CN109877850A - One kind being based on indoor intelligent delivery service system and device and its working method - Google Patents
One kind being based on indoor intelligent delivery service system and device and its working method Download PDFInfo
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- CN109877850A CN109877850A CN201910256343.7A CN201910256343A CN109877850A CN 109877850 A CN109877850 A CN 109877850A CN 201910256343 A CN201910256343 A CN 201910256343A CN 109877850 A CN109877850 A CN 109877850A
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Abstract
The present invention provides a kind of based on indoor intelligent delivery service system and device and its working method, including intelligent distribution service robot, the intelligent distribution service robot includes trolley body, the trolley body bottom is equipped with for driving the free-moving motion module of trolley body, several cargo access modules are equipped in the middle part of the trolley body, the master control plate module for issuing order-driven cargo access module and motion module work is equipped in the middle part of trolley body, the master control plate module is electrically connected with cargo access module and motion module respectively, the trolley body lower part is equipped with the NVIDIA Jetson Tx2 plate as intelligent distribution service robot core members and for controlling master control plate module, the cargo access module includes the goods layer for placing article, each goods layer rear portion is equipped with goods layer servo electricity Machine has been fixedly and coaxially connected screw rod on goods layer servo motor output shaft, the screw rod slide unit moved along screw rod has been arranged on the screw rod, the screw rod slide unit is fixedly connected with goods layer bottom.The present invention has rational design, and structure is simple, facilitates operation, can be time saving and energy saving effectively instead of being accomplished manually dispatching work, improves working efficiency.
Description
Technical field
The present invention relates to one kind to be based on indoor intelligent delivery service system and device and its working method.
Background technique
In recent years, the rise of artificial intelligence upsurge, as an important ring for new era China's development in science and technology, artificial intelligence will
Completely new development pattern, the reform of boosting China supply side and wisdom social construction are provided for China's real economy, really realize people
Common need of the people masses to good life.Nowadays internet, big data, artificial intelligence are merged with the deep of service trade, China
Service trade has become the largest industrial sector of name of the country economy, but some in existing dining room, hospital or home for destitute etc. according to investigations needs room
Interior service situation is in traditional stage, needs special waiter or nursing staff to complete dispatching dish or medicine
These tasks of product, according to the inquiry to the prior art, discovery is complicated for robot architecture designed by this problem, independence
It is weak, it is unable to complete multitask dispatching；Delivery error rate is high, can not be applicable in complex environment；Human-computer interaction is unfriendly, Yong Hucao
It bothers；Lack allocation data and compile ability, need to be completed by other equipment.In conclusion also there is no it is a can be quasi-
Really, efficiently steadily item dispenser into each client's hand and there are these information digitalizations in complex indoor environment
Imitate solution.
Summary of the invention
The present invention improves the above problem, i.e., the technical problem to be solved in the present invention is to provide a kind of indoor intelligents
Delivery service system and device and its working method, structure is simple, and completion that can be efficiently autonomous specifies each position article to interior
It dispenses and these data is digitized, it is easy to operate, staff can be replaced to complete these cumbersome work.
Specific embodiments of the present invention are: providing a kind of based on indoor intelligent delivery service system and device, including intelligence
Delivery service robot, the intelligent distribution service robot includes trolley body, and the trolley body bottom is equipped with for driving
The dynamic free-moving motion module of trolley body, the trolley body middle part are equipped with several cargo access modules, trolley body
Middle part is equipped with the master control plate module for issuing order-driven cargo access module and motion module work, the master control plate module
It is electrically connected respectively with cargo access module and motion module, the trolley body lower part is equipped with as intelligent distribution server
Device people core members and the NVIDIA Jetson Tx2 plate for being used to control master control plate module, the cargo access module include being used for
The goods layer of article is placed, each goods layer rear portion is equipped with goods layer servo motor, is fixedly and coaxially connected on goods layer servo motor output shaft
There is screw rod, the screw rod slide unit moved along screw rod is arranged on the screw rod, the screw rod slide unit is fixedly connected with goods layer bottom.
Further, motion module includes the universal wheel positioned at trolley body bottom, is fixed on the trolley body bottom
It is connected with the motion servo motor that driving universal wheel straight trip or turned to, is also connected with encoder on the motion servo motor.
