy, timeliness, lower cost and safety, especially the requirement of takeout delivery to the door of a customer.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a takeout delivery robot and a control method, aiming at improving the working efficiency of the delivery robot.
To achieve the above object, the present invention provides a takeout delivery robot including: the system comprises a chassis, a distribution carrying box, a moving device, a two-connecting-rod plane mechanical arm, a touch screen, a camera, a microphone array and a control system, wherein the distribution carrying box is arranged on the chassis, the moving device is arranged below the chassis, the two-connecting-rod plane mechanical arm is arranged on the distribution carrying box, the touch screen and the camera are fixed at the top of the distribution carrying box, and the microphone array is fixed on the chassis;
a central processing unit, a driving module, a voice broadcasting module, a wireless transceiving module, a navigation module, an inertial sensor and an ultrasonic sensor are arranged at the bottom of the chassis, and the driving module, the voice broadcasting module, the navigation module, the wireless transceiving module, the inertial sensor, the ultrasonic sensor and the touch screen are all connected with the central processing unit;
the driving module is used for driving the moving device, the two-connecting-rod planar mechanical arm and the camera to work;
the output end of the voice broadcasting module is connected with the microphone array;
the central processing unit is used for acquiring environmental data from a camera, acquiring obstacle information from the ultrasonic sensor, receiving takeout delivery position information and user goods taking information from a touch screen, acquiring motion instruction information from the wireless transceiver module, acquiring self position information from the inertial sensor and the mobile device, and summarizing information and sending the information to the navigation module;
the navigation module is used for generating an electronic map according to the summary information and feeding the electronic map back to the central processing unit so that the central processing unit generates a driving instruction to control the movement of the mobile device and the two-link planar mechanical arm, wherein the electronic map displays a distribution area, a distribution route and the position information of key points in the route.
Optionally, the moving device includes four hydraulic push rods, each of the hydraulic push rods is connected to a wheel, and a hub motor block equipped with a hall effect sensor, a reduction gear box, and an encoder is disposed on each wheel.
Optionally, the two-link planar robot is equipped with a servo motor, and the two-link planar robot is composed of two joints which can extend outwards or retract outwards in series.
Optionally, the driving module includes a wheel motor driving unit, a two-link planar manipulator motor driving unit and a camera driving module, and input ends of the wheel motor driving unit, the two-link planar manipulator motor driving unit and the camera driving module are all connected with an output end of the central processing unit; wherein:
the wheel motor driving unit is used for driving the moving device to move;
the two-connecting-rod planar mechanical arm motor driving unit is used for driving the two-connecting-rod planar mechanical arm to operate the elevator;
the camera driving module is used for driving the camera to acquire the environmental information.
Optionally, a plurality of carrier layers are arranged in the distribution carrier box, and each carrier layer is provided with a cabinet lock controlled by a solenoid valve.
Optionally, heat preservation cotton is arranged inside each layer of carrying layer of the distribution carrying box.
In order to achieve the above object, the present invention also provides a takeout delivery robot control method including:
acquiring a takeout delivery task by using a touch screen, wherein the takeout delivery task comprises a delivery address, delivery time and customer information;
the central processing unit acquires environmental data by using a camera, acquires obstacle information by using the ultrasonic sensor, acquires motion instruction information by using the wireless transceiving module, acquires position information of the central processing unit by using the inertial sensor and the mobile device, and summarizes the information and sends the information to the navigation module;
the navigation module is used for generating a distribution route in an electronic map according to the summary information and feeding the distribution route back to the central processing unit, so that the central processing unit generates a driving instruction, and the driving module drives the mobile device and the two-link planar mechanical arm to act, wherein a distribution area, the distribution route and the position information of key points in the route are displayed on the electronic map;
according to the position information of key points on the electronic map, at the key point of the resident number, executing a takeaway sending task according to the takeaway distribution task information acquired by the touch screen, wherein the position information of the key points comprises a building number, a resident number, an elevator number, an inner floor button, an outer floor button, an elevator switch button, a display character and a two-dimensional code;
and after the distribution is finished, returning to the starting point according to the planned route and waiting for the next distribution.
