CN113534810A - Logistics robot and logistics robot system - Google Patents
Logistics robot and logistics robot system Download PDFInfo
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application provides a logistics robot and a logistics robot system, and belongs to the technical field of logistics transportation. In the logistics robot, a controller is connected with a radar module and used for receiving environmental information acquired by the radar module and constructing a virtual map based on the environmental information; the controller is also connected with the obstacle avoidance module, the obstacle avoidance module is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller is further used for receiving the collision signals and generating alarm information based on the collision signals; the controller is also connected with the communication module and used for receiving the instruction information sent by the server; the controller is also connected with the robot motion module and used for generating a robot motion control instruction according to the target position, controlling the robot motion module to execute corresponding actions based on the motion control instruction and the virtual map and acquiring current position information in real time. The method and the device can identify the environmental information more accurately.
Description
Technical Field
The application relates to the technical field of logistics transportation, in particular to a logistics robot and a logistics robot system.
Background
When a user needs to perform logistics transportation, a logistics robot is usually arranged to assist the user in carrying and processing materials.
In the prior art, a logistics robot is usually used for planning a path through preset environmental information, so as to obtain a preset planned route, and the logistics robot transports along the planned route.
However, when a variable factor occurs in the environment, such as: blocking the preset planned route by other logistics robots; or when long straight corridors, white walls and other factors difficult to recognize the environment appear in the environment information recognition process, the logistics robot cannot accurately determine the path, so that the logistics robot has relatively low material conveying efficiency.
Disclosure of Invention
An object of the application is to provide a logistics robot and a logistics robot system, which can identify environmental information more accurately.
The embodiment of the application is realized as follows:
in an aspect of an embodiment of the present application, a logistics robot is provided, including: the robot comprises a robot body, and a controller, a radar module, an obstacle avoidance module, a communication module and a robot motion module which are arranged on the robot body;
the controller is connected with the radar module and used for receiving the environment information acquired by the radar module and constructing a virtual map based on the environment information;
the controller is also connected with the obstacle avoidance module, the obstacle avoidance module is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller is further used for receiving the collision signals and generating alarm information based on the collision signals;
the controller is also connected with the communication module and used for receiving instruction information sent by the server, wherein the instruction information comprises a target position;
the controller is also connected with the robot motion module and used for generating a robot motion control instruction according to the target position, controlling the robot motion module to execute corresponding actions based on the motion control instruction and the virtual map and acquiring current position information in real time.
Optionally, the obstacle avoidance module includes: an ultrasonic generator and a collision detection device;
the ultrasonic generator is connected with the collision detection device and used for sending ultrasonic waves, receiving corresponding return signals and sending the return signals to the collision detection device;
the collision detection device is connected with the controller and used for carrying out collision judgment according to the return signal, and if the judgment result is that collision is about to occur, a collision signal is sent to the controller.
Optionally, the radar module comprises: the system comprises a laser radar, a first camera and a synchronous positioning and mapping unit;
the laser radar is connected with the synchronous positioning mapping unit and used for acquiring environment information and sending the environment information to the synchronous positioning mapping unit;
the first camera is connected with the synchronous positioning mapping unit and used for acquiring image information in the environment where the robot is located and sending the image information to the synchronous positioning mapping unit;
the synchronous positioning map building unit is connected with the controller and used for building a virtual map according to the environment information and the image information and sending the virtual map to the controller.
Optionally, the robot motion module comprises: the device comprises a driving unit, a wheel set and a driving power supply;
the driving unit is respectively connected with the controller and the driving power supply;
the driving unit is also connected with the wheel set and used for controlling the movement of the wheel set.
Optionally, the wheel set is further connected to a synchronous positioning mapping unit, so as to send the obtained current position information to the synchronous positioning mapping unit, and the synchronous positioning mapping unit is further configured to update the virtual map according to the position information.
Optionally, the logistics robot further comprises: a second camera;
the second camera is connected with the controller and used for acquiring the two-dimensional code label image and sending the two-dimensional code label image to the controller, and the controller is further used for positioning according to the two-dimensional code label image.
