CN115636198A

CN115636198A - Intelligent trolley and intelligent warehouse logistics system

Info

Publication number: CN115636198A
Application number: CN202011213879.XA
Authority: CN
Inventors: 陈羽旻
Original assignee: Guangzhou Liangling Technology Co ltd
Current assignee: Guangzhou Liangling Technology Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2023-01-24

Abstract

The invention relates to an intelligent trolley. The intelligent trolley comprises a trolley body, a travelling part, a manipulator, a camera part and a processor; the processor is used for controlling the traveling component to travel according to the route setting data and the image data shot by the camera component, and controlling the manipulator to execute actions. The intelligent trolley can be used for transporting goods, carrying people and bearing functional devices and can be cooperated with the bearing functional devices to realize corresponding functions. The intelligent trolleys can be connected in the same level in pairs, so that the passing ability of the intelligent trolleys is provided, and the intelligent trolleys can be longitudinally stacked mutually to reduce the occupied area. The invention also relates to an intelligent warehouse logistics system.

Description

Intelligent trolley and intelligent warehouse logistics system

Technical Field

The invention relates to the technical field of transport tools, in particular to an intelligent trolley and an intelligent warehouse logistics system comprising the intelligent trolley.

Background

The rapid development of online shopping and take-out enables the logistics industry to grow rapidly. In the face of terminal side's commodity circulation dispatch, at present domestic mainly adopt the manual work to carry out, it occupies a large amount of labours to express delivery person also only sends article to the express delivery cabinet in many times, needs the user oneself to draw. Some existing automatic delivery systems, such as those described in patent applications with patent application numbers CN201921133629.8 and names an intelligent goods-selling and delivering device for unmanned warehousing, and those described in patent applications with patent application numbers CN201920482523.2 and names an outdoor indoor full-automatic unmanned delivery system, have the disadvantages that space utilization and delivery efficiency cannot meet the requirement of rapid and distributed delivery tasks with multiple destinations, multiple packages are operated together and finally only can be delivered one by one, delivery efficiency is low, an AGV for transportation has a large occupied area (cannot be stacked) and cannot be pushed up to an elevator, and the covered application scenes are few, and only can be large markets, office buildings and old districts with good road conditions, and cannot cover dense residential district scenes, and stairs and escalator cannot be used for delivery.

Meanwhile, the existing automatic dispatching system can only be used for logistics dispatching, when a dispatching task is not available, the equipment of the system is idle and cannot be used for other purposes, at most, the equipment only has one function of broadcasting advertisements on patrol names, but other automatic systems are needed for realizing daily sanitation, maintenance and greening, public facility maintenance and the like.

On the other hand, the shared bicycle is already popularized in various domestic large and medium-sized cities, the shared bicycle brings convenience to people and also causes negative influences on the cities, for example, vehicles are parked in disorder or the number of the vehicles exceeding the placeable number in a specified area, a large number of walking channels are occupied, the greening area influences the attractiveness of the cities, the vehicle utilization rate is low due to high vehicle dispatching cost, no vehicle exists in a place where the vehicles are wanted to be used, a pile of vehicles in a place where the vehicles are not wanted occupy sidewalks, the vehicles are parked in disorder and inconvenient to dispatch so that the vehicles are easy to damage and cannot be overhauled and maintained in time, the vehicle condition is accelerated and worsened, the user experience is poor, and companies operating the shared bicycle are difficult to make profit.

The function of the shared bicycle is also the bicycle invented in 1790 essentially, people want to ride the bicycle and ride the bicycle, after two hundred years, the fuel vehicle starts to exit from the stage, and in the city with developed ground traffic, small vehicles which cannot be controlled by programs and are difficult to monitor are easier to cause traffic accidents than ever before.

Disclosure of Invention

In view of the above problems, the present invention has been made to provide a smart cart and a smart warehouse logistics system that overcome or at least partially solve the above problems.

In a first aspect, the present invention provides an intelligent cart.

The intelligent trolley comprises a trolley body, a travelling part, a manipulator, a camera part and a processor; the processor is used for controlling the traveling component to travel according to the route setting data and the image data shot by the camera component, and controlling the manipulator to execute actions.

Optionally, the fixed end of the manipulator is connected with the vehicle body; the imaging component is arranged on the manipulator.

Optionally, the vehicle body is provided with a first locking part, the manipulator is provided with a second locking part, and the second locking part can be locked and matched with the first locking part; more than two the connection in same level between two liang can be realized through the manipulator to the intelligent vehicle.

Optionally, the second locking part of the manipulator can be matched with an object provided with the first locking part in a locking manner, so that the object can be grabbed and used.

Optionally, the manipulator may contact the supporting surface sequentially through a plurality of joints from the free end to the fixed end during grabbing and using the object, so as to increase a force perpendicular to the contact surface.

Optionally, the intelligent vehicle further comprises an auxiliary travelling component, and the processor is further configured to control the travelling component and the auxiliary travelling component to cooperate to improve the trafficability and/or the stability of the vehicle body of the intelligent vehicle according to the route setting data and the image data captured by the camera component.

Optionally, the vehicle body is provided with a first locking part, and the free end of the manipulator is provided with a second locking part which can be in locking fit with the first locking part; the processor is also used for controlling the manipulator to execute actions according to the route setting data and the stacking setting data so as to realize longitudinal stacking and separation of more than two intelligent trolleys.