Optionally, when executing the takeaway sending task, the robot further includes:
the robot starts to move according to the distribution route, and the position of the robot is updated according to information obtained by fusing the inertial sensor and the encoder in the moving process;
when the robot runs downstairs of a cell where the distribution address is located, the central processing module judges the building number through the environmental information acquired by the camera, and identifies the elevator state through the camera when the robot moves to an elevator key point;
the central processing module controls the motor driving unit of the two-connecting-rod planar mechanical arm to adjust the two-connecting-rod planar mechanical arm so as to control a switch button and a floor button of the elevator and send the take-out to the delivery address.
Optionally, the control method further includes:
when the ultrasonic sensor detects that an obstacle exists in the front set distance, the central processing unit controls the mobile device to stop advancing and rotate in place until the obstacle is bypassed;
the central processing unit replans a distribution route according to the self position information of the information obtained by fusing the inertial sensor and the encoder, and controls the mobile device to move according to the replanned distribution route;
when the robot turns through the intersection, the central processing module collects current environment information through a camera, matches the current environment information with the distribution route, and adjusts the motion state according to the matching result.
Optionally, the control method further includes:
when the robot reaches the distribution address, the central processing unit controls the voice broadcasting module and sends out voice calls through the microphone array;
after the takeout delivery task is completed, the central processing unit empties the address information of the takeout in the layer of delivery carrier box and executes the delivery of the next takeout delivery task.
The takeout delivery robot provided by the invention can utilize the central processing unit to control the two connecting rod plane mechanical arms, operate the elevator, execute a community takeout delivery task, enter the elevator through a community road, further enter each corridor for takeout delivery, and can deliver multi-person takeout at one time, thereby solving the problem that the traditional delivery robot can only deliver takeout to one customer at one time, improving the efficiency of the takeout delivery robot, and solving the problem that the current takeout personnel can not enter the community and deliver the takeout to the door of a user.
Drawings
FIG. 1 is a schematic structural view of a takeout delivery robot of the present invention;
FIG. 2 is a schematic block diagram of the hardware circuitry of the takeout delivery robot of the present invention;
fig. 3 is a flow chart illustrating a control method of the takeout delivery robot according to the present invention.
In the figure:
1-a chassis; 2-distributing the object carrying box; 3-a touch screen; 4-two-link planar mechanical arm; 5-a camera; 6-microphone array; 7-a hydraulic push rod; 8-vehicle wheels.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 2, the present embodiment proposes a takeout delivery robot including: the system comprises a chassis 1, a distribution carrying box 2 is arranged on the chassis 1, a moving device is arranged below the chassis 1, a two-link planar mechanical arm 4 is arranged on the distribution carrying box 2, a touch screen 3 and a camera 5 are fixed at the top of the distribution carrying box 2, and a microphone array 6 is fixed on the chassis 1;
a central processing unit, a driving module, a voice broadcasting module, a wireless transceiving module, a navigation module, an inertial sensor and an ultrasonic sensor are arranged at the bottom of the chassis 1, and the driving module, the voice broadcasting module, the navigation module, the wireless transceiving module, the inertial sensor, the ultrasonic sensor and the touch screen 3 are all connected with the central processing unit;
the driving module is used for driving the moving device, the two-connecting-rod plane mechanical arm 4 and the camera 5 to work;
the output end of the voice broadcasting module is connected with a microphone array 6;
the central processing unit is used for acquiring environmental data from a camera 5, acquiring obstacle information from the ultrasonic sensor, receiving takeout delivery position information and user goods taking information from the touch screen 3, acquiring motion instruction information from the wireless transceiver module, acquiring self position information from the inertial sensor and the mobile device, summarizing the information and sending the information to the navigation module;
the navigation module is used for generating an electronic map according to the summary information and feeding the electronic map back to the central processing unit so that the central processing unit generates a driving instruction to control the movement of the mobile device and the two-link planar mechanical arm 4, wherein the electronic map displays a distribution area, a distribution route and the position information of key points in the route.