Optionally, the logistics robot further comprises a logistics module arranged on the robot body, and the logistics module is used for loading logistics materials.
Optionally, the logistics module comprises: an electronic cabinet and an authentication unit;
the authentication unit is connected with the controller and used for authenticating and verifying the identity of the user and sending a verification result to the controller;
the electronic cabinet is connected with the controller and used for receiving a box opening instruction sent by the controller to open the cabinet, and the box opening instruction is an instruction generated according to a verification result.
Optionally, the controller is further configured to send the state information of the logistics robot to the server through the communication module.
In another aspect of the embodiments of the present application, a logistics robot system is provided, where the system includes the logistics robot and a server, and the server is in communication connection with a communication module of the logistics robot.
The beneficial effects of the embodiment of the application include:
in a logistics robot and logistics robot system that this application embodiment provided, logistics robot includes: the robot comprises a robot body, and a controller, a radar module, an obstacle avoidance module, a communication module and a robot motion module which are arranged on the robot body; the controller is connected with the radar module and used for receiving the environment information acquired by the radar module and constructing a virtual map based on the environment information; the controller is also connected with the obstacle avoidance module, the obstacle avoidance module is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller is further used for receiving the collision signals and generating alarm information based on the collision signals; the controller is also connected with the communication module and used for receiving instruction information sent by the server, wherein the instruction information comprises a target position; the controller is also connected with the robot motion module and used for generating a robot motion control instruction according to the target position, controlling the robot motion module to execute corresponding actions based on the motion control instruction and the virtual map and acquiring current position information in real time. The obstacle avoidance module is used for detecting surrounding obstacles so as to more accurately acquire surrounding environment information, for example: whether the obstacle exists or not leads to collision and the like in the moving process of the logistics robot, so that the logistics robot can be controlled to move based on more accurate environment information, and can reach a target point more accurately and quickly to finish logistics transportation, and accordingly, the efficiency of the logistics robot for transporting goods and materials can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a logistics robot provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an obstacle avoidance module in a logistics robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a radar module in a logistics robot provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot movement module in a logistics robot provided in an embodiment of the present application;
fig. 5 is a schematic view illustrating an operating principle of a wheel set of a logistics robot according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a logistics module in a logistics robot provided in an embodiment of the present application;
fig. 7 is a schematic overall structure diagram of a logistics robot provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a logistics robot system provided in an embodiment of the present application.
Icon: 100-a controller; 200-a radar module; 210-lidar; 220-a first camera; 230-synchronous positioning mapping unit; 300-obstacle avoidance module; 310-an ultrasonic generator; 320-collision detection means; 400-a communication module; 500-a robot motion module; 510-a drive unit; 520-a wheel group; 530-a driving power supply; 600-a second camera; 700-electronic cabinet; 800-a discrimination unit; 10-a logistics robot; 20-server.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
The specific structure of the logistics robot provided in the embodiments of the present application and the connection relationship between these structures will be specifically explained below.
Fig. 1 is a schematic structural diagram of a logistics robot provided in an embodiment of the present application, please refer to fig. 1, the logistics robot includes: the robot comprises a robot body, and a controller 100, a radar module 200, an obstacle avoidance module 300, a communication module 400 and a robot motion module 500 which are arranged on the robot body;
the controller 100 is connected to the radar module 200, and is configured to receive environment information acquired by the radar module 200 and construct a virtual map based on the environment information; the controller 100 is further connected with an obstacle avoidance module 300, the obstacle avoidance module 300 is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller 100 is further used for receiving the collision signals and generating alarm information based on the collision signals; the controller 100 is further connected to the communication module 400, and configured to receive instruction information sent by the server, where the instruction information includes a target location; the controller 100 is further connected to the robot motion module 500, and is configured to generate a robot motion control command according to the target position, and control the robot motion module 500 to execute a corresponding action and obtain current position information in real time based on the motion control command and the virtual map.
