CN208255717U - Merchandising machine people - Google Patents

Abstract

This application discloses a kind of merchandising machine people comprising: movable pedestal；Information collecting device；With master controller.Information collecting device is used to acquire the image information and depth information of its existing object within sweep of the eye, and/or the location information of object present at least one region for logistics place where acquiring robot is used to establish the map at least one region；Correspondingly, master controller is coupled to information collecting device, receives information from information collecting device and is used to plan that so that robot is followed target to follow route and/or for planning the navigation routine that robot is navigated to navigation target position from its current location.Movable pedestal is for keeping merchandising machine people mobile.As needed, merchandising machine people, which can realize, follows function, navigation feature or both, can also have barrier avoiding function.Using the utility model, relevant operation such as cargo can be carried out in the case where being not necessarily to manual intervention and independently carried, saved human cost, improve working efficiency.

Description

Merchandising machine people

Technical field

Present invention relates generally to can be in means of transport used in storage environment.More specifically, this application involves one kind Merchandising machine people.

Background technique

With the rise and development of e-commerce, logistics is rapidly developed.Especially in recent years, with double 11 Deng the prevalence of large-scale shopping online section, the work of logistic industry is more and more busier.

Express delivery article is being issued up to being sent in addressee manpower, is generally required by different terminals.For example, fast It passs article and is usually transported to a regional total storehouse, then a point storehouse is distributed to by total storehouse, then Distribution Center is sent to by a point storehouse, then by people Power is sent to addressee on hand.In storage environment, the carrying of cargo is the huge work of workload.For example, operator After picking at shelf, needs for cargo to be transported to packaging platform and carry out packing operation.Currently, such handling work is mainly logical Manpower is crossed come what is carried out, not only manpower consumption is big, but also handling efficiency is low.Even if some transmission transport devices are used to carry out in this way Handling work, also tend to need a large amount of manual interventions.

Utility model content

Therefore, the purpose of this utility model is to provide a kind of merchandising machine people.As needed, merchandising machine people can be with Have the function of to follow, or there is navigation feature, or has the function of to follow and both navigation features.

It is according to the present utility model in a first aspect, providing a kind of merchandising machine people comprising:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described to follow target Associated identification feature；

Information collecting device, it is described for acquiring the image information and depth information of existing object in its coverage area Image information includes characteristics of image corresponding with the identification feature, and the depth information includes the range information of the object； With

Master controller is coupled to the input unit and the information collecting device, follows from input unit reception The identity information of target receives described image information and depth information from the information collecting device, wherein described image information Including characteristics of image corresponding and matched to the identification feature it is described for identification follow object, it is described with the identification spy Corresponding and matched characteristics of image is levied in the position in the information collecting device captured image for following mesh described in determination Direction relative to the merchandising machine people is marked, the range information for following target that the depth information included identified is used for It follows target relative to the distance of the merchandising machine people described in determination, follows target position to believe including the direction and distance It ceases for planning that the merchandising machine people follows the route that follows for following target, wherein described image information includes the figure Picture,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

Preferably, the information collecting device includes: RGBD camera, and the RGBD camera is for acquiring it within sweep of the eye The image information and depth information of existing object；And/or monocular camera and laser radar, the monocular camera are used to acquire The image information of its existing object within sweep of the eye, the laser radar are used to acquire its existing object within sweep of the eye Depth information.

Preferably, described to follow target be to be authorized to use the personnel of the merchandising machine people, the associated identification Feature includes at least one of: the figure for following target, the work number for following target back to carry, described to follow mesh Mark back carry two dimensional code, it is described follow target the color of clothes.

Second aspect according to the present utility model provides a kind of merchandising machine people comprising:

Movable pedestal；

Information collecting device exists at least one region for acquiring the logistics place where the merchandising machine people Object location information, the location information of object present at least one described region is for establishing at least one described area The map in domain, at least one described region include all or part of of the whole region in the logistics place；With

Master controller is coupled to the information collecting device, receives at least one described area from the information collecting device The map in domain for planning the navigation routine that the merchandising machine people is navigated to navigation target position from its current location, wherein At least one described region includes the current location and the navigation target position,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

Preferably, the information collecting device includes laser radar, and the laser radar is used for described at least by scanning One region acquires the laser point cloud data of object present at least one described region, and the laser point cloud data indicates institute State the location information of object present at least one region.

Preferably, the information collecting device further includes monocular camera, and the monocular camera is for capturing described at least one The image of each characteristic element in a region, wherein the characteristic element be arrange in advance or from least one described region Present in Object Selection.

The third aspect according to the present utility model provides a kind of merchandising machine people comprising:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described to follow target Associated identification feature；

First information acquisition device, for acquiring the image information and depth information of existing object in its coverage area, Described image information includes characteristics of image corresponding with the identification feature, and the depth information includes the distance letter of the object Breath；

Second information collecting device, at least one region for acquiring the logistics place where the merchandising machine people The location information of existing object, the location information of object present at least one described region is for establishing described at least one The map in a region, at least one described region include all or part of of the whole region in the logistics place；With

Master controller,

The master controller is coupled to the input unit and the first information acquisition device, connects from the input unit The identity information for following target is received, receives described image information and depth information from the first information acquisition device, wherein institute State that characteristics of image corresponding and matched to the identification feature that image information includes is described for identification to follow object, it is described with The position that the identification feature is corresponding and matched characteristics of image is in the information collecting device captured image is for determining The direction that target is followed relative to the merchandising machine people, target that what the depth information included identified follow away from From information for follow described in determining target relative to the merchandising machine people with a distance from, following including the direction and distance Target position information is used to plan that the merchandising machine people to follow the route that follows for following target, wherein described image information Including described image,

The master controller is also coupled to second information collecting device, receives institute from second information collecting device The map at least one region is stated, the merchandising machine people is navigated to navigation mesh from its current location for planning by the map The navigation routine of cursor position, wherein at least one described region includes the current location and the navigation target position,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

Preferably, the first information acquisition device includes: RGBD camera, and the RGBD camera is for acquiring its visual field model Enclose the image information and depth information of interior existing object；And/or monocular camera and laser radar, the monocular camera are used for The image information of its existing object within sweep of the eye is acquired, the laser radar is existing right within sweep of the eye for acquiring it The depth information of elephant.