It should be noted that the delivery carrying box 2 is used for storing takeout, the two-link planar mechanical arm 4 is used for operating the elevator, the binocular camera 5 is used for identifying building numbers, resident numbers, buttons of inner and outer floors of the elevator, elevator switch buttons, display characters and two-dimensional codes, and the touch screen is convenient for a user to input goods taking information and extract takeout.
In the embodiment, the central processing unit can be used for controlling the two-link planar mechanical arm to operate the elevator, community takeout delivery tasks are executed, the elevator can enter the elevator through community roads, then enter each corridor to carry out takeout delivery, delivery of multi-person takeout can be carried out at one time, the problem that a traditional delivery robot can only deliver takeout to one customer at one time is solved, and the efficiency of the takeout delivery robot is improved.
In one embodiment, the moving device comprises four hydraulic push rods 7, each hydraulic push rod 7 is connected with a wheel 8, and each wheel 8 is provided with a hub motor block provided with a hall effect sensor, a reduction gear box and an encoder.
It should be noted that, in the present embodiment, four hydraulic push rods 7 are installed on two sides of the chassis 1, and each hydraulic push rod 7 is connected to one wheel 8 for the movement of the robot and for the buffering and anti-seismic functions.
In one embodiment, the two-link planar robot 4 is equipped with a servo motor, and the two-link planar robot 4 is composed of two joints which can be extended or retracted outwards and connected in series.
It should be noted that the central processing unit outputs a driving instruction through the driving module, and drives the servo motor to drive the two-link planar robot arm 4 to move.
In one embodiment, the driving module comprises a wheel motor driving unit, a two-link planar mechanical arm motor driving unit and a camera driving module, and the input ends of the wheel motor driving unit, the two-link planar mechanical arm motor driving unit and the camera driving module are all connected with the output end of the central processing unit; wherein:
the wheel motor driving unit is used for driving the moving device to move;
the two-connecting-rod plane mechanical arm motor driving unit is used for driving the two-connecting-rod plane mechanical arm 4 to operate the elevator;
the camera driving module is used for driving the camera 5 to acquire the environmental information.
The input end of the wheel motor driving unit is connected with the output end of the central processing unit, and the output end of the wheel motor driving unit is connected with a wheel hub motor configured for a wheel so as to drive the wheel to move; the input end of the two-connecting-rod planar mechanical arm motor driving unit is connected with the output end of the central processing unit, and the output end of the two-connecting-rod planar mechanical arm motor driving unit is connected with a motor of the two-connecting-rod planar mechanical arm to drive the two-connecting-rod planar mechanical arm to operate the elevator; the input end of the binocular camera driving module is connected with the output end of the central processing unit, and the output end of the binocular camera driving module is connected with the binocular camera to drive the camera to acquire surrounding environment information.
In one embodiment, the distribution container 2 has multiple layers of carriers, and each layer of carriers has a cabinet lock controlled by a solenoid valve.
It should be noted that by providing a cabinet lock with a solenoid valve control at each carrier layer, accurate delivery for takeaway is ensured.
In one embodiment, the distribution box 2 is provided with heat insulation cotton in each layer of the carrying layer.
It should be noted that, the heat insulation cotton is arranged in each layer of the carrying layer, so that the takeaway temperature is ensured, and the user satisfaction is improved.
