CN203241824U - Multi-modality intelligent delivery robot - Google Patents
Multi-modality intelligent delivery robot Download PDFInfo
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- CN203241824U CN203241824U CN 201320226543 CN201320226543U CN203241824U CN 203241824 U CN203241824 U CN 203241824U CN 201320226543 CN201320226543 CN 201320226543 CN 201320226543 U CN201320226543 U CN 201320226543U CN 203241824 U CN203241824 U CN 203241824U
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- distributed robot
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Abstract
The utility model relates to a multi-modality intelligent delivery robot. The multi-modality intelligent delivery robot comprises a central control module and a delivery module based on an ARM architecture. The central control module is composed of a main control board, a touch display screen, a Zigbee gateway and a short message module, and the touch display screen, the Zigbee gateway and the short message module are all connected with the main control board. The delivery module is composed of a terminal control board, a power module, an ultrasonic obstacle avoidance module, a Zigbee terminal, an information acquisition module and a cargo storage rack; the power module, the Zigbee terminal and the information acquisition module are all connected with the terminal control board, the ultrasonic obstacle avoidance module is connected with the power module, and the cargo storage rack is equipped with a latching device that is connected with the terminal control board. The central control module and the delivery module are connected with the Zigbee module via the Zigbee gateway. The multi-modality intelligent delivery robot can finish the delivery tasks automatically, possesses the autonomous navigation and identity authentication capabilities, is high in intelligentization degree, accurate in positioning and navigation, wide in application and low in cost, and is easy to popularize.
Description
Technical field
The utility model relates to a kind of multi-modal intelligent distributed robot.
Background technology
At present, the research aspect the Information Mobile Service robot both at home and abroad is a lot, and has developed some commercially produced products, such as Intelligent cleaning robot, and accompanying dancer robot, amusement robot etc.But, present Information Mobile Service robot building cost on the market is too high, range of application single (generally all being that its specific place of using is arranged), and cost performance is too low, although a large amount of documents is studied the Information Mobile Service robot, mainly concentrate on algorithm aspect and information fusion aspect.In order significantly to reduce its cost, must the high intelligence sensor of research and development cost performance.Following autonomous mobile service robot will be come into huge numbers of families, have the competition of path and service content between the multiple types robot, and this competition is different from the competition of robotic team.Therefore, must be in conjunction with existing obstacle avoidance algorithm and movement control technology, research efficient transmission sensor machine information blending algorithm, the complete autonomous high Intelligent Service mobile robot of exploitation.
The utility model content
For solving the above-mentioned problems in the prior art, the utility model provides a kind of can finish various deliver goods tasks automatically, authentication ability with complete independent navigation and consignee, intelligent degree is high, and location and navigation are accurately, and application is wide, hommization is strong, simple, convenient, low cost of manufacture, the multi-modal intelligent distributed robot who is easy to apply.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of multi-modal intelligent distributed robot includes middle control module and deliver goods module based on the ARM framework; Wherein,
Described middle control module mainly is comprised of master control borad, touch display screen and Zigbee gateway, and described touch display screen and Zigbee gateway all are connected with described master control borad conducting;
Described deliver goods module mainly is comprised of terminal control plate, power plant module, capable of avoiding obstacles by supersonic wave module, Zigbee terminal, information acquisition module and goods storage rack, described power plant module, Zigbee terminal and information acquisition module all are connected with the conducting of terminal control plate, described capable of avoiding obstacles by supersonic wave module is connected with described power plant module conducting, described goods storage rack is provided with blocking device, and described blocking device is connected with the conducting of described terminal control plate;
Conducting is connected described middle control module with the Zigbee terminal wireless by described Zigbee gateway with the deliver goods module.
Further, described information acquisition module is the RFID module, mainly is comprised of the RFID reader.
Further, described capable of avoiding obstacles by supersonic wave module is the HC-SR04 ultrasonic distance measuring module, mainly is comprised of ultrasonic transmitter, receiver and control circuit.
