CN210741451U - Cargo compartment opening and closing detection system of delivery robot - Google Patents
Cargo compartment opening and closing detection system of delivery robot Download PDFInfo
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- CN210741451U CN210741451U CN201921362372.3U CN201921362372U CN210741451U CN 210741451 U CN210741451 U CN 210741451U CN 201921362372 U CN201921362372 U CN 201921362372U CN 210741451 U CN210741451 U CN 210741451U
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Abstract
The utility model belongs to the field of artificial intelligence, in particular to a cargo compartment door opening and closing detection system of a robot and a cargo compartment opening and closing detection system of a cargo delivery robot, which comprises a cargo delivery robot body, wherein the bottom of the cargo compartment of the cargo delivery robot is provided with an opening and closing detection device, the opening and closing detection device comprises a control unit, an infrared distance sensor and a reflector panel, wherein when the distance between the detected distance and the reflector panel arranged on a cargo compartment baffle is greater than an initial distance value, the infrared distance sensor feeds back an acquisition signal to the control unit that the cargo compartment door is opened; if the detected distance is equal to the initial distance value, the acquisition signal is fed back to the control unit that the cargo compartment door is closed. The system can realize efficient and safe replenishment and delivery, the detection scheme is lower in arrangement position, and the cargo hold is provided with the baffle, so that manual intentional shielding cannot occur, the reliability of opening and closing detection is ensured, and the urgent goods taking and delivery requirements of merchants and customers are met.
Description
Technical Field
The utility model belongs to the artificial intelligence field, concretely relates to cargo compartment door switching detecting system of robot.
Background
With the rapid development of artificial intelligence technology, delivery robot technology is also gradually appearing in the forefront of the public, and under the problems of high cost and insufficient efficiency of artificial delivery, the delivery robot is gradually replacing people to operate efficiently. Aiming at a delivery robot independently researched and developed by the company, aiming at efficient and safe replenishment and delivery in replenishment/delivery, a cargo door opening and closing detection system which is humanized, comfortable and simplified for people and safe, cheap and sensitive for the robot is urgently needed to be designed.
SUMMERY OF THE UTILITY MODEL
For realize high-efficient and safe replenishment and delivery of goods of delivery of goods robot, the utility model discloses a cargo hold switching detecting system of delivery of goods robot.
The following technical scheme is adopted: the cargo compartment opening and closing detection system of the delivery robot comprises a delivery robot body, wherein an opening and closing detection device is arranged at the bottom of a cargo compartment of the delivery robot and comprises a control unit, an infrared distance sensor and a reflector, the control unit is used for receiving a feedback signal of the infrared distance sensor to open and close a cargo compartment door, and the infrared distance sensor is used for being matched with the reflector to detect the opening and closing of the cargo compartment door;
when the distance between the infrared distance sensor and a reflecting plate arranged on a cargo compartment baffle is detected to be larger than the initial distance value, the infrared distance sensor feeds back an acquisition signal to the control unit that the cargo compartment door is opened; if the detected distance is equal to the initial distance value, the acquisition signal is fed back to the control unit that the cargo compartment door is closed.
Further, upon receiving a feedback signal that the cargo door has been closed, the control unit controls the delivery robot to perform the delivery/return task.
Further, when receiving a feedback signal that the cargo door is opened, the control unit notifies the staff to replenish the cargo/the user to pick up the cargo.
Further, a replenishment/pickup instruction is sent to the control unit, and the worker/user manually opens the cargo compartment door to replenish/pickup the cargo.
And further, a door closing instruction is sent to the control unit, and the control unit drives a motor at the bottom of the cargo door to drag the rack to close the cargo door.
Furthermore, the device also comprises a torque limiter which is connected with the motor and used for protecting the motor reduction box from being damaged.
Further, if the detected distance signal is still greater than the set distance value within the set time, a signal is fed back to the control unit that the cargo door is not normally closed.
Further, after receiving a feedback signal of the abnormal closing, the control unit informs the staff/user to manually close the cargo door again.
Further, if the detected distance signal is still equal to the set distance value within the set time after the password is input, namely the signal is fed back to the control unit that the cargo hold door is not normally opened, the control unit resets the opening password again and sends the opening password.