In addition, referring to fig. 3, an embodiment of the present invention further provides a control method for a takeout delivery robot, where the control method includes the following steps:
s10, acquiring takeout delivery tasks by using the touch screen 3, wherein the takeout delivery tasks comprise delivery addresses, delivery time and customer information;
s20, the central processing unit acquires environmental data by using the camera 5, acquires obstacle information by using the ultrasonic sensor, acquires motion instruction information by using the wireless transceiver module, acquires self position information by using the inertial sensor and the mobile device, and summarizes the information and sends the information to the navigation module;
s30, the navigation module is used for using an A-path planning algorithm in an electronic map according to the summary information, selecting a proper heuristic function to carry out global path planning by comparing the path planning effects of different heuristic functions, generating a distribution route and feeding back the distribution route to the central processing unit, so that the central processing unit generates a driving instruction, and the driving module drives the mobile device and the two-connecting-rod plane mechanical arm 4 to act, wherein the distribution area, the distribution route and the information of the key point position in the route are displayed on the electronic map;
s40, executing a takeaway sending task at a resident number key point according to the outsourcing distribution task information acquired by the touch screen 3 according to the key point position information on the electronic map, wherein the key point position information comprises a building number, a resident number, an inner floor button, an outer floor button, an elevator switch button, a display character and a two-dimensional code;
and S50, after the distribution is finished, returning to the starting point according to the planned route and waiting for the next distribution.
It should be noted that, when the takeout delivery robot provided by the invention is used for delivering the community takeout, the takeout delivery robot can ensure that no person is present and that the takeout personnel do not need to frequently enter and exit the community, thereby ensuring the privacy and the safety of the community takeout delivery, being capable of carrying out accurate, timely and safe takeout delivery to a plurality of customers at one time, saving manpower and improving the working efficiency.
In one embodiment, when the robot performs the takeaway sending task, the robot further includes:
the robot starts to move according to the distribution route, track deduction is carried out according to information obtained by fusion processing of the inertial sensor and the encoder in the moving process, the real position of the robot is estimated by using extended Kalman filtering, and the position of the robot is continuously corrected and updated;
when the robot runs downstairs of the cell where the distribution address is located, the central processing module judges the building number according to the key point information in the electronic map through the environmental information acquired by the camera 5, and identifies the opening and closing state of the elevator door through the camera 5 when moving to the elevator key point, and the specific implementation process is as follows: collecting pictures of the opening and closing state of the elevator door in advance, carrying out feature extraction and selection, carrying out classification storage according to two features of closing and opening of the elevator, designing a classifier according to the existing rules, identifying the state features of the elevator by a camera 5 when the robot moves to key points of the elevator, comparing and identifying the state features of the elevator with a classified template, further judging whether the elevator door is opened, and meanwhile identifying the numbers on the screen of the elevator by the camera 5, and judging the floor where the elevator arrives;
the central processing module controls the two-connecting-rod plane mechanical arm motor driving unit to adjust the two-connecting-rod plane mechanical arm 4 so as to control a switch button and a floor button of the elevator and send the take-out to the delivery address.
In one embodiment, the control method further comprises:
when the ultrasonic sensor detects that an obstacle exists in the front set distance, the central processing unit controls the mobile device to stop advancing and rotate in place until the obstacle is bypassed;
the central processing unit replans a distribution route according to the self position information of the information obtained by fusing the inertial sensor and the encoder, and controls the mobile device to move according to the replanned distribution route;
when the robot turns at the intersection, the central processing module collects current environment information through the camera 5, corrects the real position of the robot by combining the information of the inertial sensor, matches the real position with the information of the electronic map, judges the real environment position of the robot according to the matching result and adjusts the motion state.
In one embodiment, the control method further comprises:
when the robot reaches the distribution address, the central processing unit controls the voice broadcasting module and sends out voice calls through the microphone array;
after the takeout delivery task is completed, the central processing unit empties the address information of the takeout in the layer of delivery carrier box and executes the delivery of the next takeout delivery task.
The overall flow of takeout delivery by the takeout delivery robot of the present embodiment is as follows:
(1) an initial stage: in actual operation, the takeaway delivery robot waits at the starting point, and the takeaway is placed in the free area of the delivery carrier box 2 by the takeaway clerk, and the takeaway delivery address is stored in the central processing unit, and the takeaway clerk sends the pickup information to the customer. When the takeaway is placed on each layer of the multilayer distribution carrying box 2, the autonomous navigation module in the central processing unit can acquire a starting point, a distribution point and a certain number of intermediate key points according to the address information of the takeaway distribution, and a proper distribution route is planned in the electronic map.