Further, described master control borad is the GEC2440 control panel, and described terminal control plate is OK6410 terminal control plate, and described power plant module is the L298N motor drive module.
Further, described Zigbee gateway, Zigbee terminal, RFID module and be located at the Zigbee wireless network location system that can be consisted of by the RFID label that described RFID module reads this robot on the road.
Further, described Zigbee terminal is provided with at least one location node and at least three reference modes.
Further, described location node is the CC2431 chip module, and described reference mode is CC2430 chip module or CC2431 chip module.
Further, described location node is the CC2431 chip module, and described reference mode is the CC2420 chip module, and described terminal control plate is microcontroller terminal control plate.
Further, described middle control module also includes for send the SMS module of goods to notice to the owner of cargo, and described SMS module is connected with described master control borad conducting.
Further, described SMS module is gsm module or GPRS module or 3G module.
The beneficial effects of the utility model are:
The utility model passes through technique scheme, can automatically finish various deliver goods tasks, and the authentication ability with complete independent navigation and consignee, intelligent degree is high, location and navigation are accurately, but many he fields of wide spread in the life, have broad application prospects, and adopt touch display screen as human-computer interaction interface, hommization is strong, and is simple, convenient, adds extremely low with respect to existing all robot building costs on the market, and be easy to realize, be conducive to apply.
In addition, when arriving the deliver goods terminal point, SMS module sends the arrival note to the consignee, thereby informs the consignee, makes robot more humane, avoids nobody to receive or the consignee waits for that the situation of receiving occurs.
Description of drawings
Fig. 1 is the described multi-modal intelligent distributed robot's of the utility model embodiment structural principle block diagram.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
As shown in fig. 1:
The described a kind of multi-modal intelligent distributed robot of the utility model embodiment includes middle control module 1 and deliver goods module 2 based on the ARM framework.Wherein, described middle control module 1 mainly is comprised of master control borad 11, touch display screen 12 and Zigbee gateway 13, and described master control borad 11 is the GEC2440 control panel, and described touch display screen 12 is connected with the Zigbee gateway and all is connected with master control borad 11 conductings; Described deliver goods module 2 mainly is comprised of terminal control plate 21, power plant module 22, capable of avoiding obstacles by supersonic wave module 23, Zigbee terminal 24, information acquisition module 25 and goods storage rack 26; Described terminal control plate 21 is OK6410 terminal control plate; Described power plant module 22 is the L298N motor drive module, and power plant module 22, Zigbee terminal 24 are connected with information acquisition module and all are connected with 21 conductings of terminal control plate; Described capable of avoiding obstacles by supersonic wave module 23 is the HC-SR04 ultrasonic distance measuring module, has the contactless distance sensing function of 2cm-400cm, mainly is comprised of ultrasonic transmitter, receiver and control circuit, and is connected with power plant module 22 conductings; Described information acquisition module 25 is the RFID module, mainly is comprised of the RFID reader; Described goods storage rack 26 is provided with blocking device 261, and described blocking device 261 is connected with 21 conductings of terminal control plate; And, described middle control module 1 is connected with the deliver goods module and is connected wireless conducting with the Zigbee terminal by Zigbee gateway 13 and connects, and described Zigbee gateway 13, Zigbee terminal 24, RFID module and be located at the Zigbee wireless network location system that can be consisted of by the RFID label that the RFID module reads this robot on the road, described Zigbee terminal 24 is provided with at least one location node 241 and at least three reference modes 242, described location node 241 is the CC2431 chip module, described reference mode 242 is CC2430 chip module or CC2431 chip module, and perhaps described reference mode 242 is CC2420 chip module (this moment, described terminal control plate 21 was necessary for microcontroller terminal control plate).