Further, the delivery robot body comprises at least two layers of cargo holds, and an opening and closing detection device is arranged at the bottom of each layer of cargo hold.
The utility model has the advantages that: to this company's delivery robot of independently researching and developing, the cargo compartment door switching detection device who designs and match with it realizes high-efficient and safe replenishment and delivery, and this detection scheme is lower because of arranging the position, and the cargo hold has the baffle, so can not appear artificially sheltering from by purpose to guarantee the reliability that the limit was detected, be provided with simultaneously with the supporting torsion limiter of motor, satisfy trade company and customer and promptly get goods and delivery demand.
Drawings
Fig. 1 is a schematic structural view of a cargo compartment opening and closing detection system of a delivery robot;
FIG. 2 is a schematic structural diagram of an automatic open/close detection system for a cargo compartment of a delivery robot;
reference numerals: the method comprises the following steps of 1-opening and closing detection device, 2-infrared distance sensor, 3-reflector, 4-electromagnetic lock, 5-rack, 6-brushless motor and 7-torque limiter.
Detailed Description
The utility model provides a cargo hold opening and closing detection system of a delivery robot when the autonomous mobile robot is charged under the condition of insufficient electric quantity,
the cargo compartment opening and closing detection system of the delivery robot comprises a delivery robot body, as shown in fig. 1, an opening and closing detection device 1 is arranged at the bottom of a cargo compartment of the delivery robot, the opening and closing detection device 1 comprises a control unit, an infrared distance sensor 2 and a reflector 3, the control unit is used for receiving a feedback signal of the infrared distance sensor to open and close the cargo compartment door, and the infrared distance sensor 2 is used for being matched with the reflector 3 to detect the opening and closing of the cargo compartment door;
when the distance between the infrared distance sensor 2 and the reflector 3 arranged on the cargo compartment baffle is detected to be larger than the initial distance value, the infrared distance sensor feeds back an acquisition signal to the control unit, and the cargo compartment door is opened; if the detected distance is equal to the initial distance value, the acquisition signal is fed back to the control unit, and the cargo hold door is closed.
The manual opening and closing detection working process of the cargo door comprises the following steps: after arriving at a replenishment place, a worker selects a cargo hold to be loaded, inputs a password to unlock the cargo hold, and has a light prompt when the cargo hold is unlocked, the worker manually opens a cargo hold door, the sensor detects and starts the cargo hold door in the state, the cargo hold door is in an initial state when in a closed state, the infrared distance sensor detects that a distance signal of a reflector arranged on the cargo hold baffle is in a set distance area, when the distance signal of the reflector 3 arranged on the cargo hold baffle is detected to be larger than the set distance value, the infrared distance sensor 2 feeds back a signal to the control unit, the cargo hold door is opened, the cargo hold door is manually pushed back to close the cargo hold door after the cargo is placed, the infrared distance sensor 2 detects the distance signal of the reflector 3 arranged on the cargo hold baffle, if the distance is in the set distance area, (in order to allow an error, the distance is, the reflector 3 arranged on the cargo compartment baffle is within plus or minus 2cm of the minimum distance from the infrared distance sensor 2), namely, a signal is fed back to the control unit, the cargo compartment door is closed, and the distribution is started at the moment.
The delivery robot arrives at a delivery position, a user can unlock a cargo hold door of the delivery robot by three modes of actively scanning a code by a mobile phone, inputting a password by extracting the code by the mobile phone and recognizing a human face, then the appointed cargo hold door is opened according to light prompt, when detecting that a distance signal of a reflector 3 arranged on a cargo hold baffle is larger than a set distance value, an infrared distance sensor 2 feeds back a signal to the control unit that the cargo hold door is opened, the user manually pushes the cargo hold door back to close the cargo hold door after pulling the cargo hold open to take out cargos, the infrared distance sensor 2 detects a distance signal of the reflector 3 arranged on the cargo hold baffle, if the distance is in a set distance area (namely the distance between the reflector 3 and the infrared distance sensor 2), the signal is fed back to the control unit, the cargo hold door is closed, and if the door is not closed, the user is informed to manually close the door, and returning the order state to the cloud end after the delivery robot detects that the cargo hold door is closed until the value in the set distance area is detected, and finishing the delivery task. And if no second delivery task needs to be completed, the delivery robot restores to an idle state, returns to the charging pile and waits for next scheduling of the cloud. The detection scheme is lower in arrangement position, and the cargo hold is provided with the baffle, so that manual intentional shielding cannot occur, and the reliability of opening and closing detection is ensured.