Preferably, described to follow target be to be authorized to use the personnel of the merchandising machine people, the associated identification Feature includes at least one of: the figure for following target, the work number for following target back to carry, described to follow mesh Mark back carry two dimensional code, it is described follow target the color of clothes.

Preferably, second information collecting device includes laser radar, and the laser radar is used for by described in scanning At least one region acquires the laser point cloud data of object present at least one described region, and the laser point cloud data refers to Show the location information of object present at least one described region.

Preferably, second information collecting device further includes monocular camera, the monocular camera for capture it is described extremely The image of each characteristic element in a few region, wherein the characteristic element be arrange in advance or from it is described at least one Object Selection present in region.

Fourth aspect according to the present utility model provides a kind of merchandising machine people comprising:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described to follow target Associated identification feature；

Information collecting device, for acquiring the image and depth information of existing object in its coverage area, the object Target is followed including described；With

Master controller is coupled to the input unit and the information collecting device, follows from input unit reception The identity information of target receives described image and depth information from the information collecting device, wherein described image and depth letter Breath respectively include it is described follow target relative to the directional information and range information of the merchandising machine people, the directional information and Range information be used to plan the merchandising machine people follow it is described follow target follow route, wherein the directional information is corresponding Position in described image with the associated matched characteristics of image of identification feature in described image,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

Preferably, the information collecting device includes: RGBD camera, and the RGBD camera is for acquiring it within sweep of the eye The image information and depth information of existing object；And/or monocular camera and laser radar, the monocular camera are used to acquire The image information of its existing object within sweep of the eye, the laser radar are used to acquire its existing object within sweep of the eye Depth information.

Preferably, described to follow target be to be authorized to use the personnel of the merchandising machine people, the associated identification Feature includes at least one of: the figure for following target, the work number for following target back to carry, described to follow mesh Mark back carry two dimensional code, it is described follow target the color of clothes.

The merchandising machine people of either side can be using following preferred in first to fourth aspect according to the present utility model Any one or more of feature.

Preferably, the merchandising machine people further includes obstacle avoidance sensor device, and the obstacle avoidance sensor device is for detecting Barrier simultaneously acquires the information in relation to barrier, wherein the master controller is coupled to the obstacle avoidance sensor device, from described Obstacle avoidance sensor device obtains the information in relation to barrier, wherein the information in relation to barrier includes the barrier detected Location information and dimension information.

Preferably, the movable pedestal is provided at least three wheel, and at least two at least three wheel is Wheels is equipped with driving device in each power wheel for providing driving force to wheel, is equipped with drive in the movable pedestal Movement controller, the drive control device are coupled to each driving device and are coupled to the master controller, the main control Device provides the speed signal for each power wheel to the drive control device, and the speed signal instruction leads to the merchandising machine Each power wheel travel speed that people advances along the route planned, the drive control device, which controls each driving device, to be made respectively Power wheel is advanced with corresponding travel speed.

Preferably, 2 power wheels are the direction controlling power wheel for controlling the direction of travel of the merchandising machine people, 2 A direction controlling power wheel is abreast mounted on the two sides of the movable pedestal.

Preferably, the merchandising machine people further includes lighting device, and the lighting device is coupled to the master controller simultaneously It is selectively enabled and disabled by the master controller.

Preferably, the merchandising machine people further include: at least one pillar upwardly extended from the movable pedestal；With The control panel being mounted on by least one described pillar above the movable pedestal.

Preferably, emergency stop switch is installed in case of emergency braking the merchandising machine on the control panel People, the master controller are coupled to the emergency stop switch, and the emergency stop switch is activated described in the triggering master controller braking Movable pedestal, braking the movable pedestal causes to brake the merchandising machine people.

Preferably, the merchandising machine people further includes being located above the movable pedestal between the movable pedestal The additional pallet separated, the additional pallet are used for bearing goods.

Preferably, the additional pallet is installed by least one described pillar to the merchandising machine people；Alternatively, wherein The merchandising machine people further includes at least one arm brace upwardly extended from the movable pedestal, and the arm brace is used It installs in the mounting hole by being reserved on the movable pedestal to the movable pedestal, and the additional pallet passes through institute It states at least one pillar and at least one described arm brace is installed to the merchandising machine people.

Preferably, the obstacle avoidance sensor device includes the multiple ultrasounds for being arranged in each side of the movable pedestal Sensor.

Preferably, there are two ultrasonic sensors for each side arrangement of the movable pedestal.

Preferably, the laser radar is mounted on the front and/or rear and/or side of the movable pedestal.

Preferably, the laser radar is mounted on the front and/or rear and/or side for being set to the movable pedestal Groove in.

By optionally following function, the merchandising machine people of the utility model can follow people, thus can realize such as goods Object is independently carried, without manual intervention.By optional navigation feature, the merchandising machine people of the utility model can be from it Current location marches to desired navigation target position, thus can realize after for example independently marching to operating space, completing operation certainly It is dynamic to return to the area that awaits orders etc., without manual intervention.Using the utility model, it can undoubtedly save human cost, improve working efficiency.

Detailed description of the invention

It better understood when the utility model by the following drawings, in which:

Fig. 1 is the schematic block diagram for showing the associated components of merchandising machine people according to the present utility model；

Fig. 2 is that a kind of example of merchandising machine people according to the present utility model indicates.

Specific embodiment

It should be appreciated that general remark above-mentioned and detailed description below be merely exemplary with it is explanatory, and be not It is the limitation to the attached claims.

The utility model proposes one kind can be in the logistics machine without independently completing relevant operation in the case where manual intervention Device people and related methods and device.Merchandising machine people can be the form of logistics trolley, be applicable to a variety of environment, including storehouse Store up environment, such as warehouse, terminal for express delivery article etc..

The merchandising machine people of the utility model can only have the function of to follow, or only have navigation feature, or have and follow function Both energy and navigation feature.In addition, the merchandising machine people of the utility model can have other expectations and/or necessary function, such as Barrier avoiding function etc..

For following function, merchandising machine people can include: movable pedestal；Information collecting device is suitable for acquiring its visual field The image information and depth information of existing object in range；With the master controller for being coupled to first information acquisition device.

Above- mentioned information acquisition device is also referred to as " first information acquisition device ", to facilitate description.First information acquisition dress Setting can be the image information of object and the camera of depth information or video camera in any suitable its coverage area of acquisition, and/or The sensor of other forms；It can be further described later.