Optionally, a first limiting part is arranged at the top of the vehicle body, and a second limiting part is arranged at the bottom of the vehicle body; when the intelligent trolleys are longitudinally stacked, the first limiting part of the intelligent trolley positioned below is matched with the second limiting part of the intelligent trolley positioned above to position the two intelligent trolleys.

Optionally, the intelligent vehicle further comprises a distance measuring unit, and the processor is further configured to control the traveling component to change the traveling direction when the detection signal of the distance measuring unit determines that the distance between the obstacle and the intelligent vehicle in the traveling direction is smaller than a preset threshold value.

Optionally, the processor is further configured to control the traveling member to travel according to the operating mode setting data, control the manipulator to perform actions, and communicate with the functional device loaded thereon.

In a second aspect, the present invention provides an intelligent warehouse logistics system.

The smart warehouse logistics system comprises:

the storage space is provided with a supporting device for supporting the storage articles positioned in the storage space;

the intelligent trolley is used for conveying the storage materials between the storage space and the preset position.

Optionally, the support device comprises a support shelf, and a support member mounted to the support shelf, the support member being capable of supporting the storage of the storage space when moved to the support position.

Optionally, the intelligent warehouse logistics system further comprises a handling manipulator, wherein the handling manipulator is arranged in the warehousing space and used for storing the warehouse articles conveyed to the warehousing space by the intelligent trolley into the warehousing space and/or taking out the warehouse articles from the warehousing space and placing the warehouse articles on the intelligent trolley.

Optionally, the storage is provided with a first locking part, and the carrying manipulator is provided with a second locking part which can be matched with the first locking part of the storage in a locking manner.

Optionally, the intelligent warehouse logistics system further comprises a boom tool, wherein second locking parts are arranged at two ends of the boom tool, and the second locking parts can be in locking fit with the two oppositely arranged first locking parts at the upper end of the warehouse; the middle part of the suspension arm tool is provided with a first locking part, and a second locking part of the carrying manipulator can be matched with the first locking part of the suspension arm tool in a locking mode.

Optionally, a first locking portion is arranged at the bottom of the storage, and a second locking portion capable of being matched with the first locking portion at the bottom of the storage in a locking manner is arranged on the bearing portion of the vehicle body.

Optionally, a first limiting part is arranged at the top of the storage; when the intelligent trolleys are longitudinally stacked, the first limiting parts of the storage materials of the intelligent trolleys positioned below are matched with the second limiting parts positioned at the bottom of the intelligent trolley bodies positioned above to lock the two intelligent trolleys.

Optionally, the storage is a functional device and/or consists of both a receptacle and a functional device placed within the receptacle and/or consists of a receptacle and an object placed within the receptacle other than a functional device.

The embodiment of the invention discloses an intelligent trolley, which comprises a trolley body, a traveling part, a manipulator, a camera shooting part and a processor, wherein the trolley body is provided with a trolley body; the processor is used for controlling the travelling component to travel according to the route setting data and the image data shot by the camera shooting component, and controlling the manipulator to execute actions. The intelligent trolley can be used for transporting goods, carrying people and bearing functional devices and is cooperated with the bearing functional devices to achieve corresponding functions. The intelligent trolley can be connected in the same level between every two intelligent trolleys to improve the passing performance and stability of the intelligent trolleys, and the intelligent trolleys can be longitudinally stacked with each other to reduce the occupied area in the idle or driving process.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic structural diagram of an exemplary embodiment of a smart cart according to the present invention;

FIG. 2 is a schematic diagram of a smart car riding in an elevator;

FIG. 3 is a schematic view of a second locking portion;

FIG. 4 is a schematic view of the intelligent trolley climbing stairs;

FIG. 5 is another schematic view of the intelligent trolley climbing stairs;

fig. 6 is a schematic diagram of the intelligent vehicle riding on an escalator;

FIG. 7 is a schematic diagram of a longitudinal stacking process of the intelligent trolleys;

FIG. 8 is another schematic diagram of the process of stacking smart carts in a vertical direction;

FIG. 9 is another schematic diagram of the process of stacking smart carts in a vertical direction;

FIG. 10 is another schematic diagram of the process of stacking smart carts longitudinally;

FIG. 11 is a schematic diagram of the driving of the smart cart;

FIG. 12 is a schematic diagram of the intelligent vehicle delivering goods to the consignee;

FIG. 13 is another schematic view of the smart cart handing the goods to the consignee;

FIG. 14 is a schematic view of a user carrying the smart cart;

FIG. 15 is another schematic view of a user carrying the smart cart;

FIG. 16 is another schematic view of the intelligent car for carrying the user

FIG. 17 is yet another schematic view of the smart cart being stacked longitudinally;

FIG. 18 is a schematic view of an intelligent cart carrying vacuum cleaner;

FIG. 19 is another schematic view of the intelligent cart carrying vacuum cleaner;

FIG. 20 is a further schematic view of the intelligent cart carrying vacuum cleaner;

FIG. 21 is a further schematic view of the intelligent cart carrying vacuum cleaner;

fig. 22 is a schematic configuration diagram of an exemplary embodiment of the smart warehouse logistics system of the present invention;

FIG. 23 is another schematic view of a warehouse logistics system;

fig. 24 is a schematic view of another embodiment of the warehouse logistics system.