(2) Navigation and delivery stage: the takeaway delivery robot basis the delivery route begins to remove, according to information that inertial sensor and encoder fuse and obtain is constantly updated the position of community takeaway delivery robot, when community takeaway delivery robot went downstairs to the community, distinguish through two mesh cameras, judge the building serial number, get into the building, move near elevator key point, discern the elevator state through two mesh cameras, central processing unit control two connecting rod plane arm motor drive unit, drive two connecting rod plane arm motors, adjust two connecting rod plane arms of community takeaway delivery robot, make it can control the shift knob and the floor button of elevator.
When the takeaway delivery robot reaches the appointed floor, the takeaway delivery robot moves to the appointed position according to the preset route, at the moment, the central processing unit starts to control the voice broadcasting module, the microphone array sends out voice call to remind a customer to take takeaway, and the central processing unit empties the takeaway address information in the delivery carrying box of the layer and carries out delivery of the rest takeaway.
(3) And a navigation returning stage: and after all takeout delivery is completed, the central processing unit replans a route according to the current position point and the starting point information of the community takeout delivery robot, and the route is navigated back to the starting point. The specific process comprises the following steps: and after all the takeoffs are delivered completely, the self-leading navigation module plans a route from the current position of the takeaway delivery robot to the starting point, and the robot returns according to the route to carry out next delivery.
(4) And (4) fault alarm: when encountering an obstacle, the take-out delivery robot prompts a central manager to receive the return of the remote operation of the robot management center staff.
The whole distribution process comprises path planning and image recognition, the community takeout distribution robot can move according to the planned path, and building numbers, inner and outer floor buttons of the elevator, switch buttons of the elevator, display characters, two-dimensional codes and the like can be automatically recognized. When the community takeout robot encounters a fault, prompting staff of a robot management center to receive remote control operation of the staff of the robot management center.
All the beneficial effects brought by the technical solutions of the above embodiments are not described in detail herein.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., Read Only Memory (ROM)/RAM, a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a node packaging device, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A takeaway delivery robot, comprising: the system comprises a chassis (1), wherein a distribution carrying box (2) is arranged on the chassis (1), a moving device is installed below the chassis (1), a two-link planar mechanical arm (4) is arranged on the distribution carrying box (2), a touch screen (3) and a camera (5) are fixed to the top of the distribution carrying box (2), and a microphone array (6) is fixed to the chassis (1);
a central processing unit, a driving module, a voice broadcasting module, a wireless transceiving module, a navigation module, an inertial sensor and an ultrasonic sensor are arranged at the bottom of the chassis (1), and the driving module, the voice broadcasting module, the navigation module, the wireless transceiving module, the inertial sensor, the ultrasonic sensor and the touch screen (3) are all connected with the central processing unit;
the driving module is used for driving the moving device, the two-connecting-rod plane mechanical arm (4) and the camera (5) to work;
the output end of the voice broadcasting module is connected with a microphone array (6);
the central processing unit is used for acquiring environmental data from a camera (5), acquiring obstacle information from the ultrasonic sensor, receiving takeout delivery position information and user goods taking information from a touch screen (3), acquiring motion instruction information from the wireless transceiver module, acquiring self position information from the inertial sensor and the mobile device, and summarizing the information and sending the information to the navigation module;
the navigation module is used for generating an electronic map according to the summary information and feeding the electronic map back to the central processing unit so that the central processing unit generates a driving instruction to control the movement of the mobile device and the two-link planar mechanical arm (4), wherein the electronic map displays a distribution area, a distribution route and the position information of key points in the route.
2. A takeaway dispensing robot according to claim 1 wherein said moving means includes four hydraulic rams (7), each of said hydraulic rams (7) being connected to a wheel (8), each of said wheels (8) being provided with a hub motor block equipped with a hall effect sensor, a reduction gearbox and an encoder.