Optionally, the logistics robot specifically provided in the embodiment of the present application may be a wheeled transportation logistics robot, the logistics robot may be a robot for indoor or outdoor logistics transportation, and the action manner of the logistics robot may be implemented by a roller, a crawler, or a multi-legged manner, for example, a roller type logistics robot is taken as an example in the embodiment of the present application. The logistics transportation referred to in the embodiment of the present application may specifically be a process of moving a material from an initial point to a target point by the logistics robot.
Alternatively, the controller 100 may specifically be a control chip having a processing function, such as: a CPU (central processing Unit), a MUC (Microcontroller Unit), or any type of control chip; alternatively, the control device may be a control device provided with the control chip, for example: industrial personal computers, etc., and are not particularly limited herein.
Alternatively, the radar module 200 may be a device for generating a virtual map based on environmental information by radar detection or the like, and may be disposed on the robot body and connected to the controller 100. The environment information may be acquired through radar detection or image recognition, and the virtual map may be a two-dimensional map drawn based on the current environment where the logistics robot is located, that is, a map in a walking plane of the robot.
Optionally, the obstacle avoidance module 300 may obtain the obstacle in the current working environment of the logistics robot in real time, generate a corresponding collision signal based on the position of the obstacle, the distance from the logistics robot, and other relevant information, and send the collision signal to the controller 100; accordingly, the controller 100 may generate corresponding warning information based on the sent collision signal, it should be noted that the collision signal may specifically be a signal for indicating that the logistics robot is about to collide, the signal may specifically include the position of the target obstacle about to collide, and the warning information may be generated based on the collision signal, for example: the instruction method may be specifically used to instruct the logistics robot to stop moving or change a route, and specifically may be an alarm setting performed according to a user requirement, which is not specifically limited herein.
Optionally, the communication module 400 may specifically be a module that communicates with a server, where the server may specifically be a cloud server, and the server may specifically be a computer device, and a user may send corresponding instruction information to the controller 100 of the logistics robot through the server. It should be noted that the instruction information may be various types of control instructions, such as: let the logistics robot feed back the current position coordinates, etc., or may be specific position coordinates, such as: the target position may be a position coordinate of a specific certain position in the working environment of the logistics robot, and after the logistics robot receives the target position, the target position may be determined to be a target point for executing the logistics transportation task this time, that is, the logistics robot may transport the currently loaded goods to the target position or move the logistics robot to the target position to load the goods, and the like, which is not limited herein. The communication module may specifically be a 4G communication module or any other type of communication module, for example: bluetooth communication, local area network communication, etc., and one or more communication modes may be selected for communication according to actual requirements, which is not specifically limited herein.
Optionally, the controller 100 is further configured to transmit the state information of the logistics robot to the server through the communication module 400.
The state information may specifically be information such as a current position of the logistics robot, an electric quantity of the logistics robot, and a time when the logistics robot is expected to reach the target position, and may specifically be set correspondingly according to an actual demand of a user, which is not limited herein.
Optionally, the robot motion module 500 may specifically be a module for controlling a robot to move, and for robots with different moving modes, the arrangement of the robot motion module 500 may also be different, for example: for a wheeled robot, a plurality of wheels of the robot can be controlled to rotate, so that the movement of the robot is realized; for a multi-legged robot, the motion of each robot foot can be controlled separately to achieve movement of the robot.
For example: when the logistics robot needs to be controlled to move from the point A to the point B, the position relation between the point A and the point B can be determined based on the virtual map, so that the moving direction and the moving distance are determined; then, based on the preset mapping relationship between the moving direction and the moving distance and the executed motion actions of the robot motion module 500, the actions (such as the rotating direction and amplitude of the wheels, the traveling direction and distance of the feet, etc.) required to be executed by the robot motion module 500 are controlled and determined, so that the logistics robot moves from point a to point B.
Optionally, the robot motion module 500 of the logistics robot may further implement obtaining current position information, for example: the specific direction, the moving distance, and the like of the current position relative to the initial position may be acquired, and the information may be sent to the controller 100, or the controller 100 may also send the information to the server through the communication module 400.