Description of reference numerals: 1. a vehicle body; 2. an image pickup unit; 3. a manipulator; 4. a traveling wheel; 5. goods; 6. a main bar member; 7. A locking block; 8. an auxiliary wheel; 9. a container; 10. a pedal; 11. a seat; 12. a control panel; 13. a side dam; 14. a vacuum cleaner; 15. an outer housing; 16. a suction head; 17. a trash box; 18. an intelligent trolley; 19. a support frame; 20. storing the materials in a warehouse; 21. A support member; 22. carrying the mechanical arm; 23. an arm-lifting tool.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below are exemplary embodiments for explaining the present invention with reference to the drawings and should not be construed as limiting the present invention, and those skilled in the art can make various changes, modifications, substitutions and alterations to the embodiments without departing from the principle and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

The terms "central," "longitudinal," "lateral," "length," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like, referred to or as may be referred to in the description of the invention, are used in the indicated orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

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 to implicitly indicate 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. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be construed broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

An intelligent vehicle according to an embodiment of the present invention is described below with reference to the accompanying drawings.

Referring to fig. 1, the intelligent vehicle according to the embodiment of the invention comprises a vehicle body 1, a traveling component, a camera component 2, a manipulator 3 and a processor. The advancing part contains two walking wheels 4 that are located automobile body both sides and mutual disposition, of course, the walking wheel can also be arranged in the bottom of automobile body, drives walking wheel pivoted motor. The motor is electrically connected with the processor, and the processor controls the motor to work so as to control the advancing component to advance. In implementation, the intelligent vehicle may include a rechargeable battery, such as a lithium battery, which is disposed in the vehicle body together with the motor and the processor.

In another embodiment, the traveling component includes more than three traveling wheels, such as three traveling wheels, four traveling wheels, and a motor for driving the traveling wheels to rotate, the motor is electrically connected to the processor, or the motor can communicate with the processor in a wireless connection manner, and the processor controls the motor to operate, so as to control the traveling component to travel.

The manipulator comprises a plurality of joints, and the joints are matched with each other to perform different actions, such as grabbing an object, manipulating or using the object and the like. The manipulator is electrically connected with the processor, and the processor controls the manipulator to execute actions. Of course, the manipulator and the processor can also communicate in a wireless connection mode, such as ZigBee and Bluetooth. In this embodiment, the fixed end of the manipulator is connected with the vehicle body.

The camera shooting component can shoot images of surrounding objects in real time in the walking process, and/or shoot images of the objects in real time in the process of grabbing, controlling or using the objects, and sends image data to the processor in a wired or wireless connection mode. The processor controls the advancing component to advance according to the intelligent trolley route setting and the image data shot by the camera shooting component, and controls the manipulator to execute actions.

In this embodiment, the image capturing component is mounted on the manipulator, specifically on the joint of the manipulator near the free end thereof, so as to capture images at different angles and at different heights by utilizing the flexibility of the motion of the manipulator. Of course, the camera component can also be arranged on the vehicle body or other components connected with the vehicle body; or the number of the image pickup components is two, one image pickup component is arranged on the manipulator, the other image pickup component is arranged on the vehicle body, and the like.

In an application scenario, the intelligent trolley is used for transporting goods, the goods are placed on the bearing portion of the vehicle body, the intelligent trolley bears the goods, the goods are sent from a delivery position, such as a warehouse, and the goods can be sent according to preset route setting data or route setting data sent by a bound control terminal in real time and sent to a receiving position. The control terminal is connected with the intelligent trolleys in a wireless communication mode, one control terminal can be connected with one intelligent trolley, and one control terminal can be connected with a plurality of intelligent trolleys. And the control terminal can send updated route setting data to the intelligent vehicle according to the real-time road condition information.

In implementation, the intelligent trolley needs to take an elevator to enter a corresponding floor in the process of transporting goods. As shown in fig. 2, after the intelligent car enters the elevator, the camera component takes an image of the inside of the elevator, the processor identifies the image data of the inside of the elevator, identifies the position of the elevator control panel, information recorded on the surfaces of the keys on the control panel, such as the floor represented by the key, the opening and closing of the elevator door, and information of the floor display panel, such as the floor, and controls the manipulator to press the corresponding key on the control panel, and when the elevator door is identified to be in an open state and the floor information displayed by the floor display panel conforms to the route setting data, the travelling component is controlled to travel, namely leave the elevator.

In implementation, the intelligent trolley needs to climb stairs to enter a corresponding floor in the process of transporting goods. After the intelligent trolley arrives at the stairs, the camera shooting component shoots images of the stairs, the processor identifies the images and controls the manipulator to be matched with the advancing component to climb the stairs.

The two intelligent trolleys can be connected together to climb stairs. Specifically, the body of the intelligent trolley is provided with a first locking part, and the first locking part can be placed at a position, facing away from the joint of the fixed end of the manipulator, of the body. The manipulator is provided with a second locking part which can be arranged at the free end of the manipulator, namely a non-joint, and also can be arranged on other joints of the manipulator. And the second locking part of the manipulator of the intelligent trolley positioned at the rear part is in locking fit with the first locking part of the body of the intelligent trolley positioned at the front part, so that the two parts are connected in the same level. Of course, a plurality of intelligent trolleys can be connected in the same level in pairs through the mechanical arm, so that the passing performance and the stability of the intelligent trolleys are improved.

First locking portion, second locking portion can adopt the mode reality locking cooperation of turn-buckle, as shown in fig. 3, second locking portion includes main rod piece 6, oval-shaped locking piece 7 is fixed to the free end of main rod piece 6. The locking block can be embedded into the stepped locking hole of the first locking part, when the locking block is embedded into the stepped locking hole of the first locking part, the first locking part and the second locking part are locked, and locking is released through reverse operation. Of course, the first locking portion and the second locking portion may also adopt other suitable structures, which are not listed here.