Further, the intelligent distribution service robot includes building figure navigation obstacle avoidance module, described to build figure navigation avoidance
Module includes being mounted on the supermedial rplidar laser radar of trolley body, and rplidar laser radar is located at cargo access module
Between master control plate module, ROS system is installed on the intelligent distribution service robot, runs rplidar in ROS system
Laser radar can be carried out building figure and be saved to interior, according to the selected several points of built map and default starting point be most
The latter point, intelligent distribution service robot independent navigation can successively can carry out barrier during stroke to each point
Avoidance.
Further, the intelligent distribution service robot includes the human-computer interaction module positioned at trolley body top, people
Machine interactive module includes the battery main switch positioned at trolley body upper left side, and the trolley body top is equipped with and NVIDIA
The touchable screen of Jetson Tx2 plate connection, is equipped with ROS system and operation interface software in touchable screen, leads to
Operation interface software is crossed to input instruction to carry out control intelligent distribution service robot and complete task.
Further, the intelligent distribution service robot includes progress tracing system, and progress tracing system includes being located at
The communication module and PC machine of trolley body upper right side are connected in PC machine and are transmitted back to the real-time letter come for receiving communication module
Number signal receiving device, the communication module is electrically connected with NVIDIA Jetson Tx2 plate.
Further, the intelligent distribution service robot includes face recognition module, and the face recognition module includes
Facial image database and high-definition camera, high-definition camera are located above touchable screen, and face recognition module passes through high definition
Camera captures facial image, and facial image is compared with facial image database, to confirm the identity of the client.
Further, the intelligent distribution service robot includes setting in trolley body bottom and supplies for providing voltage
The power-supply management system module given, the power-supply management system module is equipped with to be connect for multiple power supplys of modules connection
Mouthful, a variety of different voltages are provided, the power-supply management system module is electrically connected with battery main switch.
Further, the NVIDIA Jetson Tx2 plate default system be linux system, master control plate module,
Rplidar laser radar, high-definition camera and communication module are electrically connected with JetsonTx2 plate 4 by USB port respectively, phase interworking
It closes and coordinates to complete dispatching task.
Further, a kind of using as claimed in claim 8 a kind of based on indoor intelligent delivery service system and device
Working method comprises the following steps that (1) firstly, confirmation intelligent distribution service robot use occasion, passes through control operation interface
Software drives rplidar laser radar, manipulates motion module, and the motion servo motor rotation of motion module drives universal wheel to move
Dynamic, the indoor two dimension that intelligent distribution service robot entirely dispenses region under plan record step by step builds figure, while operation interface
Pose of the intelligent distribution service robot on each delivery location has been recorded and saved on software respectively；(2) interior two is established
After the completion of tieing up figure, operation interface software is controlled, the position being sent to according to required for article needed for each client and each article will
The cargo for needing to dispense is placed in cargo access module, and each cargo access mould is successively recorded in operation interface software
Item Information in block chooses delivery location and starts to dispense；(3) intelligent distribution service robot starts to execute dispatching task, is matching
During sending, progress chasing system start recording intelligent distribution service robot stroke is received by receiving system by communicating
Intelligent distribution service robot position signal and sending objects information are shown intelligent distribution server by module in PC machine
Sending objects information is simultaneously stored in its distribution information library by device people's travel position information；(4) in dispatching, intelligent distribution service
The self-service planning department's distribution route on map of robot, during traveling, if rplidar laser radar detects unexpected appearance
Barrier on distribution route determines its position, by signal feed back to NVIDIA Jetson Tx2 plate and with it is current
Intelligent distribution service robot pose is compared, immediately send instructions to master control plate module, and driving motion module drives intelligence
Delivery service robot cut-through object；(5) when intelligent distribution service robot reaches first delivery location, face is driven
Identification module, high-definition camera, which is opened, obtains client's facial information, compares facial image database, recognition and verification client identity will be believed
Number NVIDIA Jetson Tx2 plate is fed back to, at once send instructions to master control plate module, drives the goods layer in cargo access module
Servo motor drives movement outside screw rod slide unit, opens goods layer, and client can take out article；(6) it is main after client's article takes out
Plate module driving goods layer servo motor rotation is controlled, drives screw rod slide unit inward movement, goods layer resets, intelligent distribution service robot
The dispatching for continuing to start lower pan position, moves in circles, and until having executed all tasks, the return of intelligent distribution service robot is set out
Point waits new task to assign.