Master controller is coupled to first information acquisition device, is configured as: what acquisition merchandising machine people to be followed follows mesh Target identity information, wherein described follow the associated identification feature of target；Image is received from first information acquisition device Information and depth information；It, will be described from described image information extraction characteristics of image corresponding with the associated identification feature Characteristics of image is matched with identification feature, to follow target described in identification, and follows target in first letter based on described Position in breath acquisition device captured image follows target relative to the direction of the merchandising machine people described in determining, wherein institute Stating image information includes described image；The range information for following target identified from the extraction of depth information, by it is described away from From information determine described in follow target relative to the merchandising machine people with a distance from；At least based on include identified direction and away from From follow target position information plan the merchandising machine people follow it is described follow the route that follows of target, and control the bottom Seat makes the merchandising machine people follow route to advance along described.

In one example, described image feature is matched with the identification feature for following target described in identification Following target includes: to match described image feature with the identification feature for following target, and in described image feature Target is followed described in identification when matching with the identification feature for following target.

First information acquisition device may include RGBD camera, and RGBD camera is suitable for acquiring its existing object within sweep of the eye Image information and depth information.Alternatively or additionally, first information acquisition device may include monocular camera and laser radar, Wherein monocular camera is suitable for acquiring the image information of its existing object within sweep of the eye, and laser radar is suitable for acquiring its visual field model Enclose the depth information of interior existing object.

The field range of RGBD camera generally can achieve 58 degree to 60 degree；The field range of monocular camera can reach about 160 degree；The field range of laser radar can reach about 180 degree.

Preferably, first information acquisition device had not only included above-mentioned RGBD camera, but also including above-mentioned monocular camera and was swashed Optical radar.In the case, master controller can be configured to: preferentially from the figure for following target described in RGBD camera acquisition As information and depth information；Failing from the image information and/or depth information for following target described in RGBD camera acquisition In the case where a predetermined time, respectively from the monocular camera and laser radar obtain described in follow target image information and Depth information.The predetermined time can set, and may be, for example, hundreds of milliseconds to 1 second.For example, exceeding RGBD phase in identification target In the case where machine field range, master controller can not obtain effective information from RGBD camera to identify in a period of time was such as 1 second Target is followed, is just changed to follow target using from the relevant information of monocular camera and laser radar to identify.Using such Configuration can play RGBD camera and monocular camera+laser radar and combine respective advantage, more preferably, more effectively identification follow Target.

As needed, multiple RGBD cameras can be set.In addition, as needed, the quantity of monocular camera and laser radar It may each be one or more.

The image information and depth information for following target are respectively obtained from monocular camera and laser radar in master controller In the case of, master controller can identify as described below follows target:

Characteristics of image corresponding with the identification feature of target is followed is extracted from image information, by characteristics of image and identification feature It is matched, target is followed with identification, and follow position of the target in monocular camera captured image true based on what is identified Follow target relative to the directional information of merchandising machine people surely；

By by above-mentioned directional information be mapped to laser radar acquisition scattergram in, determine in scattergram with the direction Point that information matches simultaneously thereby determines that is identified follows target relative to the range information of merchandising machine people；

As identified directional information and range information determine described in follow target relative to merchandising machine people position believe Breath is used as and follows target position information.

It should be understood that above-mentioned image information includes monocular camera captured image, above-mentioned depth information includes swashing The scattergram that optical radar obtains, above-mentioned following follow target relative to the side of merchandising machine people described in target position information instruction To and distance.

It is contemplated that first information acquisition device can acquire the vision of its existing object within sweep of the eye in real time Information, including image information and depth information；Master controller can obtain the letter of its acquisition in real time from first information acquisition device Breath, and real-time perfoming follows target identification, real-time determine that target position information, real-time planning is followed to follow route.

The identity of target is followed to believe it is contemplated that master controller can be obtained wiredly or wirelessly in many ways Breath, for example, any equipment such as server, mobile device that master controller can be coupled to or communicate from master controller The mobile device of such as operator obtains the identity information for following target.As needed, master controller can via cable with Such equipment connection and communication, or via Bluetooth^TM、WiFi、ZigBee^TMOr other wireless communication protocols with it is such Equipment communication.

In general, above-mentioned, to follow target be to be authorized to use the personnel of merchandising machine people, such as the operator of robot. Master controller can be configured to follow the identity information of target to following target authorization based on acquisition.The identity information can be It is any to uniquely identify the information for following the identity of target, such as, but not limited to: following the username and password of target, follow The fingerprint of target follows the face image etc. of target.

Follow the identification feature of target can be associated with the identity information of target is followed.The identification feature, which can be, to be followed Target itself or its be worn or carried by be suitable for identify this follow any feature of target.Target is being followed to be operator In the case where, identification feature can be, such as, but not limited to: work number that its figure, its back carry, its back carry two Tie up code, its color of clothes etc..

Described above " characteristics of image corresponding with the associated identification feature " is it is meant that characteristics of image and identification are special Sign is the feature of same type, has comparability.For example, if identification feature is the figure for following target, " with it is described associated The corresponding characteristics of image of identification feature " represents figure；If identification feature be follow target the color of clothes, " with the phase The associated corresponding characteristics of image of identification feature " represents color.

Similarly, master controller can wiredly or wirelessly obtain the identification feature for following target in many ways, such as The memory and/or database of the identification feature for following target are stored with by accessing.The memory and/or database can be It is local or long-range, such as such as positioned at the addressable server of master controller and/or the mobile device communicated In the mobile device of operator.In addition, the identification feature can be by relatively (being directed to tool with target is specifically followed in advance Body follows target) train merchandising machine people to determine and obtain.

Preferably, merchandising machine people further includes input unit for inputting information, and master controller is coupled to input dress It sets, and is configured as receiving the identity information and/or its associated identification feature for following target from input unit.

The input unit can be suitable for inputting the device of information to be any, Ke Yiwei, such as, but not limited to: keyboard, touch-sensitive One or more of screen, finger print input device, camera such as monocular face recognition cameras etc..

It is generally anticipated that, the identity information of target is followed to input via input unit.

For navigation feature, merchandising machine people can include: movable pedestal；And master controller.