Optionally, the specific working process of the logistics robot is as follows:
first, a virtual map may be established through the radar module 200, and a target position sent by the server through the communication module 400 may be received, a robot motion control instruction may be determined based on the target position, and then the robot motion module 500 may be controlled to execute a corresponding action according to the virtual map and the robot motion control instruction, so that the logistics robot moves to the target position. In addition, a corresponding warning signal may be generated according to the collision signal sent by the obstacle avoidance module 300 during the moving process.
The logistics robot that this application embodiment provided includes: the robot comprises a robot body, and a controller, a radar module, an obstacle avoidance module, a communication module and a robot motion module which are arranged on the robot body; the controller is connected with the radar module and used for receiving the environment information acquired by the radar module and constructing a virtual map based on the environment information; the controller is also connected with the obstacle avoidance module, the obstacle avoidance module is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller is further used for receiving the collision signals and generating alarm information based on the collision signals; the controller is also connected with the communication module and used for receiving instruction information sent by the server, wherein the instruction information comprises a target position; the controller is also connected with the robot motion module and used for generating a robot motion control instruction according to the target position, controlling the robot motion module to execute corresponding actions based on the motion control instruction and the virtual map and acquiring current position information in real time. The obstacle avoidance module is used for detecting surrounding obstacles so as to more accurately acquire surrounding environment information, for example: whether the obstacle exists or not leads to collision and the like in the moving process of the logistics robot, so that the logistics robot can be controlled to move based on more accurate environment information, and can reach a target point more accurately and quickly to finish logistics transportation, and accordingly, the efficiency of the logistics robot for transporting goods and materials can be improved.
The following specifically explains a specific structural relationship of the obstacle avoidance module of the logistics robot provided in the embodiment of the present application.
Fig. 2 is a schematic structural diagram of an obstacle avoidance module in a logistics robot according to an embodiment of the present application, please refer to fig. 2, where the obstacle avoidance module 300 includes: an ultrasonic generator 310 and a collision detection device 320; the ultrasonic generator 310 is connected with the collision detection device 320, and is used for emitting ultrasonic waves, receiving corresponding return signals and sending the return signals to the collision detection device 320; the collision detection device 320 is connected to the controller 100, and performs collision determination based on the return signal, and transmits a collision signal to the controller 100 if the determination result is that a collision is about to occur.
Alternatively, the ultrasonic generator 310 may be specifically configured to emit specific ultrasonic waves, and may receive a return result of the ultrasonic waves, that is, the return signal, and after receiving the return signal, the ultrasonic generator 310 may send the return signal to the collision detection device 320 for collision determination processing, where the collision detection device 320 may be a device having a processing function, and after receiving the return signal, may analyze the return signal, so as to determine whether a collision is about to occur in the environment where the logistics robot is currently located, for example: whether other obstacles exist in a certain range of the logistics robot or not can be detected specifically, and if the obstacles exist, a corresponding collision signal is generated; accordingly, if not present, no collision signal is generated.
Alternatively, after the collision detection device 320 generates the collision signal, the collision signal may be sent to the controller 100, and the controller 100 may generate corresponding warning information according to the collision signal.
Optionally, the robot body may further be provided with a display screen, a signal lamp, a buzzer, a speaker, or other devices for giving an alarm, which may give an alarm based on the alarm information; or, the controller 100 may also plan the travel route again according to the warning information, and then control the robot motion module 500 to execute a new action again, where the specific implementation process is similar to the foregoing method, and details are not repeated here.
The following specifically explains a specific connection relationship of the radar modules in the logistics robot provided in the embodiment of the present application.
Fig. 3 is a schematic structural diagram of a radar module in a logistics robot according to an embodiment of the present application, please refer to fig. 3, where the radar module 200 includes: the system comprises a laser radar 210, a first camera 220 and a synchronous positioning and mapping unit 230; the laser radar 210 is connected to the synchronous positioning mapping unit 230, and is configured to acquire environment information and send the environment information to the synchronous positioning mapping unit 230; the first camera 220 is connected to the synchronous positioning mapping unit 230, and is configured to acquire image information of an environment where the robot is located, and send the image information to the synchronous positioning mapping unit 230; the synchronous positioning map building unit 230 is connected to the controller 100, and is configured to build a virtual map according to the environment information and the image information, and send the virtual map to the controller 100.