As shown in fig. 2, the cargo compartment opening and closing detection system of the delivery robot comprises a delivery robot body, wherein an opening and closing detection device 1 is arranged at the bottom of a cargo compartment of the delivery robot, and comprises a control unit, an infrared distance sensor 2, a reflector 3, an electromagnetic lock 4, a brushless motor 6, a rack 5 and a torque limiter 7, the control unit is used for receiving a feedback signal of the infrared distance sensor 2 to open and close a cargo compartment door, and the infrared distance sensor 2 is used for being matched with the reflector 3 to detect the opening and closing of the cargo compartment door; the electromagnetic lock 4 is used for opening and closing the cargo hold door, the brushless motor 6 is used for driving the rack 5 to open and close the cargo hold door, and the torque limiter 7 is used for protecting the motor reduction gearbox from being damaged.
When the distance between the infrared distance sensor 2 and the reflector 3 arranged on the cargo compartment baffle is detected to be larger than the initial distance value, the infrared distance sensor feeds back an acquisition signal to the control unit, and the cargo compartment door is opened; if the detected distance is equal to the initial distance value, the acquisition signal is fed back to the control unit, and the cargo hold door is closed.
The automatic opening and closing detection working process of the cargo door comprises the following steps: whether the current state of the delivery robot is idle or not is detected, delivery tasks are pushed to the idle delivery robot by an order library at the cloud end, and the delivery robot has two layers of cargo holds, so that two delivery tasks can be executed. And setting a replenishment place according to the order, and replenishing the replenishment at the replenishment place by the staff, wherein the staff is required to firstly determine whether the delivery task needs to be changed on a delivery robot interaction screen. After the situation that no fault exists, a cargo hold needing to be loaded is selected on the interactive screen of the delivery robot, a worker sends a cargo supplementing command to the robot, an electromagnetic lock 4 of the robot is opened (10s later release), a motor drags a rack 5 to push a drawer door outwards at a stable speed until the drawer door is pushed to the outside, and the drawer door is completely opened. When the distance signal of the reflector 3 arranged on the cargo compartment baffle is detected to be outside the distance area, the infrared distance sensor 2 feeds back a signal to the control unit, the cargo compartment door is opened, after the cargo is supplemented, a worker sends a door closing command to a robot, the motor 6 drags the rack 5 to retract the drawer door according to the stable speed, the infrared distance sensor 2 detects the distance signal of the reflector 3 arranged on the cargo compartment baffle, if the distance is within the set distance area, the signal is fed back to the control unit, the cargo compartment door is closed, and then the cargo compartment starts to be delivered.
The delivery robot arrives at a delivery position, a user can unlock a cargo compartment door of the delivery robot by three modes of actively scanning a code by a mobile phone, inputting a password by extracting the code by the mobile phone and recognizing a human face, a cargo taking command is generated to the machine, an electromagnetic lock 4 of the machine is opened (released after 10 s), a motor 6 drags a rack 5 to push a drawer door outwards at a stable speed until the drawer door is pushed to the outside, the drawer door is completely opened, then the specified cargo compartment door is opened according to light prompt, when the distance of a reflector 3 arranged on a cargo compartment baffle is detected to be beyond a distance area, an infrared distance sensor 2 feeds back a signal to a control unit, the cargo compartment door is opened, the user sends a door closing command to the robot after taking out the cargo, the motor 6 drags the rack 5 to retract the cargo compartment door at a stable speed, the infrared distance sensor 2 detects the distance signal of the reflector 3 arranged on the cargo compartment, and feeding back a signal to the control unit, when the cargo compartment door is closed, the delivery robot returns an order state to the cloud end after detecting that the cargo compartment door is closed, and the delivery task is finished. And if no second delivery task needs to be completed, the delivery robot restores to an idle state, returns to the charging pile and waits for next scheduling of the cloud.