3. Takeaway delivery robot according to claim 2, characterized in that said two-link planar robot arm (4) is equipped with a servomotor, said two-link planar robot arm (4) being composed of two joints in series that can be extended or retracted outwards.
4. A takeout delivery robot as recited in claim 1 wherein said drive modules include a wheel motor drive unit, a two-link planar robot motor drive unit and a camera drive module, the inputs of said wheel motor drive unit, two-link planar robot motor drive unit and camera drive module all being connected to the output of said central processing unit; wherein:
the wheel motor driving unit is used for driving the moving device to move;
the two-connecting-rod plane mechanical arm motor driving unit is used for driving the two-connecting-rod plane mechanical arm (4) to operate the elevator;
the camera driving module is used for driving a camera (5) to acquire environmental information.
5. A takeaway delivery robot according to claim 1 characterized in that said delivery container (2) contains a plurality of layers of load, each layer of load being provided with a cabinet lock with solenoid control.
6. A takeaway delivery robot according to claim 4 characterized in that said delivery box (2) has insulation cotton inside each layer of the loading layer.
7. A method of controlling a takeout delivery robot according to any one of claims 1-6 characterized in that said method of controlling includes the steps of:
acquiring a takeout delivery task by using a touch screen (3), wherein the takeout delivery task comprises a delivery address, delivery time and customer information;
the central processing unit acquires environmental data by using a camera (5), acquires obstacle information by using the ultrasonic sensor, acquires motion instruction information by using the wireless transceiving module, acquires position information of the central processing unit by using the inertial sensor and the mobile device, and summarizes the information and sends the information to the navigation module;
the navigation module is used for generating a distribution route in an electronic map according to the summary information and feeding the distribution route back to the central processing unit, so that the central processing unit generates a driving instruction, and the driving module drives the mobile device and the two-link planar mechanical arm (4) to act, wherein a distribution area, the distribution route and the position information of key points in the route are displayed on the electronic map;
according to the position information of key points on the electronic map, at the key point of the resident number, executing a takeaway sending task according to the takeaway distribution task information acquired by the touch screen (3), wherein the position information of the key points comprises a building number, a resident number, an elevator number, buttons of inner and outer floors of an elevator, an elevator switch button, display characters and a two-dimensional code;
and after the distribution is finished, returning to the starting point according to the planned route and waiting for the next distribution.
8. A takeaway delivery robot control method according to claim 7, wherein said robot, when executing a takeaway delivery task, further includes:
the robot starts to move according to the distribution route, and the position of the robot is updated according to information obtained by fusing the inertial sensor and the encoder in the moving process;
when the robot runs downstairs of a cell where the distribution address is located, the central processing module judges the building number through the environmental information acquired by the camera (5), and identifies the elevator state through the camera (5) when moving to an elevator key point;
the central processing module controls the two-connecting-rod plane mechanical arm motor driving unit to adjust the two-connecting-rod plane mechanical arm (4) so as to control a switch button and a floor button of the elevator and send the take-out to the delivery address.
9. A takeaway delivery robot control method according to claim 8 characterized in that said control method further comprises:
when the ultrasonic sensor detects that an obstacle exists in the front set distance, the central processing unit controls the mobile device to stop advancing and rotate in place until the obstacle is bypassed;
the central processing unit replans a distribution route according to the self position information of the information obtained by fusing the inertial sensor and the encoder, and controls the mobile device to move according to the replanned distribution route;
when the robot turns through the intersection, the central processing module collects current environment information through a camera (5), matches the current environment information with the distribution route, and adjusts the motion state according to the matching result.
10. A takeout delivery robot control method according to claim 8 wherein said control method further includes:
when the robot reaches the distribution address, the central processing unit controls the voice broadcasting module and sends out voice calls through the microphone array;
after the takeout delivery task is completed, the central processing unit empties the address information of the takeout in the layer of delivery carrier box and executes the delivery of the next takeout delivery task.
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