Optionally, the laser radar 210 may specifically acquire specific environment information of the current working environment by releasing laser into the current working environment, where the acquired environment information may specifically be three-dimensional environment information, and the three-dimensional environment information may be converted into corresponding two-dimensional environment information by a preset conversion mode, and the two-dimensional environment information may specifically be used to represent an environment on a traveling plane of the logistics robot, for example: and if the logistics robot moves along the ground, the corresponding two-dimensional plane is the ground. After acquiring the corresponding environment information, the lidar may send the environment information to the synchronous positioning mapping unit 230.
Optionally, the first camera 220 may specifically be a binocular camera, and may take a picture of the current environment in a depth data algorithm, and the image information acquired by the binocular camera may specifically be three-dimensional image information, that is, three-dimensional image information in the current working environment of the logistics robot.
Optionally, the synchronous positioning and mapping unit 230 (SLAM) may specifically be a unit having a processing function, and may construct a virtual map according to the environment information and the image information, where in the construction process, the image information may be identified, and may be labeled as an obstacle object, and a corresponding virtual map is drawn based on the obstacle object and the environment information, and a position of each obstacle object may be labeled on the virtual map.
Alternatively, the virtual map may be transmitted to the controller 100 after the virtual map construction is completed.
The following specifically explains a specific connection relationship of robot motion modules in the logistics robot provided in the embodiment of the present application.
Fig. 4 is a schematic structural diagram of a robot movement module in a logistics robot according to an embodiment of the present application, please refer to fig. 4, where the robot movement module 500 includes: a driving unit 510, a wheel set 520, a driving power supply 530; the driving unit 510 is connected to the controller 100 and the driving power source 530, respectively; the driving unit 510 is also connected to the wheel set 520 for controlling the movement of the wheel set 520.
Alternatively, the driving unit 510 may specifically be a driving unit of a chassis, for example: the driving device composed of the motor and the gear is not limited to a specific form, and the driving unit 510 may control the motion of the wheel set 520 according to the motion control command and the related control information sent by the virtual map from the controller 100, as long as the driving device can convert the electric energy into the mechanical energy to realize the driving.
Optionally, the driving power source 530 may specifically be a power source composed of lithium battery modules, and may be provided with a corresponding power conversion circuit, and may only supply power to the driving unit 510, or may also supply power to other modules of the logistics robot, and if power is supplied to other modules, a corresponding power supply interface is provided to connect with the driving power source 530, which is not specifically described herein.
Alternatively, the wheel set 520 may be a motion device of a wheeled robot, such as: the two wheels and the corresponding odometer may be oppositely disposed, where the odometer may be configured to record a motion state of the two wheels during a process from power on to power off of the logistics robot, and may calculate to obtain corresponding position information based on the motion state, and the two wheels may perform corresponding motion according to the control of the driving unit 510.
Alternatively, the number of the wheels is only an example, and in an actual process, the number of the wheels, the effect of the odometer, and the like may be set according to the actual needs of the user, and the invention is not limited thereto.
Optionally, the wheel set 520 is further connected to the synchronous positioning mapping unit 230, and is configured to send the obtained current location information to the synchronous positioning mapping unit 230, and the synchronous positioning mapping unit 230 is further configured to update the virtual map according to the location information.
Optionally, specifically, the odometer in the wheel group 520 sends the acquired location information to the synchronous positioning mapping unit 230, and the synchronous positioning mapping unit 230 may also update the virtual map in real time based on the current location information, the environmental information, the image information, and the like, so as to obtain a more accurate virtual map.
The following explains the specific working principle of the wheel set in the above logistics robot by a specific embodiment.