Compared with prior art, the invention has the following advantages: present apparatus design is reasonable, structure is simple, Neng Gouzhun
Really, item dispenser into each client's hand and steadily effectively be can store into each dispatching task in complex indoor environment
Information, it is suitable for some places such as dining room, hospital, home for destitute, it is numerous to complete this to can replace waiter or nursing staff
Trivial work is realized Intelligent Service, is improved work efficiency while saving a large amount of manpower and material resources.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the embodiment of the present invention；
Fig. 2 is PC machine of embodiment of the present invention schematic configuration diagram；
Fig. 3 is cargo of embodiment of the present invention access module cross-sectional view；
Fig. 4 is working principle diagram of the embodiment of the present invention.
In figure: 1- motion module, 110- everything wheel, 120- motion servo motor, 2- trolley body；3- power-supply management system
Module；4-NVIDIA JetsonTx2 plate；5- master control plate module；6-rplidar laser radar；7- cargo access module；8- electricity
Source master switch；9- touchable screen；10- high-definition camera；11- communication module；12- signal receiving device；13-PC machine；14-
Goods layer servo motor；15- screw rod slide unit；16- goods layer, 17- screw rod.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Embodiment 1: as shown in Fig. 1 ~ 4, in the present embodiment, providing one kind and be based on indoor intelligent delivery service system and device,
Including intelligent distribution service robot, the intelligent distribution service robot includes trolley body 2,2 bottom of trolley body
Equipped with for driving the free-moving motion module 1 of trolley body 2, several cargos are equipped in the middle part of the trolley body 2 and are accessed
Module 7 is equipped with the master control template die for issuing order-driven cargo access module 7 and motion module 1 works in the middle part of trolley body 2
Block 5, the master control plate module 5 are electrically connected with cargo access module 7 and motion module 1 respectively, and 2 lower part of trolley body is taken
It is loaded with as intelligent distribution service robot core members and for controlling the NVIDIA Jetson Tx2 plate 4 of master control plate module, institute
Stating cargo access module 7 includes the goods layer 16 for placing article, and each 16 rear portion of goods layer is equipped with goods layer servo motor 14, goods layer
It has been fixedly and coaxially connected screw rod 17 on servo motor output shaft, the screw rod slide unit 15 moved along screw rod is arranged on the screw rod,
The screw rod slide unit 15 is fixedly connected with 16 bottom of goods layer.
In the present embodiment, motion module 1 includes the universal wheel 110 positioned at trolley body bottom, 2 bottom of trolley body
On be fixedly connected with motion servo motor 120, encoder, motion servo motor are also connected on the motion servo motor 120
120 unlike signals that can be come out according to the transmission of master control plate module 5 carry out differential driving, complete universal wheel straight trip or rotate dynamic
Make.
In the present embodiment, the intelligent distribution service robot include build figure navigation obstacle avoidance module, it is described build figure navigation keep away
Barrier module includes being mounted on the supermedial rplidar laser radar 6 of trolley body 2, and rplidar laser radar 6 is deposited positioned at cargo
Between modulus block 7 and master control plate module 5, ROS system is installed on the intelligent distribution service robot, is transported in ROS system
Row rplidar laser radar can be carried out building figure and be saved to interior, according in the selected several points of built map and defaulting out
Hair point is the last one point, and intelligent distribution service robot can successively independent navigation, can be with during stroke to each point
Avoidance is carried out to barrier.
In the present embodiment, the intelligent distribution service robot includes the human-computer interaction module positioned at trolley body top,
Human-computer interaction module includes the battery main switch 8 positioned at 2 upper left side of trolley body, 2 top of trolley body be equipped with
The touchable screen 9 that NVIDIA Jetson Tx2 plate 4 connects is equipped with ROS system and operation in touchable screen 9
Interface software inputs instruction by operation interface software to carry out control intelligent distribution service robot and complete task.