Multi-modal intelligent distributed robot's described in the utility model principle of work is: at first, the user finishes the operations such as delivery route planning (namely inputting deliver goods starting point and deliver goods terminal point), consignee's Data Enter by touch display screen 12, and through master control borad 11 optimum road warp of searching in the environmental map that operates in according to the user, do not bump with the external world when guaranteeing this path movement of Robot, and by Zigbee gateway 13 delivery route information and consignee's information are sent to deliver goods module 2; The Zigbee terminal 22 of then, deliver goods module 2 will receive delivery route information and addressee information is sent to terminal control plate 21; Then, terminal control plate 21 is controlled to finish goods according to delivery route information to power plant module 22 and is sent to, 23 pairs of road barricade things of capable of avoiding obstacles by supersonic wave module detect simultaneously, when having run into suddenly the barrier that can't go beyond midway, 23 of capable of avoiding obstacles by supersonic wave modules are sent detection signal to terminal control plate 21, terminal control plate 21 is controlled power plant module 22 according to detection signal, make deliver goods module 2 return a feasible node, and again search out another optimal path that reaches the destination, until arrive the deliver goods place; RFID module (information acquisition module 25) reads simultaneously also that the RFID label information is sent to Zigbee terminal 22 on the road in addition, Zigbee terminal 22 is sent to middle control module 1 in the lump with anchor point signal and the reference point signal of this RFID label information and location node 241 and reference mode 242 generations, master control borad 11 is according to the exact position (precision can reach 3～5 meters) that receives RFID label information, anchor point signal and reference point signal acquisition deliver goods module 2 through Zigbee gateway 13, realizes accurately location and navigation and shows at touch display screen 12; At last, the RFID module gathers consignee's information and feeds back to middle control module 1 and carries out recognition and verification behind the arrival deliver goods terminal point, control module 1 is sent confirmation signal to the deliver goods module in after confirming, terminal control plate 21 is opened blocking device 261 on the goods storage rack 26 according to this confirmation signal, the consignee can pick up goods, deliver goods module 2 auto-returned deliver goods starting points.
Like this, can automatically finish various deliver goods tasks by robot described in the utility model, and the authentication ability with complete independent navigation and consignee, location and navigation are accurately, intelligent degree is high, but wide spread (is sent with charge free such as take-away to many his fields in the life, the express delivery pickup, long-range unmanned logistics etc.), have broad application prospects, and adopt touch display screen 12 as human-computer interaction interface, hommization is strong, and is simple to operate, convenient, add extremely low with respect to existing all robot building costs on the market, and be easy to realize, be conducive to apply.
As the utility model one preferred embodiment, described middle control module 1 also includes for send the SMS module 14 of goods to notice to the owner of cargo, and described SMS module 14 is gsm module or GPRS module or 3G module, and is connected with master control borad 11 conductings.When arriving the deliver goods terminal point, feed back to master control borad 11 by Zigbee gateway 13, then trigger SMS module 14 and send the arrival note to the consignee, thereby inform consignee's goods Delivered.Make like this this robot more humane, avoid nobody to receive or the consignee waits for that situation about receiving occurs.
The above is preferred implementation of the present utility model; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also are considered as protection domain of the present utility model.
Claims (10)
1. a multi-modal intelligent distributed robot is characterized in that: include middle control module (1) and deliver goods module (2) based on the ARM framework; Wherein,
Described middle control module (1) mainly is comprised of master control borad (11), touch display screen (12) and Zigbee gateway (13), and described touch display screen (12) is connected 13 with the Zigbee gateway) all be connected with described master control borad (11) conducting;
Described deliver goods module (2) is mainly by terminal control plate (21), power plant module (22), capable of avoiding obstacles by supersonic wave module (23), Zigbee terminal (24), information acquisition module (25) and goods storage rack (26) form, described power plant module (22), Zigbee terminal (24) is connected 25 with information acquisition module) all be connected with terminal control plate (21) conducting, described capable of avoiding obstacles by supersonic wave module (23) is connected with described power plant module (22) conducting, described goods storage rack (26) is provided with blocking device (261), and described blocking device (261) is connected with described terminal control plate (21) conducting;
Described middle control module (1) is connected 2 with the deliver goods module) be connected 24 by described Zigbee gateway (13) with the Zigbee terminal) wireless conducting connection.