Fig. 5 is a schematic view illustrating a working principle of a wheel set of a logistics robot according to an embodiment of the present application, please refer to fig. 5, where fig. 5 illustrates an example where the wheel set 520 includes two wheels, and the calculation process is completed by an odometer.
The logistics robot shown in the left sub-diagram in fig. 5 is the logistics robot at the initial position, and after the logistics robot is started, the logistics robot can be used as the starting point of the world coordinate system according to the power-on time of the robot, and a corresponding plane rectangular coordinate system is established. Along with the movement of the robot, the logistics robot moves from the position of the coordinate subgraph to the position of the right subgraph, and the specifically moved components of the x axis and the y axis can be calculated, that is, the current position of the logistics robot can be specifically obtained according to the movement distance in the directions of the x axis and the y axis and the corresponding movement included angle in the world coordinate system.
Wherein x, y and o respectively represent an x axis, a y axis and an origin of a world coordinate system; xr and Yr respectively represent the heading of the current position of the robot and the direction of the vertical heading, and theta represents the included angle between Xr and the x axis (namely the included angle between Yr and the y axis).
The current position of the logistics robot can be calculated according to the information and the preset calculation relationship, for example: can be expressed in terms of specific coordinates in the world coordinate system.
The following specifically explains a specific structural relationship of the logistics module in the logistics robot provided in the embodiment of the present application.
Fig. 6 is a schematic structural diagram of a logistics module in a logistics robot according to an embodiment of the present application, please refer to fig. 6, the logistics robot further includes a logistics module disposed on the robot body, and the logistics module is used for loading logistics materials.
Optionally, the logistics module comprises: an electronic cabinet 700, an authentication unit 800; the authentication unit 800 is connected to the controller 100, and configured to perform authentication on the user identity and send the authentication result to the controller; the electronic cabinet 700 is connected to the controller 100 and configured to receive a box opening instruction sent by the controller 100 to open the cabinet, where the box opening instruction is an instruction generated according to a verification result.
Alternatively, the electronic cabinet 700 may be a material carrier having a receiving cavity, and may be used for loading materials transported by a logistics robot, such as: articles for daily use, production workpieces and the like.
Optionally, the authentication unit 800 may specifically be an NFC (Near Field Communication ) identification unit, may perform authentication on an NFC signal, specifically may be an authentication unit that performs authentication when the logistics robot picks up or unloads goods, or may also be an authentication unit that completes authentication after the logistics robot passes through a corresponding authentication card for authentication in the transportation process.
Alternatively, after the authentication is performed by the authentication unit 800, the controller 100 may control the electronic cabinet 700 to open, so as to access the material.
The overall structural relationship and the connection condition of the logistics robot provided in the embodiment of the present application are specifically explained below.
Fig. 7 is a schematic view of an overall structure of a logistics robot according to an embodiment of the present application, please refer to fig. 7, where fig. 7 includes a connection relationship between the units.
Optionally, the logistics robot further comprises: a second camera 600; the second camera 600 is connected to the controller 100, and is configured to acquire the two-dimensional code label image and send the two-dimensional code label image to the controller 100, and the controller 100 is further configured to perform positioning according to the two-dimensional code label image.
Alternatively, the second camera 600 may be an infrared camera, in order to prevent errors in the positioning of the aforementioned radar module 200, for example in special circumstances: the long and straight corridor and the white wall as a whole easily cause identification errors, and a second camera can be adopted for auxiliary positioning in such scenes. The user can paste the corresponding two-dimensional code in current environment, thereby the logistics robot can realize assistance-localization real-time through second camera 600 discernment two-dimensional code, increases the accuracy that aforementioned radar module 200 established the virtual map.
The specific functions and connection relationships of the other modules have been explained in detail above, and are not described in detail herein.
The following specifically explains a specific structure of the logistics robot system provided in the embodiment of the present application and a connection relationship between the structures.
Fig. 8 is a schematic structural diagram of a logistics robot system according to an embodiment of the present application, please refer to fig. 8, which includes the logistics robot 10 and a server 20, and the server 20 is in communication connection with a communication module of the logistics robot 10.