Human-computer interaction module can be used as the display end of NVIDIA Jetson Tx2 plate 4, and user passes through human-computer interaction module
Task is carried out to intelligent distribution service robot to assign, it is simple and convenient.
In the present embodiment, the intelligent distribution service robot includes progress tracing system, and progress tracing system includes position
Communication module 11 and PC machine 13 in 2 upper right side of trolley body are connected in PC machine 13 and are transmitted back to for receiving communication module
The signal receiving device 12 of the live signal come, the communication module 11 are electrically connected with NVIDIA Jetson Tx2 plate 4, signal
Reception device 12 can also receive the position signal and task completion signal issued by communication module, to confirm sending objects
Information and dispatching travel path, while sending objects information being stored in the distribution information library of PC machine, facilitates work people
Member's real time review.
In the present embodiment, the intelligent distribution service robot includes face recognition module, the face recognition module packet
Facial image database and high-definition camera 10 are included, high-definition camera 10 is located at 9 top of touchable screen, and face recognition module is logical
It crosses high-definition camera and captures facial image, and facial image is compared with facial image database, to confirm the body of the client
Part.
In the present embodiment, the intelligent distribution service robot includes setting in trolley body bottom and for providing voltage
The power-supply management system module 3 of supply, the power-supply management system module 3 are equipped with multiple power supplys for modules connection
Interface, provides a variety of different voltages, and the power-supply management system module 3 is electrically connected with battery main switch 8.
In the present embodiment, 4 default system of NVIDIA Jetson Tx2 plate be linux system, master control plate module,
Rplidar laser radar, high-definition camera and communication module are electrically connected with JetsonTx2 plate 4 by USB port respectively, phase interworking
It closes and coordinates to complete dispatching task.
In the present embodiment, when work, the use occasion of intelligent distribution service robot is first confirmed, it is soft by control operation interface
Part drives rplidar laser radar 6, manipulates motion module 1, and the motion servo motor 120 of motion module 1 is rotated, driven universal
Wheel 110 is mobile, and the indoor two dimension that intelligent distribution service robot entirely dispenses region under plan record step by step builds figure, grasps simultaneously
Make to have recorded and saved pose of the intelligent distribution service robot on each delivery location on interface software respectively, is establishing room
After the completion of interior X-Y scheme, operation interface software, the position being sent to according to required for article needed for each client and each article are controlled
It sets, the cargo dispensed will be needed to be placed in cargo access module, and successively record each cargo in operation interface software
Item Information in access module chooses delivery location and starts to dispense, and intelligent distribution service robot starts to execute dispatching times at this time
Business, in delivery process, progress chasing system start recording intelligent distribution service robot stroke is connect by signal receiving device 12
It receives intelligent distribution service robot position signal and sending objects information by communication module 11, shows intelligence in PC machine 13
Sending objects information is simultaneously stored in its distribution information library by energy delivery service robot travel position information, in dispatching, intelligence
The self-service planning department's distribution route on map of energy delivery service robot, during traveling, if rplidar laser radar 6 is examined
The barrier suddenly appeared on distribution route is measured, its position is determined, signal is fed back into NVIDIA Jetson
Tx2 plate 4 is simultaneously compared with current intelligent distribution service robot pose, immediately send instructions to master control plate module 5, driving fortune
Dynamic model block 1 drives intelligent distribution service robot cut-through object；, when intelligent distribution service robot reaches first dispatching position
When setting, face recognition module is driven, high-definition camera 10, which is opened, obtains client's facial information, compares facial image database, and identification is true
Recognize client identity, signal is fed back into NVIDIA Jetson Tx2 plate, at once send instructions to master control plate module, drives cargo
Goods layer servo motor 14 in access module drives and moves outside screw rod slide unit 15, open goods layer 16, client can extract
Product, after client's article takes out, master control plate module 5 drives goods layer servo motor 14 to rotate, and drives 15 inward movement of screw rod slide unit, goods
Layer 16 resets, and intelligent distribution service robot continues to start the dispatching of lower pan position, move in circles, until having executed all
Business, intelligent distribution service robot return to starting point, new task are waited to assign.The present invention has rational design, and structure is simple, can have
Effect replaces being accomplished manually the cumbersome work such as dispatching, and easy to operate, convenient accurate, has practicability.