Master controller can be configured to: obtain the map letter at least one region in the logistics place where merchandising machine people Breath, at least one region can be all or part of of the whole region in logistics place；Determine the present bit of merchandising machine people It sets；Obtain the information of instruction navigation target position；Based on the cartographic information, the current location and the instruction navigation target The merchandising machine people is navigated to the navigation routine of the navigation target position by the information planning of position, and controls the pedestal The merchandising machine people is set to advance along the navigation routine.It is expected that above-mentioned current location is used as navigation initial position, in addition At least one above-mentioned region includes the current location and navigation target position.

Master controller can by it is a variety of it is suitable in a manner of wiredly or wirelessly obtain at least one region in logistics place Cartographic information, such as the memory and/or database of the cartographic information can be stored with by accessing, or pass through access network To obtain the cartographic information.The memory and/or database can be it is local or long-range, such as positioned at master control In the mobile device of the addressable server of device processed and/or the mobile device such as operator that communicate.In addition, this is at least The cartographic information and map in one region, which can be, to be obtained in advance and establishes.

For following function, it is preferable that merchandising machine people further includes that information collecting device is used for: by scanning logistics place At least one region acquire the location information of object present at least one described region；And based on collected described The location information of object present at least one region constructs the map at least one region；The information collecting device is also It is referred to alternatively as " the second information collecting device ", to facilitate description.Master controller can be coupled to the second information collecting device, and be matched It is set to from the second information collecting device and obtains the map.It should be understood that above-mentioned cartographic information can be map.

For example, second information collecting device may include laser radar.Laser radar is suitable for: above-mentioned at least by scanning One region acquires the laser point cloud data of object present at least one region, point cloud data instruction described at least one The location information of object present in a region；By the way that the point cloud data is converted into two dimensional image, based on described at least one The location information of object present in a region determines that object present at least one described region is scheduled solid relative to one Thus the two-dimensional coordinate of fixed point establishes the map at least one region.It should be understood that above-mentioned cartographic information may include described Two-dimensional coordinate of the object present at least one region relative to the scheduled fixed point.

It is contemplated that above-mentioned scheduled fixed point, i.e. map reference origin, can be any fixed point, such as can be Any fixed point at least one described region.

In one embodiment, the second information collecting device further includes monocular camera.It is above-mentioned extremely that monocular camera is suitable for capture The image of each characteristic element in a few region.Master controller is configured as: map based on foundation and from monocular camera The image of received each characteristic element determines two-dimensional coordinate of each characteristic element in the map.The characteristic element can Be arrange in advance or the Object Selection present at least one described region.Each characteristic element can be any tool There is an element of differentiable feature, Ke Yiwei, such as, but not limited to: two dimensional code, letter, number, symbol such as LOGO or it is any Combination.

Master controller can wiredly or wirelessly obtain the information of instruction navigation target position in many ways, for example, control Device processed can be stored with the memory and/or database of the information of instruction navigation target position by accessing, and/or pass through access Network or any equipment that can be coupled to or communicate from controller in other suitable manners such as server, mobile device The mobile device of such as operator obtains the information of instruction navigation target position.As needed, master controller can be via line Cable connect and communicates with other equipment, or via Bluetooth^TM、WiFi、ZigBee^TMOr other wireless communication protocols and other Equipment communication.

As described above, merchandising machine people may also include input unit for inputting information.Usual expectable, master controller The information of the instruction navigation target position is obtained from the input unit of merchandising machine people.

Master controller can determine current location of the merchandising machine people at least one above-mentioned region in many ways, below Only enumerate several exemplary approach.

Mode 1: master controller is by the information obtained by laser radar real time scan and the feature phase in the map of foundation Match, identify the matching characteristic to be matched in the map and by the information that laser radar scanning obtains, is based on the matching characteristic Two-dimensional coordinate in the map determines the current location of the merchandising machine people --- for example, can be by the matching identified spy Levy current location of the two-dimensional coordinate as merchandising machine people in the map.Which is fixed using adaptive Monte Carlo Position algorithm carries out merchandising machine people self-positioning；Adaptive Monte Carlo localization algorithm itself is one that related fields generally uses Kind location algorithm, does not repeat it here.Mode 1 be applicable to robot it is static and mobile in the case where.

Mode 2: master controller determines working as merchandising machine people based on the current location information of the merchandising machine people received Front position.The current location information can for example be inputted by operator via input unit.This mode is generally used for opening Begin to input navigation initial position before navigation.

Mode 3: master controller matches the image captured in real time by monocular camera and above-mentioned characteristic element, is knowing When the matching characteristic element that the image that Chu not capture in real time with monocular camera matches, built based on the matching characteristic element Two-dimensional coordinate in vertical map determines the current location of merchandising machine people --- for example, can be by the matching characteristic element in institute State current location of the two-dimensional coordinate as merchandising machine people in map.Which there may come a time when it is not applicable, such as work as object When stream robot is in or marches to nearby the not position of characteristic element.

Mode 4: master controller determines the direction of travel and travel speed of merchandising machine people in real time, thereby determines that merchandising machine Travel track of the people in the map of foundation and displacement of advancing；It is determined based on the travel track and displacement of advancing and updates logistics Position of the robot in the map.

Mode 5: master controller obtains the consecutive image obtained in real time by a camera；Every two in a period of time is connected Continuous image: extracting same characteristic features point therein, and the same characteristic features point therein is mapped in the same coordinate system to determine and be somebody's turn to do The velocity vector of same characteristic features point；Based on the series of the velocity vector so obtained, merchandising machine people is calculated at described one section Interior traveling displacement；Position based on the initial time of displacement and merchandising machine people in described a period of time calculated of advancing Information determines the current location of merchandising machine people.Camera used in mode 5 can be RGBD camera, monocular camera or binocular Magazine one or more, and the camera can come from combining the first information acquisition device for following function to describe or combination Second information collecting device of navigation feature description, is also possible to except first information acquisition device and the second information collecting device Camera.

For mode 2, master controller can wiredly or wirelessly receive the current location of merchandising machine people in many ways Information.For example, master controller can receive working as merchandising machine people from the input unit such as keyboard or touch-sensitive screen of merchandising machine people Front position information.When necessary, such as timing is needed, the current location information of merchandising machine people can be passed through input by operator Device input.In addition, master controller can be coupled to or communicate from it via network or in other ways it is any The mobile device etc. of equipment such as server, mobile device such as operator receives the current location information of merchandising machine people.According to Need, master controller can connect and communicate with such equipment calibration via cable, or via BluetoothTM, WiFi, ZigBeeTM or other wireless communication protocols are communicated with such equipment.