The intelligent vehicle can comprise an auxiliary travelling component, and the processor is further used for controlling the travelling component and the auxiliary travelling component to cooperate to improve the trafficability and/or the stability of the vehicle body of the intelligent vehicle according to the route setting data and the image data shot by the camera component.

Returning to fig. 1, the auxiliary advancing unit is mounted on the joint of the manipulator near the fixed end, and includes an auxiliary wheel 8, and a motor for driving the auxiliary wheel to rotate, the motor being electrically connected to the processor, and the processor controlling the operation of the motor to control the advancement of the auxiliary wheel. Of course, when the auxiliary traveling component is used to improve the passing ability and/or the stability of the car body of the intelligent car, the processor is required to simultaneously control the manipulator to perform corresponding actions, even if the auxiliary wheel is in contact with a supporting surface, such as the ground or a wall surface. The auxiliary wheel with the walking wheel can share motor drive, sets up drive mechanism between motor and the auxiliary wheel, like the belt. The auxiliary travel member may also take other suitable configurations, such as a track, not to mention here.

In the process of climbing stairs, the two intelligent trolleys are connected together, as shown in fig. 4, the two intelligent trolleys are located in the straight line section of the stairs, the image pickup part of the front intelligent trolley can shoot images of the stairs in real time, the image pickup part of the rear intelligent trolley can shoot images of the stairs between the two intelligent trolleys, and the processor controls the advancing part and the auxiliary advancing part to advance in a coordinated mode according to the route setting data and the image data shot by the image pickup part. For example, the walking wheel of the place ahead intelligent vehicle leaves the ground of step, the manipulator of treater control rear intelligent vehicle, the manipulator of place ahead intelligent vehicle provides the support to the place ahead intelligent vehicle, and control rear intelligent vehicle's walking wheel, the auxiliary wheel, and the auxiliary wheel walking of place ahead intelligent vehicle, make the walking wheel of place ahead intelligent vehicle and the vertical face contact of step, the walking wheel walking of the intelligent vehicle of control place ahead again, climb up the step in order to realize the upward movement of the intelligent vehicle of place ahead. When the travelling wheels of the rear intelligent trolley leave the ground of the steps, the processor controls the manipulator of the rear intelligent trolley to provide support, and controls the travelling wheels and the auxiliary wheels of the front intelligent trolley and the auxiliary wheels of the rear intelligent trolley to travel so as to drag the rear intelligent trolley to move, and the rear intelligent trolley moves upwards to climb the steps.

As shown in fig. 5, the two intelligent trolleys are located at the turning section of the stairs, namely, the joint of the stairs and the landing, the image pickup component of the front intelligent trolley can pick up images of the landing in real time, the image pickup component of the rear intelligent trolley can pick up images of the stairs between the two intelligent trolleys, and the processor controls the advancing component and the auxiliary advancing component to advance cooperatively according to the route setting data and the image data picked up by the image pickup component. For example, the place ahead intelligent vehicle is in stair platform, and the walking wheel of rear intelligent vehicle is located the ground of step, and the travelling wheel of the intelligent vehicle of place ahead, auxiliary wheel go forward under the control of treater, and at this moment, the auxiliary wheel of the intelligent vehicle of place ahead and travelling wheel contact with stair platform ground simultaneously, and the auxiliary wheel can improve the automobile body stability of the intelligent vehicle of place ahead. The processor also controls the rear intelligent trolley manipulator to perform dragging action, and the walking wheels and the auxiliary wheels of the rear intelligent trolley walk to realize that the rear intelligent trolley moves upwards to climb up the steps.

In the implementation, the intelligent trolley needs to take an escalator to enter a corresponding floor in the process of transporting goods. After the intelligent trolley arrives at the escalator, the image pickup component shoots an image of the escalator, the processor identifies the image data and controls the manipulator and the advancing component to cooperate with the escalator. As shown in fig. 6, two intelligent trolleys can be longitudinally stacked together to jointly take an escalator, so that the floor occupation is reduced.

Referring to fig. 7 to 9, the processor controls the second locking part of the manipulator of the preset subordinate intelligent vehicle to be locked and matched with the first locking part of the vehicle body of the preset superior intelligent vehicle according to the route setting data and the stacking setting data, controls the two manipulators to perform a supporting action, gradually raises the locked intelligent vehicle, and finally realizes longitudinal stacking of the two intelligent vehicles. In the process that the intelligent trolleys are longitudinally stacked, the camera shooting component can shoot images of the intelligent trolleys in real time, and the processor identifies the positions of the two intelligent trolleys according to image data and adjusts the supporting action of the two manipulators in real time. When the manipulator of the preset subordinate intelligent trolley performs a supporting action, the manipulator can be sequentially contacted with a supporting surface, such as the ground, through a plurality of joints from a free end to a fixed end so as to improve the force vertical to the contact surface. The manipulator of the preset superior intelligent trolley can obtain supporting force through contact with a supporting surface, and can also obtain corresponding pulling force through holding other objects such as handrails, handrails and the like.

The top of the goods that the intelligent vehicle transported can set up first spacing portion, and the bottom of intelligent vehicle can set up the spacing portion of second, and for protruding if first spacing portion, the spacing portion of second is sunken. When two intelligent dollies vertically pile up, predetermine the first spacing portion of the goods that subordinate's intelligent vehicle transported and predetermine the spacing portion of second in superior intelligent vehicle's bottom and mutually support to fix a position two intelligent dollies.