Embodiment 2: on the basis of embodiment 1, in the present embodiment, 5 kernel of master control plate module can be 168MHZ
STM32F407 Cortex M4, while including onboard three-axis gyroscope, triaxial accelerometer, 3- axis digital compass IC
HMC5883L, GPS, four motor controls and encoder interfaces, cooperation open source robot library OpenRE, guarantee robot operation
Steadily, itself attitude orientation.
Any technical solution disclosed in aforementioned present invention unless otherwise stated, if disclosed it discloses numberical range
Numberical range be preferred numberical range, it is any it should be appreciated by those skilled in the art: preferred numberical range is only
It is the numerical value that technical effect is obvious or representative in many enforceable numerical value.It is impossible to exhaust since numerical value is more,
So the present invention just discloses technical solution of the component values to illustrate the present invention, also, the above-mentioned numerical value enumerated does not answer structure
The limitation of pairs of the invention protection scope.
Meanwhile if aforementioned present invention discloses or relates to the components or structural member of connection fastened to each other, except another
There is statement outer, is fixedly connected it is to be understood that connection (such as using bolt or screw connection) can be removedly fixed, it can also
To understand are as follows: non-removable to be fixedly connected with (such as riveting, welding), certainly, connection fastened to each other or integral type knot
Structure (such as manufacturing using casting technique is integrally formed) is replaced (obviously can not be using except integrally formed technique).
In addition, for indicating the art of positional relationship or shape applied in any technical solution disclosed in aforementioned present invention
Its meaning includes approximate with its, similar or close state or shape to language unless otherwise stated.
Either component provided by the invention by multiple individual component parts either assembled, or one
The separate part that forming technology manufactures.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (9)
1. one kind is based on indoor intelligent delivery service system and device, which is characterized in that described including intelligent distribution service robot
Intelligent distribution service robot includes trolley body, and the trolley body bottom is equipped with for driving trolley body free-moving
Motion module, the trolley body middle part are equipped with several cargo access modules, are equipped in the middle part of trolley body for sending instruction
Drive cargo access module and motion module work master control plate module, the master control plate module respectively with cargo access module and
Motion module is electrically connected, and the trolley body lower part is equipped with as intelligent distribution service robot core members and for controlling
The NVIDIA Jetson Tx2 plate of master control plate module, the cargo access module include the goods layer for placing article, Mei Gehuo
Layer rear portion is equipped with goods layer servo motor, has been fixedly and coaxially connected screw rod on goods layer servo motor output shaft, has been arranged on the screw rod
There is the screw rod slide unit moved along screw rod, the screw rod slide unit is fixedly connected with goods layer bottom.
2. according to claim 1 a kind of based on indoor intelligent delivery service system and device, which is characterized in that motion module
Including the universal wheel positioned at trolley body bottom, it is fixedly connected with the straight trip of driving universal wheel on the trolley body bottom or turns to
Motion servo motor, be also connected with encoder on the motion servo motor.
3. according to claim 2 a kind of based on indoor intelligent delivery service system and device, which is characterized in that the intelligence
Delivery service robot includes building figure navigation obstacle avoidance module, and the figure navigation obstacle avoidance module of building includes being mounted in the middle part of trolley body
On rplidar laser radar, rplidar laser radar is between cargo access module and master control plate module, the intelligence
ROS system is installed in delivery service robot, rplidar laser radar is run in ROS system, interior can be carried out to build figure
And save, according to the selected several points of built map and default starting point be the last one point, intelligent distribution service-delivery machine
People successively can carry out avoidance to barrier during stroke to each point by independent navigation.
4. according to claim 3 a kind of based on indoor intelligent delivery service system and device, which is characterized in that the intelligence
Delivery service robot includes the human-computer interaction module positioned at trolley body top, and human-computer interaction module includes being located at trolley body
The battery main switch of upper left side, the trolley body top be equipped with connect with NVIDIA Jetson Tx2 plate can touch-control show
Screen is equipped with ROS system and operation interface software in touchable screen, inputted by operation interface software instruction to
It carries out control intelligent distribution service robot and completes task.