For mode 5, such as the series of the velocity vector of acquisition can be integrated within described a period of time to calculate Traveling displacement of the merchandising machine people within described a period of time.

As needed, master controller can combine a variety of in above-mentioned example mode to realize merchandising machine people's More it is accurately positioned.

For example, the combination of aforesaid way 1 and mode 2 can be used in master controller: not receiving the current of merchandising machine people In the case where location information, usage mode 1；In the case where receiving the current location information of merchandising machine people, usage mode 2, the i.e. current location that determines the merchandising machine people of the current location information based on the merchandising machine people received.For example, must When wanting, it is (adaptive that the current location information that master controller can use received merchandising machine people to calibrate Land use systems 1 automatically Monte Carlo localization algorithm) determine merchandising machine people current location.For example, can be by the current of received merchandising machine people Location information is compared with the current location of the merchandising machine people determined using adaptive Monte Carlo localization algorithm, based on the two Between difference to the latter (that is, utilize adaptive Monte Carlo localization algorithm determine merchandising machine people current location) carry out from Dynamic calibration.

Alternatively, the combination of aforesaid way 1 and mode 3 can be used in master controller: being caught in real time with monocular camera out unidentified When the matching characteristic element that the image received matches, usage mode 1；Identifying the image captured in real time with monocular camera When the matching characteristic element to match, usage mode 3, the i.e. two dimension based on the matching characteristic element in the map of foundation are sat Mark the current location for determining merchandising machine people.In addition, master controller can use the matching characteristic element based on identification in map In two-dimensional coordinate determined by the current location of merchandising machine people to calibrate Land use systems 1 automatically that (adaptive Monte Carlo is fixed Position algorithm) determine merchandising machine people current location；For example, can be by capturing in real time with monocular camera based on identification The current location of merchandising machine people determined by two-dimensional coordinate of the matching characteristic element that image matches in map and utilization The current location for the merchandising machine people that adaptive Monte Carlo localization algorithm determines compares, based on difference between the two to the latter (that is, current location of the merchandising machine people determined using adaptive Monte Carlo localization algorithm) is calibrated automatically.

In addition, the combination of aforesaid way 1 and mode 4 can be used in master controller: main employing mode 4 is to merchandising machine people Positioning；The data that pass-through mode 1 obtains are used to position calibration.For example, master controller will be obtained by laser radar real time scan Information and foundation map in feature match, in identifying the map with the information that is obtained by laser radar scanning When the matching characteristic to match, based on the matching characteristic in the two-dimensional coordinate calibrating mode 4 in the map determined by Advance displacement, and in calibrating mode 4 based on the travel track and advance be displaced determined by merchandising machine people in the map In position --- for example, make based on the travel track and advance displacement determined by merchandising machine people in the map Position it is consistent with two-dimensional coordinate of the matching characteristic in the map.

Alternatively, the combination of aforesaid way 3 and mode 4 can be used in master controller: main employing mode 4 is to merchandising machine people Positioning；The data that pass-through mode 3 obtains are used to position calibration.For example, master controller will be captured in real time by monocular camera Image matches with above-mentioned characteristic element, in the matching characteristic for identifying that the image captured in real time with monocular camera matches When element, the identified traveling displacement in the two-dimensional coordinate calibrating mode 4 in the map based on the matching characteristic element, And based on the travel track and position of the merchandising machine people in the map determined by displacement of advancing in calibrating mode 4 Set --- for example, making based on the travel track and position of the merchandising machine people in the map determined by displacement of advancing It is consistent with two-dimensional coordinate of the matching characteristic element in the map.

Alternatively, the combination of aforesaid way 4 and mode 5 can be used in master controller: main employing mode 4 is to merchandising machine people Positioning；The data that pass-through mode 5 obtains are used to position calibration.For example, the logistics machine that master controller is determined based on pass-through mode 5 Identified traveling displacement in the current location calibrating mode 4 of device people, and the travel track and traveling are based in calibrating mode 4 Position of the merchandising machine people in the map determined by being displaced --- for example, making based on the travel track and traveling position The current location of merchandising machine people determined by moving is consistent with the current location of merchandising machine people that Land use systems 5 determine.

Movable pedestal is further described below.

Movable pedestal can realize mobility using various ways, wherein common mode first is that for removable bottom Seat setting wheel.For example, movable pedestal there can be multiple wheels that its underpart is arranged in, with by these wheel bearings, and lead to It is mobile to cross these wheels.In general, movable pedestal has at least three wheel, such as mountable there are 3,4,5,6 wheels or more A wheel；2 in these wheels --- such as 2 are arranged side by side in the wheel of pedestal two sides --- can be configured as power Wheel, other wheels can be universal wheel.Certainly, as needed, power wheel can be configured by more wheels.Each power wheel In it is mountable have driving device for wheel provide driving force.In addition, can accordingly be equipped with drive control device in pedestal, it is used for It controls each driving device and provides driving force to corresponding power wheel.

2 power wheels being arranged side by side can be configured to direction controlling power wheel, for controlling the traveling of merchandising machine people Direction.For example, this 2 direction controlling power wheels are abreast mounted on the two sides of pedestal, so that the direction of travel of merchandising machine people It is determined by the difference of the travel speed of this 2 direction controlling power wheels, the travel speed of the merchandising machine people is by this 2 direction controls Brake wheels travel speed and determine.This respect, being moved by 2 direction controllings suitable for the general vehicles such as vehicle The speed of wheels determines that the principle of vehicle traveling direction and speed, methods and techniques can be used, and does not repeat here.

Pedestal itself may be structured to place other component suitable for bearing goods or the submounts and be used for Bearing goods.As needed, pedestal may be structured in various forms such as rectangles.

As mentioned above, multiple wheels of movable pedestal may include at least two power wheel, pacify in each power wheel It is used to provide driving force to wheel equipped with driving device, drive control device is installed in pedestal.Above-mentioned driving device can be electricity The form of hub motor can be used in machine, the wheel with motor.Hub motor can be any suitable commercially available hub motor.

Preferably, four corners of movable pedestal are respectively equipped with a universal wheel, among the two sides of movable pedestal Place is respectively equipped with a power wheel such as hub motor.That is, it includes 6 wheels that movable pedestal, which has altogether, wherein 2 are power Wheel, in addition 4 are universal wheel.