2. multi-modal intelligent distributed robot according to claim 1 is characterized in that: described information acquisition module (25) is the RFID module, mainly is comprised of the RFID reader.
3. multi-modal intelligent distributed robot according to claim 2 is characterized in that: described capable of avoiding obstacles by supersonic wave module (23) is the HC-SR04 ultrasonic distance measuring module, mainly is comprised of ultrasonic transmitter, receiver and control circuit.
4. multi-modal intelligent distributed robot according to claim 3, it is characterized in that: described master control borad (11) is the GEC2440 control panel, described terminal control plate (21) is OK6410 terminal control plate, and described power plant module (22) is the L298N motor drive module.
5. multi-modal intelligent distributed robot according to claim 4 is characterized in that: described Zigbee gateway (13), Zigbee terminal (24), RFID module and be located at the Zigbee wireless network location system that can be consisted of by the RFID label that described RFID module reads this robot on the road.
6. multi-modal intelligent distributed robot according to claim 5, it is characterized in that: described Zigbee terminal (24) is provided with at least one location node (241) and at least three reference modes (242).
7. multi-modal intelligent distributed robot according to claim 6, it is characterized in that: described location node (241) is the CC2431 chip module, and described reference mode (242) is CC2430 chip module or CC2431 chip module.
8. multi-modal intelligent distributed robot according to claim 6, it is characterized in that: described location node (241) is the CC2431 chip module, described reference mode (242) is the CC2420 chip module, and described terminal control plate (21) is microcontroller terminal control plate.
9. any one described multi-modal intelligent distributed robot in 8 according to claim 1, it is characterized in that: described middle control module (1) also includes for send the SMS module (14) of goods to notice to the owner of cargo, and described SMS module (14) is connected with described master control borad (11) conducting.
10. multi-modal intelligent distributed robot according to claim 9, it is characterized in that: described SMS module (14) is gsm module or GPRS module or 3G module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320226543 CN203241824U (en) | 2013-04-28 | 2013-04-28 | Multi-modality intelligent delivery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320226543 CN203241824U (en) | 2013-04-28 | 2013-04-28 | Multi-modality intelligent delivery robot |
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| CN203241824U true CN203241824U (en) | 2013-10-16 |
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| CN 201320226543 Expired - Fee Related CN203241824U (en) | 2013-04-28 | 2013-04-28 | Multi-modality intelligent delivery robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106997518A (en) * | 2016-01-22 | 2017-08-01 | 阿里巴巴集团控股有限公司 | Logistics Distribution Method and its equipment |
| CN107053196A (en) * | 2017-03-09 | 2017-08-18 | 黑龙江科技大学 | One kind takes out dispensing machine people |
| CN107300912A (en) * | 2016-04-14 | 2017-10-27 | 北京积水潭医院 | Movable medical logistics platform robot |
| CN109246661A (en) * | 2018-07-12 | 2019-01-18 | 上海常仁信息科技有限公司 | A kind of communication system between robot based on robot identity card |
-
2013
- 2013-04-28 CN CN 201320226543 patent/CN203241824U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106997518A (en) * | 2016-01-22 | 2017-08-01 | 阿里巴巴集团控股有限公司 | Logistics Distribution Method and its equipment |
| CN107300912A (en) * | 2016-04-14 | 2017-10-27 | 北京积水潭医院 | Movable medical logistics platform robot |
| CN107053196A (en) * | 2017-03-09 | 2017-08-18 | 黑龙江科技大学 | One kind takes out dispensing machine people |
| CN109246661A (en) * | 2018-07-12 | 2019-01-18 | 上海常仁信息科技有限公司 | A kind of communication system between robot based on robot identity card |
| CN109246661B (en) * | 2018-07-12 | 2021-08-31 | 付小芹 | Communication system between robots based on robot identity card |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131016 Termination date: 20140428 |