5. according to claim 4 a kind of based on indoor intelligent delivery service system and device, which is characterized in that the intelligence
Delivery service robot includes progress tracing system, progress tracing system include positioned at trolley body upper right side communication module with
And PC machine, the signal receiving device for being transmitted back to the live signal come for receiving communication module, the communication are connected in PC machine
Module is electrically connected with NVIDIA Jetson Tx2 plate.
6. according to claim 5 a kind of based on indoor intelligent delivery service system and device, which is characterized in that the intelligence
Delivery service robot includes face recognition module, and the face recognition module includes facial image database and high-definition camera,
High-definition camera is located above touchable screen, and face recognition module is by high-definition camera capture facial image, and by people
Face image is compared with facial image database, to confirm the identity of the client.
7. according to claim 6 a kind of based on indoor intelligent delivery service system and device, which is characterized in that the intelligence
Delivery service robot includes the power-supply management system module that trolley body bottom is arranged in and supplies for providing voltage, described
Power-supply management system module is equipped with multiple power interfaces for modules connection, provides a variety of different voltages, described
Power-supply management system module is electrically connected with battery main switch.
8. according to claim 7 a kind of based on indoor intelligent delivery service system and device, which is characterized in that described
NVIDIA Jetson Tx2 plate default system is linux system, master control plate module, rplidar laser radar, high-definition camera
It is electrically connected respectively with JetsonTx2 plate 4 by USB port with communication module, cooperates and coordinate to complete dispatching task.
9. a kind of utilize a kind of working method based on indoor intelligent delivery service system and device as claimed in claim 8,
It is characterized in that, comprises the following steps that (1) firstly, confirmation intelligent distribution service robot use occasion, passes through control operation interface
Software drives rplidar laser radar, manipulates motion module, and the motion servo motor rotation of motion module drives universal wheel to move
Dynamic, the indoor two dimension that intelligent distribution service robot entirely dispenses region under plan record step by step builds figure, while operation interface
Pose of the intelligent distribution service robot on each delivery location has been recorded and saved on software respectively；(2) interior two is established
After the completion of tieing up figure, operation interface software is controlled, the position being sent to according to required for article needed for each client and each article will
The cargo for needing to dispense is placed in cargo access module, and each cargo access mould is successively recorded in operation interface software
Item Information in block chooses delivery location and starts to dispense；(3) intelligent distribution service robot starts to execute dispatching task, is matching
During sending, progress chasing system start recording intelligent distribution service robot stroke is received by receiving system by communicating
Intelligent distribution service robot position signal and sending objects information are shown intelligent distribution server by module in PC machine
Sending objects information is simultaneously stored in its distribution information library by device people's travel position information；(4) in dispatching, intelligent distribution service
The self-service planning department's distribution route on map of robot, during traveling, if rplidar laser radar detects unexpected appearance
Barrier on distribution route determines its position, by signal feed back to NVIDIA Jetson Tx2 plate and with it is current
Intelligent distribution service robot pose is compared, immediately send instructions to master control plate module, and driving motion module drives intelligence
Delivery service robot cut-through object；(5) when intelligent distribution service robot reaches first delivery location, face is driven
Identification module, high-definition camera, which is opened, obtains client's facial information, compares facial image database, recognition and verification client identity will be believed
Number NVIDIA Jetson Tx2 plate is fed back to, at once send instructions to master control plate module, drives the goods layer in cargo access module
Servo motor drives movement outside screw rod slide unit, opens goods layer, and client can take out article；(6) it is main after client's article takes out
Plate module driving goods layer servo motor rotation is controlled, drives screw rod slide unit inward movement, goods layer resets, intelligent distribution service robot
The dispatching for continuing to start lower pan position, moves in circles, and until having executed all tasks, the return of intelligent distribution service robot is set out
Point waits new task to assign.
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| CN111300440A (en) * | 2020-02-17 | 2020-06-19 | 商丘师范学院 | Primary and secondary school's science and technology innovation education robot |
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