Alternatively, movable pedestal can respectively be equipped with a power wheel in the corner of its front 2, and 2, portion is turned behind One universal wheel is respectively installed at angle.

If desired, multiple wheels of movable pedestal can be with all power wheels, wherein 2 power wheels can be configured to Direction controlling power wheel.

In one embodiment, drive control device is coupled to each driving device and is coupled to above-mentioned master controller. To make merchandising machine people follow route or navigation routine to advance along what is planned, master controller according to planned follow route or Navigation routine sends the speed signal for each power wheel to drive control device, and the speed signal instruction can lead to merchandising machine People is along each power wheel travel speed for following route or navigation routine to advance planned.Drive control device is believed according to the speed Number each driving device of control makes each power wheel advance with corresponding travel speed.

It is mountable in each direction controlling power wheel to have velocity sensor, such as Hall sensor or photoelectric encoder, light Photoelectric coder is also referred to as code-disc or wheel sub-encoders.For the utility model, it is preferable to use photoelectric encoder.Photoelectric encoder It may be physically located in power wheel, but its output coupling is to drive control device.For example, being used as direction controlling power in hub motor It is mountable in each hub motor to have a photoelectric encoder in the case where wheel.Drive control device can real-time reception test the speed sensing The velocity information of 2 direction controlling power wheels of device sensing, and it is transferred to master controller.Master controller is based on received 2 The velocity information of a direction controlling power wheel can determine the direction of travel and speed of merchandising machine people in real time.It is mounted in wheel Such velocity sensor can with principle well known in the prior art sense wheel speed (revolving speed or travel speed), here not into Row repeats.

Accordingly for mode 4, master controller can obtain the power by each wheel encoders sense via drive control device Wheel speed information, and travel speed and direction based on this determination merchandising machine people, thereby determine that the traveling rail of merchandising machine people Mark and displacement.

The positioning of merchandising machine people can be used for multiple purposes, such as, but not limited to: when necessary, according to robot current location Constantly navigation global path is planned again；Judge whether robot reaches navigation target position (robot present bit When setting with navigation target position consistency, that is, it can determine that robot arrived navigation target position)；It is cut in robot from follow the mode When shifting to navigation mode, necessary initialization is carried out.It should be understood that only for realizing and following, the positioning of merchandising machine people It is not required.

As described above, can be used to take turns based on sub-encoders, laser sensor (laser radar) and characteristic element such as two dimension Locating scheme supplemented by code positions merchandising machine people.The scene variation in logistics place does not influence encoder mileage calculation, But laser sensor and two dimensional code positioning may be impacted.Wherein the precision of two dimensional code auxiliary positioning is relatively high, if Scene changes cause two-dimentional code position to change, and may affect greatly to positioning accuracy, need to re-establish map. In addition, will have a direct impact on laser positioning when scene changes are larger, the precision of laser positioning is caused to reduce, or even determine laser assisted Bit function failure.Thus, when the variation of lesser degree of scene occurs --- when as constant such as two-dimentional code position, to robot entirety Location precision is little, can not re-establish map；If scene variation is larger, two-dimentional code position is such as caused to change When, preferably re-establish map.Can be compared to determination by the two dimensional code coordinate before and after changing scene is It is no to re-establish map.

Above-mentioned first information acquisition device and the second information collecting device is the information according to its acquisition to describe It is distinguished made by convenient, they can substantially be independent from each other, it is possible to have common component --- the i.e. first information The a part of of acquisition device can be included in simultaneously in the second information collecting device, and a part of the second information collecting device can To be included in first information acquisition device or they possibly even include identical component simultaneously, tool is depended on Body situation.For example, in a suitable case, first information acquisition device and the second information collecting device can have common monocular Camera and/or RGBD camera and/or laser radar.

In addition, above-mentioned RGBD camera can be replaced by binocular camera, or it is changed to the combination of binocular camera and RGBD camera.

The merchandising machine people of the utility model can also have barrier avoiding function；This can by setting one obstacle avoidance sensor device come It realizes.Specifically, obstacle avoidance sensor device may be adapted to detect barrier and acquire the information in relation to barrier.Master controller can coupling It is bonded to obstacle avoidance sensor device, and is configured as obtaining the information in relation to barrier from obstacle avoidance sensor device and carries out following At least one: 1) planning follow route or navigation routine make the route get around barrier；2) it is based on the related barrier Information determine whether barrier be located at planned follow on route or navigation routine, and determination there is barrier to be located at institute In the case that plans follows on route or navigation routine, what adjustment was planned follows route or navigation routine to make the route Get around the barrier.The information in relation to barrier may include the location information and size letter of detected barrier Breath.Preferably, obstacle avoidance sensor device may include the multiple ultrasonic sensors for being arranged in each side of the pedestal.For example, Each side of pedestal can arrange that there are two ultrasonic sensors.

A variety of suitable methods can be used and realize avoidance.It is briefly described by taking the method using the prior art as an example below.

For example, following target always within the scope of robot may detect, using known office under follow the mode Portion's obstacle avoidance algorithm programme path.For example, master controller can obtain simultaneously barrier and follow target relative to merchandising machine people ( In robot coordinate system) location information, and carry out real-time motion planning accordingly.It is common that robot field can be used in motion planning Artificial Potential Field Method, obtain that the barrier that can currently detect can be avoided from robot current location to following one of target position Hinder the track of object.It is planned by iteratively faster, it can be achieved that static and dynamic barrier avoidance.

Under navigation mode, final navigation target position, can be in combination with not necessarily in the detectable range of robot Known Global motion planning algorithm and local obstacle avoidance algorithm programme path.For example, master controller can according to prior established map, A smooth global navigation routine to navigation target position is cooked up from current location using Global motion planning algorithm；It is wherein current Position and navigation target position map to map coordinates system, thus when current location is identical with navigation target position, i.e., It determines and reaches navigation target position.In barrier (map and the reality not being detected with other than the object marked in map Environment fits like a glove and there is no dynamic disorders) when, robot can advance according to the global navigation routine planned；If detection There is the barrier except the object marked in map to surrounding and the barrier is on the navigation routine planned, using office Portion's obstacle avoidance algorithm re-starts planning to the route in subrange, avoiding obstacles, and according to current location to global route Planning is re-started, until reaching navigation target position.