Of course, the processor is also used for controlling the manipulator to perform actions according to the route setting data and the stacking setting data so as to realize the longitudinal stacking of a plurality of intelligent trolleys, as shown in fig. 10. The processor is also used for controlling the manipulator to execute actions according to the route setting data and the stacking setting data so as to realize the longitudinal separation of the two intelligent trolleys and the longitudinal separation of the plurality of intelligent trolleys.

Returning to fig. 6, after the two intelligent dollies are longitudinally stacked, the camera part of the preset superior intelligent dolly shoots the images of the stairs and the handrails of the escalator in real time and sends the images to the processor of the preset subordinate intelligent dolly. A processor of the preset lower intelligent trolley controls the travelling wheels to travel on the ground of the stairs according to the route setting data and the image data, and controls the mechanical hand to hold the handrail so as to improve the stability of the two intelligent trolleys. When the processor of the preset lower intelligent trolley recognizes that the underfoot step is about to disappear according to the image data, the processor controls the walking wheels to walk and controls the manipulator to release the handrail so as to leave the escalator.

Of course, when the two intelligent trolleys are longitudinally stacked together to take the escalator, the mechanical arms of the two intelligent trolleys can hold the handrails, and the two camera shooting components can shoot images of the ladder sections and the handrails of the escalator in real time. Or the camera shooting component of the lower intelligent car shoots images of the ladder sections and the handrails of the escalator in real time, and the mechanical hand of the upper intelligent car holds the handrails.

In implementation, the intelligent trolley needs to pass through a door to reach a specified position in the process of transporting goods. As shown in fig. 11, before the smart car arrives at the door, the camera component takes an image of the door, the processor recognizes the image, recognizes the position and shape of the door handle, controls the manipulator to hold the door handle, pulls the door backwards, controls the travelling wheel to travel through the door, and controls the manipulator to leave the door handle.

In practice, after the intelligent trolley transports the goods to the goods receiving place, the goods need to be handed to the goods receiving person. Specifically, after the intelligent trolley arrives at a delivery place, the camera shooting component shoots and identifies the characteristics of people nearby, such as facial characteristics, if the processor compares that the identified facial characteristics are consistent with the preset facial characteristics of the delivery person, the intelligent trolley is driven to the vicinity of the delivery person, the attention of the delivery person is attracted through the modes of sound, light, mechanical arm action and the like on the trolley, after the delivery person confirms the identification on the trolley, the delivery confirmation operation such as scanning a two-dimensional code delivery code is continuously carried out, and then the goods are delivered to the delivery person finally, otherwise, the delivery of the goods is refused.

Referring to fig. 12 and 13, the goods may be placed in a container 9, such as an incubator, the processor compares the photographed and recognized facial features with the preset facial feature data of the receiver, if the photographed and recognized facial features match with the preset facial feature data of the receiver, the goods are driven to the vicinity of the receiver to attract the attention of the receiver through voice, flashing lights, swinging manipulators, dialing of a receiver phone and the like, and then after the goods are picked up and confirmed by the receiver, the processor communicates with the container and controls the container to open a cover to present the goods to the receiver. And after the processor judges that the receiver takes the goods according to the image data, the processor controls the container to close the cover, controls the travelling part to travel according to the route setting data and the image data shot by the camera part, and controls the manipulator to execute actions so as to return to the original delivery position or other designated places.

Optionally, the intelligent vehicle further includes a distance measuring unit, such as a distance sensor. The processor is further used for controlling the travelling component to change the travelling direction when the detection signal of the distance measuring unit determines that the distance between the obstacle and the intelligent trolley in the travelling direction is smaller than a preset threshold value. The distance measuring unit can be arranged on a vehicle body or a manipulator.

In the process of advancing of the intelligent trolley, the distance measuring unit can periodically detect the distance information between the intelligent trolley and the obstacle in the advancing direction, also can detect the distance information between the intelligent trolley and the obstacle in the advancing direction at a certain position according to route setting data, and sends the distance information to the processor, the distance information can reflect the distance between the obstacle and the intelligent trolley in the advancing direction, the processor judges the distance between the obstacle and the intelligent trolley according to the distance information, and when the distance is judged to be smaller than a preset threshold value, the advancing part is controlled to change the advancing direction, and if the distance is judged to be smaller than the preset threshold value, the intelligent trolley continues to advance after being wound.

In another application scenario, the intelligent vehicle is used for carrying people. The intelligent trolley takes and delivers users from a departure place, can travel according to preset route setting data, and can travel by bound user terminals such as the route setting data sent by the mobile phone APP in real time to deliver the users to a destination.

Returning now to fig. 1, optionally, the load-bearing portion of the body is provided with two pedal groups, each consisting of pedals 10 that can be moved closer to and further away from each other, i.e., each pedal group can be extended to allow a user to stand on the body more comfortably. The pedal groups can be unfolded and folded under the drive of a motor, and can also be manually unfolded and folded.

Referring to fig. 14, the processor may control the robot to perform an action to bring the auxiliary wheel into contact with the ground or maintain a certain distance from the ground in order to increase stability of the vehicle body, in the course of standing the vehicle body. After a user stands on the vehicle, the camera shooting component shoots an image of the user, the distance measuring unit detects distance information of the user, the processor judges the standing posture and the standing stability of the user according to image data of the user shot by the camera shooting component and the distance information of the user detected by the distance measuring unit, when the user is judged to stand stably, the processor can control the manipulator to execute actions to enable the auxiliary wheel to leave the ground, control the advancing component to advance according to route setting data and image data shot by the camera shooting component, and control the manipulator to execute the actions. Similarly, the processor judges whether the user carries other objects which are not allowed to be carried together, such as objects with overlarge volume or overlong length, according to the image data of the user shot by the camera shooting component, so that inconvenience or traffic accidents caused in the driving process are avoided.