When the motor is opened or closed and an external force pulls or pushes, the torsion/traction force acting on the motor 6 is overlarge, the torsion limiter 7 plays a role, meanwhile, the reduction gearbox of the motor is protected from being damaged, and when the resistance or the traction force is reduced, the motor continues to execute the original working process. Can satisfy trade company and customer's urgent demand of getting goods and the demand of delivery. The detection scheme is lower in arrangement position, and the cargo hold is provided with the baffle, so that manual intentional shielding cannot occur, and the reliability of opening and closing detection is ensured.
Claims (10)
1. The cargo compartment opening and closing detection system of the delivery robot comprises a delivery robot body, and an opening and closing detection device is arranged at the bottom of a cargo compartment of the delivery robot, and is characterized in that the opening and closing detection device comprises a control unit, an infrared distance sensor and a reflector, the control unit is used for receiving a feedback signal of the infrared distance sensor to open and close the cargo compartment door, and the infrared distance sensor is used for being matched with the reflector to detect the opening and closing of the cargo compartment door;
when the distance between the infrared distance sensor and a reflecting plate arranged on a cargo compartment baffle is detected to be larger than the initial distance value, the infrared distance sensor feeds back an acquisition signal to the control unit that the cargo compartment door is opened; if the detected distance is equal to the initial distance value, the acquisition signal is fed back to the control unit that the cargo compartment door is closed.
2. The cargo compartment opening and closing detection system of the delivery robot as recited in claim 1, wherein the control unit controls the delivery robot to perform a delivery/return task upon receiving a feedback signal that the cargo compartment door has been closed.
3. The cargo compartment opening and closing detection system of the delivery robot of claim 1, wherein the control unit notifies the operator to perform replenishment/a user to perform pickup upon receiving a feedback signal that the cargo compartment door has been opened.
4. The cargo compartment opening and closing detection system of the delivery robot as set forth in claim 3, wherein the replenishment/pickup command is transmitted to the control unit, and the worker/user manually opens the cargo compartment door to replenish/pickup the cargo.
5. The cargo compartment opening and closing detection system of the delivery robot of claim 3, wherein a door closing command is sent to the control unit, and the control unit drives a motor at the bottom of the cargo compartment door to pull a rack to close the cargo compartment door.
6. The cargo compartment opening and closing detection system of the delivery robot of claim 5, further comprising a torque limiter coupled to the motor for protecting a motor reduction gearbox from damage.
7. The cargo compartment opening and closing detection system of a delivery robot according to claim 1, wherein a signal is fed back to the control unit that the cargo compartment door is not normally closed if the detected distance signal is still greater than the set distance value within the set time.
8. The cargo compartment opening and closing detection system of the delivery robot of claim 7, wherein the control unit informs the worker/user to manually close the cargo compartment door again after receiving the feedback signal of the abnormal closing.
9. The cargo compartment opening/closing detection system of a delivery robot according to claim 1, wherein if the detected distance signal is equal to the set distance value within the set time after the password is inputted, the control unit resets the opening password again and transmits the reset signal if the feedback signal is transmitted to the control unit that the cargo compartment door is not normally opened.
10. A cargo compartment opening and closing detection system of a delivery robot as claimed in claim 1, wherein the delivery robot body comprises at least two levels of cargo compartments, and an opening and closing detection device is provided at the bottom of each level of cargo compartments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921362372.3U CN210741451U (en) | 2019-08-21 | 2019-08-21 | Cargo compartment opening and closing detection system of delivery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921362372.3U CN210741451U (en) | 2019-08-21 | 2019-08-21 | Cargo compartment opening and closing detection system of delivery robot |
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| CN210741451U true CN210741451U (en) | 2020-06-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112577369A (en) * | 2020-12-07 | 2021-03-30 | 追信数字科技有限公司 | Intelligent community firework setting-off system and using method thereof |
| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
-
2019
- 2019-08-21 CN CN201921362372.3U patent/CN210741451U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112577369A (en) * | 2020-12-07 | 2021-03-30 | 追信数字科技有限公司 | Intelligent community firework setting-off system and using method thereof |
| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
| CN117079371B (en) * | 2023-10-13 | 2024-04-05 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
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