Alternatively, one server 20 may be connected to a plurality of logistics robots 10 at the same time, and the server 20 may obtain the current position of each logistics robot 10 and the logistics transportation situation (for example, the number of transported materials, the number of times of transportation, etc.); a target position (for example, specific world coordinates) may also be sent to the robot through the server, so that the robot takes or unloads goods to or from the target position, that is, the logistics robot 10 and the server 20 may interact in two directions, and during the logistics transportation, the server 20 may monitor the logistics robot 10 and may also send corresponding control information to the logistics robot, so that the logistics robot 10 performs a corresponding task.
The specific working principle of the logistics robot 10 has been explained in detail in the foregoing process, and is not described herein.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A logistics robot, comprising: the robot comprises a robot body, and a controller, a radar module, an obstacle avoidance module, a communication module and a robot motion module which are arranged on the robot body;
the controller is connected with the radar module and used for receiving the environment information acquired by the radar module and constructing a virtual map based on the environment information;
the controller is further connected with the obstacle avoidance module, the obstacle avoidance module is used for detecting obstacles in the environment where the robot is located and generating corresponding collision signals, and the controller is further used for receiving the collision signals and generating alarm information based on the collision signals;
the controller is also connected with the communication module and used for receiving instruction information sent by the server, wherein the instruction information comprises a target position;
the controller is further connected with the robot motion module and used for generating a robot motion control instruction according to the target position, controlling the robot motion module to execute corresponding actions based on the motion control instruction and the virtual map, and acquiring current position information in real time.
2. The logistics robot of claim 1, wherein the obstacle avoidance module comprises: an ultrasonic generator and a collision detection device;
the ultrasonic generator is connected with the collision detection device and used for sending ultrasonic waves, receiving corresponding return signals and sending the return signals to the collision detection device;
and the collision detection device is connected with the controller and used for performing collision judgment according to the return signal, and sending the collision signal to the controller if the judgment result is that collision is about to occur.
3. The logistics robot of claim 1, wherein the radar module comprises: the system comprises a laser radar, a first camera and a synchronous positioning and mapping unit;
the laser radar is connected with the synchronous positioning mapping unit and used for acquiring environment information and sending the environment information to the synchronous positioning mapping unit;
the first camera is connected with the synchronous positioning mapping unit and used for acquiring image information of the environment where the robot is located and sending the image information to the synchronous positioning mapping unit;
the synchronous positioning map building unit is connected with the controller and used for building a virtual map according to the environment information and the image information and sending the virtual map to the controller.
4. The logistics robot of claim 3, wherein the robot motion module comprises: the device comprises a driving unit, a wheel set and a driving power supply;
the driving unit is respectively connected with the controller and the driving power supply;
the driving unit is also connected with the wheel set and used for controlling the wheel set to move.
5. The logistics robot of claim 4, wherein the wheel set is further connected to the synchronous positioning mapping unit, and is configured to send the obtained current location information to the synchronous positioning mapping unit, and the synchronous positioning mapping unit is further configured to update the virtual map according to the location information.
6. The logistics robot of claim 1, further comprising: a second camera;
the second camera is connected with the controller and used for acquiring a two-dimensional code label image and sending the two-dimensional code label image to the controller, and the controller is further used for positioning according to the two-dimensional code label image.
7. The logistics robot of claim 1, further comprising a logistics module disposed on the robot body, the logistics module being configured to load logistics materials.
8. The logistics robot of claim 7, wherein the logistics module comprises: an electronic cabinet and an authentication unit;
the authentication unit is connected with the controller and used for authenticating and verifying the identity of the user and sending a verification result to the controller;
the electronic cabinet is connected with the controller and used for receiving an opening instruction sent by the controller to open the cabinet, and the opening instruction is an instruction generated according to the verification result.
9. The logistics robot of claim 1, wherein the controller is further configured to send status information of the logistics robot to the server via the communication module.
10. A logistics robot system, characterized in that the system comprises a logistics robot according to any of claims 1-9 and a server, which is communicatively connected to the communication module of the logistics robot.
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