Referring to fig. 15, in an embodiment, the manipulator may be used as a control lever, a user holds the manipulator, and the processor determines corresponding manipulation information according to the manipulation of the manipulator by the user, where the manipulation information may include a speed value (which may correspond to a driving speed), a steering value (which may correspond to a steering angle, a steering radius), a direction value (which may correspond to forward, reverse), and the like, and controls a traveling component to travel according to the manipulation information, such as acceleration, deceleration, steering, reverse, and the like.

In implementation, users and/or articles can be conveyed by the two intelligent trolleys in cooperation, referring to fig. 16, the second locking part of the manipulator of the rear intelligent trolley is in locking fit with the first locking part of the body of the front intelligent trolley, and the two intelligent trolleys are connected in the same level. The vehicle body of the rear intelligent vehicle bears the seat 11, and the pedal group of the front intelligent vehicle is extended, so that the riding comfort of a user is improved. And the two trolley processors control the travelling component and the auxiliary travelling component to travel cooperatively according to the route setting data and the image data shot by the camera shooting component, and control the mechanical arm to execute actions.

Optionally, the smart car further includes a control panel 12, where a user can input control information about the smart car, where the control information may include a speed value (which may correspond to a running speed), a steering value (which may correspond to a steering angle, a steering radius), a direction value (which may correspond to forward, reverse), a running route, a destination, and the like, and the processor controls the running component to run according to the control information, such as to accelerate, decelerate, steer, reverse, and run along the running route at a specified speed or to the destination.

After the intelligent trolley conveys the user to the destination, the intelligent trolley can perform autonomous navigation, such as charging and maintenance by using an SLAM automatic navigation to a nearby charging station, and also can perform autonomous navigation to a nearby idle parking place and vertically stack with other intelligent trolleys at the parking place so as to save the parking area, as shown in FIG. 17. Optionally, as shown in fig. 1, the vehicle body is provided with two oppositely arranged side baffles 13, and the top of each side baffle is provided with a first limiting part. When the intelligent trolleys are longitudinally stacked, the first limit part of the lower-level intelligent trolley is matched with the second limit part at the bottom of the upper-level intelligent trolley body to position the two intelligent trolleys.

Optionally, the seat can also store goods to be transported, when a user arrives at a destination, the two intelligent trolleys can be separated, and the intelligent trolley loaded with the seat and the goods to be transported can continuously travel to transport the goods to the destination, so that the utilization rate of road resources can be improved, and congestion is reduced.

In another application scenario, the smart cart is used for carrying functional devices, such as a dust collector, a garbage collection device, a water sprayer, a sweeper, a paint spraying device, a detection device and the like, and is cooperated with the functional devices to realize corresponding functions, such as dust collection, garbage dumping, water spraying, sweeping and the like.

For example, the smart cart carries a cleaner and performs cleaning. Referring to fig. 18 to 21, the vacuum cleaner 14 is placed on the bearing portion of the vehicle body, the processor may control the manipulator to grab the vacuum cleaner according to the image data of the image pickup component, and place the vacuum cleaner on the bearing portion of the vehicle body, specifically, the housing 15 of the vacuum cleaner is provided with a first locking portion, the top of the housing may be provided with a first locking portion, after the second locking portion of the manipulator is locked with the first locking portion, the manipulator lifts the vacuum cleaner, and when the vacuum cleaner is stably placed on the bearing portion of the vehicle body, the second locking portion of the manipulator is unlocked from the first locking portion. If the dust collector is heavy, the manipulator can be sequentially contacted with a supporting surface, such as the ground, through a plurality of joints from the free end to the fixed end in the process of lifting the dust collector, and the force vertical to the contact surface is improved. The dust collector can also be directly placed on the bearing part of the vehicle body by workers.

After the dust collector is placed on the bearing part of the vehicle body, the processor controls the advancing component to advance according to the working mode setting data and the image data shot by the camera shooting component, controls the manipulator to execute actions, communicates with the dust collector, and controls the dust collector to work.

Specifically, the processor sets data according to a working mode, the working mode setting data can be delivery mode data, manned mode data, dust collection mode data, sprinkling mode data, garbage dumping mode data and the like, the manipulator is controlled to perform actions to enable the image pickup component to shoot images of the dust collector, the processor identifies working components of the dust collector such as a suction head 16 and a garbage box 17 of the dust collector according to the image data of the dust collector, the manipulator is controlled to grab and extract the suction head, the dust collector is controlled to start, the manipulator performs dust collection actions, and travelling wheels travel. After dust collection is finished, the processor controls the dust collector to stop, the manipulator is controlled to plug the suction head back, then the manipulator grabs the garbage box, the garbage in the garbage box is poured out, and then the garbage box is placed back. The suction head and the garbage box are both provided with the first locking parts, so that the manipulator can grab and use the suction head and the garbage box through the locking matching of the second locking parts and the first locking parts.

Optionally, after people are carried or goods are transported, the intelligent trolley can arrive at the designated position to obtain the functional device, execute the corresponding functional program, and maintain the environment and public facilities or provide other types of services according to the information recorded by daily advancing, so that the utilization rate of the intelligent trolley is improved to the maximum extent, and higher manufacturing and maintenance costs caused by using various single-function automatic systems and equipment are avoided.