In Artificial Potential Field Method, it can get robot current location, target position and Obstacle Position, worked as according to robot The distance of front position to target position establishes gradient in robot peripheral extent；Barrier is expressed as convex set in gradient map, To the direction declined according to gradient, the shortest path to target position can be cooked up from robot current location as robot Travelling route.Local obstacle avoidance algorithm is similar with Artificial Potential Field Method, specifically plans using DWA, i.e. dynamic window method.It is advised in the overall situation In cost-effective method, according to robot current location, navigation target position and cartographic information and barrier own dimensions information, utilize A* algorithm finds route of the shortest path from current location to target position as planning.It is kissed completely in map with actual environment In the case where closing and dynamic disorder being not present, only Global motion planning algorithm can meet navigation request；On the contrary, then needing local avoidance Algorithm plans the path in subrange again.Artificial Potential Field Method, DWA algorithm and A* algorithm are in the prior art Know, here without repeating.

As a supplementary features, the merchandising machine people of the utility model can also include lighting device, the lighting device Master controller can be coupled to and selectively enabled and disabled by master controller.Lighting device may include for example on pedestal One or more LED light.It is contemplated that merchandising machine people can also include the light sensing for sense ambient light according to situation Device, the optical sensor are coupled to master controller, and master controller is configured as receiving the ambient lighting shape of its sensing from optical sensor Condition simultaneously selectively enables and disables lighting device according to ambient lighting situation.For example, master controller can be in the environment light of sensing Lighting device is enabled when according to situation lower than threshold value illumination level once, is more than a upper threshold value illumination in the ambient lighting situation of sensing Lighting device is deactivated when horizontal.Alternatively or additionally, master controller can not be obtained within a period from some or When the effective visible sensation information of certain information collecting devices or part thereof (such as RGBD camera and/or monocular camera), illumination is enabled Device；The period can be according to circumstances preset.

The merchandising machine people of the utility model may also include that at least one pillar upwardly extended from pedestal, such as 2 branch Column；And the control panel by this 2 pillar sides of being mounted on the base.Preferably, the control panel side of being set on the base 1- 1.5 at the position of rice.

Above-mentioned RGBD camera, monocular camera, binocular camera, input unit are preferably provided on the control panel.

Emergency stop switch is also equipped on control panel, in case of emergency braking merchandising machine people.Main control Device can be coupled to emergency stop switch, and be configured as braking movable pedestal when emergency stop switch is activated, to brake logistics machine Device people makes it stop advancing.

The merchandising machine people of the utility model can be set it is being spaced apart above pedestal, with pedestal, be suitable for carrying The additional pallet of cargo.The additional pallet can be installed by the pillar for installing control panel.Preferably, on pedestal At least one additional pallet mounting hole, such as 2 additional pallet mounting holes are reserved with, the arm brace of respective numbers can pass through Additional pallet mounting hole is installed to pedestal and is upwardly extended from pedestal；Additional pallet can pass through the pillar for installing control panel And arm brace installation.The shelf and the pillar are dismountable.

In general, the master controller is mountable in movable pedestal.The above-mentioned pillar for installing control panel is excellent Choosing be it is hollow, suitable for passing through for cable.Master controller can be coupled to above-mentioned via the cable passed through inside hollow pillar RGBD camera, monocular camera, binocular camera, input unit and emergency stop switch.

It is expectable, it is mountable in movable pedestal to have rechargeable battery, to provide power for merchandising machine people.In addition, Merchandising machine people can automatic charging, without manual intervention.For example, merchandising machine people can have battery electric quantity checking device, electricity Pond electric quantity detection apparatus may be provided in pedestal and be coupled to master controller, detect battery capacity in battery electric quantity checking device When dropping to a threshold level or less, triggerable master controller makes merchandising machine people's automatic charging.When needing to charge, logistics machine Device people can self-navigation to charged area and be directed at charging jack and charge；After charging complete, merchandising machine people can be autonomous Return to the area that awaits orders.

The merchandising machine people of the utility model is following goods of the target by carrying in the case where having navigation feature After object is transported to loading dock, navigation mode can switch to, such as awaited orders area using navigation feature self-navigation to navigation target position.

Fig. 1 is the schematic block diagram for showing the associated components of merchandising machine people according to the present utility model, is shown Master controller mentioned above, monocular camera, laser radar, ultrasonic sensor, drive control device, is connected to drive at RGBD camera The motor etc. of movement controller.It these components and can refer in relation to the interaction between component such as exemplary description above.Driving control Device processed can be connected with master controller by CAN bus.Drive control device can control each motor to provide driving force to power wheel, Feedback can also be received from each motor and corresponding wheel sub-encoders, control power wheel speed.

Fig. 2 is a kind of exemplary representation of merchandising machine people according to the present utility model.Wherein illustrate this reality With a kind of novel exemplary logistics robot and its associated components, such as: the double-deck shelf mounting hole (the additional goods reserved on pedestal Frame mounting hole)；Ultrasonic probe (ultrasonic sensor) on pedestal；The laser radar being set in pedestal front groove；Before pedestal The LED light in portion；2 pillars stretched out upwards from pedestal；The control panel (not shown) installed by this 2 pillars；From up to Under be set to touch screen (touch-sensitive screen), emergency stop switch, binocular camera, RGBD camera, monocular camera on control panel；It is touch-sensitive Monocular face recognition cameras on screen.Be provided in Fig. 2 touch screen (touch-sensitive screen), emergency stop switch, binocular camera, RGBD camera, The part of monocular camera etc. can be described as control panel.It should be understood that ultrasonic sensor may be disposed at each side of pedestal；Swash Optical radar is also such.In addition, the position of each camera can adjust as needed.

Some possible embodiments of the utility model are given below:

A kind of merchandising machine people of scheme 1., comprising:

Movable pedestal；

Information collecting device, suitable for acquiring the image information and depth information of existing object in its coverage area；

Master controller is coupled to the information collecting device, and is configured as:

The merchandising machine people identity information for following target to be followed is obtained, wherein described follow target to have correlation The identification feature of connection；

Described image information and depth information are received from the information collecting device；

From described image information extraction characteristics of image corresponding with the identification feature, by described image feature and the knowledge Other feature is matched, and to follow target described in identification, and follows target to capture in the information collecting device based on described Position in image follows target relative to the direction of the merchandising machine people described in determining, wherein described image information includes institute State image；

Identified from the extraction of depth information follow the range information of target with followed described in determination target relative to The distance of the merchandising machine people；

At least based on include identified direction and distance follow target position information plan the merchandising machine people with With the route that follows for following target, and controlling the movable pedestal makes the merchandising machine people follow route row along described Into.