Optionally, the intelligent vehicle may take pictures of other intelligent vehicles, communicate with the intelligent vehicle, perform direct wireless communication, and perform wireless communication through a cloud to inform the vehicle whether actions, lines, routing, and the like in the execution task of the vehicle need to be adjusted. The intelligent trolley can also send information of abnormal conditions of a found road, such as congestion, road sealing and the like, to other intelligent trolleys executing tasks in the travelling process of the intelligent trolley, and can also send the information to the control terminal, and the control terminal modifies the route setting data and sends the route setting data to other intelligent trolleys executing tasks.

The embodiment of the invention provides an intelligent trolley, which comprises a trolley body, a travelling part, a manipulator, a camera shooting part and a processor; the processor is used for controlling the traveling component to travel according to the route setting data and the image data shot by the camera component, and controlling the manipulator to execute actions. The intelligent trolley can be used for transporting goods, carrying people and bearing functional devices and can be cooperated with the bearing functional devices to realize corresponding functions. The intelligent trolleys can be connected in the same level in pairs, so that the passing ability of the intelligent trolleys is provided, and the intelligent trolleys can be longitudinally stacked mutually to reduce the occupied area.

The smart warehouse logistics system according to an embodiment of the present invention is described below with reference to the accompanying drawings.

Referring to fig. 22 and 23, the intelligent warehouse logistics system according to the embodiment of the invention comprises a warehouse space and an intelligent trolley 18. The storage space is provided with a support device for supporting the storage articles 20 which can be stacked one on top of the other in the storage space. The intelligent trolley is the same as the intelligent trolley of the embodiment and is not described in detail herein, and the intelligent trolley can convey the storage materials between the storage space and the preset position.

In practice, the supporting device comprises a supporting frame 19 constructed by square aluminum profiles, and the inner side of the supporting frame can adopt L-shaped aluminum profiles as a limiting piece for storing articles in the vertical direction. The support means may further comprise a support member 21 mounted to the support frame and capable of supporting the storage of the storage space when moved to the support position. In particular, the support member is capable of moving in a horizontal direction, such as extending and retracting, rotating, etc., and in the support position, a portion of the structure of the support member is in a path of movement of the respective column of bins in a vertical direction, so that the support member is capable of supporting the bins. When the supporting member is in the non-supporting position, the structure of the supporting member is completely separated from the track of the vertical movement of the corresponding row of the storage articles, and the movement of the storage articles is not limited by the supporting member.

The supporting pieces can be arranged on different levels of the supporting frame, for example, the supporting pieces are arranged on the bottom layer, the supporting pieces are arranged on the second layer, the supporting pieces are designed on the third layer and the like, and the supporting pieces between the levels can be controlled by the terminal controller to improve the flexibility of storing and taking the supporting device. For example, if the bottom layer of support members and the third layer of support members are in a supporting position at the same time, and the second layer of support members are in a non-supporting position, the storage in the second layer is not under pressure from the storage in the upper layer, and can be removed directly from the support frame. Optionally, the storage article has a lifting lug arranged on the periphery thereof, and the supporting member supports the lifting lug when supporting the storage article. For example, when the bottom layer storage is taken out, the support member of the second layer is in the supporting position and bears the weight of the storage on the second layer and above, and the support member of the first layer is in the non-supporting position, so that the support member can be directly taken out from the support frame.

The storage and taking of the stored goods can be operated by a mechanical arm of the intelligent trolley and also can be operated by a carrying mechanical arm, namely, the intelligent storage logistics system can further comprise a carrying mechanical arm 22, the carrying mechanical arm is arranged in the storage space and can store the stored goods conveyed to the storage space by the intelligent trolley into the storage space and take out the stored goods from the storage space and place the stored goods on the intelligent trolley. The number, the activity space and the position of the carrying manipulators can be determined according to actual needs, and are not listed in detail herein.

In implementation, the warehouse is provided with a first locking part, the carrying manipulator is provided with a second locking part, and when the second locking part of the carrying manipulator is locked with the first locking part, the carrying manipulator can move the corresponding warehouse. The carrying manipulator can also be provided with a reading component, such as a camera, a radio frequency card reader and the like, and can read the mark information of the storage materials, wherein the mark information can be patterns, two-dimensional codes, characters and the like so as to obtain the characteristics of the storage materials, thereby improving the storage and taking accuracy of the storage materials.

The smart warehouse logistics system may also include a boom tool 23. Two ends of the arm lifting tool are provided with second locking parts which can be locked and matched with the two oppositely arranged first locking parts at the upper end of the storage; the middle part of the suspension arm tool is provided with a first locking part, and a second locking part of the carrying manipulator can be matched with the first locking part of the suspension arm tool in a locking mode. Therefore, the carrying manipulator can move the storage articles with larger volume by utilizing the suspension arm tool.

In implementation, in order to improve the stability and the safety of the storage materials in the conveying process, the bottom of the storage materials can be provided with a first locking part, and the bearing part of the vehicle body is provided with a second locking part. When the second locking part of the bearing part of the automobile body is locked with the first locking part at the bottom of the storage, the storage can be stably placed on the bearing part of the automobile body, and when the second locking part of the bearing part of the automobile body is unlocked with the first locking part at the bottom of the storage, the storage can be moved away by the manipulator or the carrying manipulator.

In implementation, the top of the storage article is also provided with a first limiting part. When the intelligent trolleys for conveying the storage materials more than two are longitudinally stacked, a first limiting part at the top of the storage materials of the intelligent trolley positioned below is matched with a second limiting part at the bottom of the body of the intelligent trolley positioned above to lock the two intelligent trolleys.

Referring now to fig. 24, the storage means may be functional means such as a vacuum cleaner, a garbage collection device, an incubator, a seat, a sprinkler, a sweeper, a paint spraying device, a detection device, etc., although the functional means are stored in the support means while they are maintained in a stackable arrangement. The storage may also be composed of a container and objects placed in the container other than the functional devices, i.e. ordinary goods, and may be composed of both the container and the functional devices placed in the container, which are stacked on each other in the supporting device.

Claims

1. The utility model provides an intelligent vehicle which characterized in that: the robot comprises a vehicle body, a traveling part, a manipulator, a camera part and a processor; the processor is used for controlling the traveling component to travel according to the route setting data and the image data shot by the camera component, and controlling the manipulator to execute actions.

2. The intelligent trolley according to claim 1, wherein: the fixed end of the manipulator is connected with the vehicle body; the imaging component is arranged on the manipulator.

3. The intelligent trolley according to claim 1, wherein: the vehicle body is provided with a first locking part, the manipulator is provided with a second locking part, and the second locking part can be locked and matched with the first locking part; more than two the connection in same level between two liang can be realized through the manipulator to the intelligent vehicle.

4. The intelligent trolley according to claim 1, wherein: the second locking part of the manipulator can be matched with an object provided with the first locking part in a locking mode, and the object can be grabbed and used.

5. The intelligent trolley according to claim 3 or 4, wherein: when the manipulator grabs and uses an object, the manipulator can be sequentially contacted with the supporting surface through a plurality of joints from the free end to the fixed end, and the force perpendicular to the contact surface is improved.

6. The intelligent trolley according to claim 1, wherein: the intelligent trolley is characterized by further comprising an auxiliary travelling component, and the processor is further used for controlling the travelling component and the auxiliary travelling component to cooperate to improve the trafficability characteristic and/or the stability of the trolley body of the intelligent trolley according to the route setting data and the image data shot by the camera shooting component.

7. The intelligent trolley according to claim 1, wherein: the vehicle body is provided with a first locking part, and the free end of the manipulator is provided with a second locking part which can be matched with the first locking part in a locking way; the processor is also used for controlling the manipulator to execute actions according to the route setting data and the stacking setting data so as to realize longitudinal stacking and separation of more than two intelligent trolleys.

8. The intelligent trolley according to claim 7, wherein: the top of the vehicle body is provided with a first limiting part, and the bottom of the vehicle body is provided with a second limiting part; when the intelligent trolleys are longitudinally stacked, the first limiting part of the intelligent trolley positioned below is matched with the second limiting part of the intelligent trolley positioned above to position the two intelligent trolleys.

9. The intelligent trolley according to claim 1, wherein: the intelligent vehicle further comprises a distance measuring unit, and the processor is further used for controlling the travelling component to change the travelling direction when the detection signal of the distance measuring unit determines that the distance between the obstacle and the intelligent vehicle in the travelling direction is smaller than a preset threshold value.

10. The intelligent trolley according to claim 1, wherein: the processor is also used for controlling the advancing component to advance according to the working mode setting data, controlling the mechanical arm to execute actions and communicating with the functional device loaded by the mechanical arm.

11. An intelligent warehouse logistics system, comprising:

the storage space is provided with at least two storage objects which can be overlapped mutually, and the storage space is provided with a supporting device for supporting the storage objects positioned in the storage space;

the intelligent trolley according to any one of claims 1 to 10, wherein the storage is transported between the storage space and a preset position.

12. The smart warehouse logistics system of claim 11, wherein: the support device includes a support frame, and a support member mounted to the support frame, the support member being capable of supporting the bin of the storage space when moved to a support position.

13. The smart warehouse logistics system of claim 11, wherein: still include handling manipulator, handling manipulator arranges in storage space for with the intelligent vehicle transports the storage article in of storage space to storage space, and/or follow storage article take out and place in on the intelligent vehicle.

14. The intelligent warehouse logistics system of claim 13, wherein: the conveying manipulator is provided with a second locking part which can be matched with the first locking part of the storage in a locking mode.

15. The smart warehouse logistics system of claim 14, wherein: the lifting arm tool is characterized by further comprising a lifting arm tool, wherein second locking parts are arranged at two ends of the lifting arm tool and can be in locking fit with the two oppositely arranged first locking parts at the upper end of the storage; the middle part of the boom tool is provided with a first locking part, and a second locking part of the carrying manipulator can be matched with the first locking part of the boom tool in a locking way.

16. The smart warehouse logistics system of claim 14, wherein: the bottom of the storage is provided with a first locking part, and the bearing part of the vehicle body is provided with a second locking part which can be matched with the first locking part at the bottom of the storage in a locking way.

17. The smart warehouse logistics system of claim 11, wherein: the top of the storage is provided with a first limiting part; when the intelligent trolleys for conveying the storage materials more than two are longitudinally stacked, the first limiting part of the storage materials of the intelligent trolley positioned below is matched with the second limiting part positioned at the bottom of the body of the intelligent trolley positioned above to lock the two intelligent trolleys.

18. The smart warehouse logistics system of claim 11, wherein: the storage is a functional device and/or consists of both a container and a functional device placed in the container and/or consists of a container and an object placed in the container except the functional device.