The merchandising machine people according to scheme 1 of scheme 2., wherein the information collecting device includes: RGBD camera, institute State image information and depth information that RGBD camera is suitable for acquiring its existing object within sweep of the eye；And/or monocular camera and Laser radar, the monocular camera are suitable for acquiring the image information of its existing object within sweep of the eye, and the laser radar is suitable In the depth information for acquiring its existing object within sweep of the eye.

The merchandising machine people according to scheme 2 of scheme 3., wherein information collecting device includes: the RGBD camera；With, The monocular camera and laser radar, wherein the master controller is configured as:

Preferentially from the image information and depth information for following target described in RGBD camera acquisition；

The image information and/or depth information that target is followed described in fail to obtain from the RGBD camera are up to a pre- timing Between in the case where, respectively from the monocular camera and laser radar obtain described in follow the image information and depth information of target.

The merchandising machine people according to scheme 3 of scheme 4., wherein in the master controller respectively from the monocular camera With laser radar obtain described in follow image information and the depth information of target in the case where, the master controller is suitable for:

From described image information extraction characteristics of image corresponding with the identification feature, by described image feature and the knowledge Other feature is matched, and to follow target described in identification, and follows target in the monocular camera captured image based on described In position determine described in follow target relative to the directional information of the merchandising machine people, wherein described image information includes institute State monocular camera captured image；

By the way that the directional information is mapped in the scattergram that the laser radar obtains, determine in the scattergram with Point that the directional information matches and thereby determine that it is described follow target relative to the range information of the merchandising machine people, Described in depth information include the scattergram；

As identified directional information and range information determine described in follow target relative to the position of the merchandising machine people For confidence breath as target position information is followed, described follow follows target relative to the logistics described in target position information instruction The direction of robot and distance.

The merchandising machine people according to scheme 1 of scheme 5., wherein described follow target to be authorized to use the logistics The personnel of robot, the identification feature includes at least one of: the figure for following target described follows target back The work number of carrying, it is described follow target back carry two dimensional code, it is described follow target the color of clothes.

The merchandising machine people according to scheme 1 of scheme 6., further includes input unit, and the input unit is for inputting letter Breath wherein the master controller is coupled to the input unit, and follows mesh described in being configured as receiving from the input unit Target identity information and/or identification feature.

A kind of merchandising machine people of scheme 7., comprising:

Movable pedestal；

Master controller, the master controller are configured as:

Obtain the cartographic information at least one region in the logistics place where the merchandising machine people, it is described at least one Region includes all or part of of the whole region in the logistics place；

Determine the current location of the merchandising machine people；

Obtain the information of instruction navigation target position；

Information planning at least based on the cartographic information, the current location and the instruction navigation target position is by institute It states merchandising machine people and navigates to the navigation routine of the navigation target position, and control the movable pedestal to make the logistics machine Device people advances along the navigation routine,

Wherein at least one described region includes the current location and the navigation target position.

The merchandising machine people according to scheme 7 of scheme 8., further includes information collecting device, and the information collecting device is suitable In: acquire the location information of object present at least one described region；And based at least one described area collected The location information of object present in domain establishes the map at least one region, wherein the master controller be coupled to it is described Information collecting device, and be configured as obtaining the map from the information collecting device, wherein the cartographic information includes institute State map.

The merchandising machine people according to scheme 8 of scheme 9., wherein the information collecting device includes laser radar, it is described Laser radar is suitable for: the laser point of object present at least one described region is acquired by scanning at least one described region Cloud data, the laser point cloud data indicate the location information of object present at least one described region；By will be described Laser point cloud data is converted into two dimensional image, described in the location information determination based on object present at least one described region Thus two-dimensional coordinate of the object present at least one region relative to a scheduled fixed point establishes at least one described area The map in domain, wherein the cartographic information includes object present at least one described region relative to the scheduled fixation The two-dimensional coordinate of point.

The merchandising machine people according to scheme 9 of scheme 10., wherein the information collecting device further includes monocular camera, The monocular camera is suitable for capturing the image of each characteristic element at least one described region, wherein the master controller quilt It is configured that based on the map and determines that each characteristic element exists from the image of the received each characteristic element of the monocular camera Two-dimensional coordinate in the map, the characteristic element be arrange in advance or the object present at least one described region Selection.

The merchandising machine people according to scheme 9 of scheme 11., wherein determining the current location packet of the merchandising machine people Include: the information obtained by laser radar real time scan and the feature in the map matched, identify in the map with by The matching characteristic that the information that laser radar scanning obtains matches, the two-dimensional coordinate based on the matching characteristic in the map Determine the current location of the merchandising machine people.

The merchandising machine people according to scheme 9 of scheme 12., wherein determining the current location packet of the merchandising machine people It includes: determining the direction of travel and travel speed of merchandising machine people in real time, thereby determine that the merchandising machine people in the map Travel track and advance displacement；It is determined based on the travel track and displacement of advancing and updates the merchandising machine people described Position in map.

A kind of merchandising machine people of scheme 13., comprising:

Movable pedestal；

First information acquisition device, suitable for acquiring the image information and depth information of existing object in its coverage area；

Master controller is coupled to the first information acquisition device, and is configured as:

The merchandising machine people identity information for following target to be followed is obtained, wherein described follow target to have correlation The identification feature of connection；

Described image information and depth information are received from the first information acquisition device；

From described image information extraction characteristics of image corresponding with the identification feature, by described image feature and the knowledge Other feature is matched, and to follow target described in identification, and follows target to catch in the first information acquisition device based on described Position in the image obtained follows target relative to the direction of the merchandising machine people described in determining, wherein described image packet Include described image；

Identified from the extraction of depth information follow the range information of target with followed described in determination target relative to The distance of the merchandising machine people；

At least based on include identified direction and distance follow target position information plan the merchandising machine people with With the route that follows for following target, and controlling the movable pedestal makes the merchandising machine people follow route row along described Into,

Wherein, the master controller is also configured to

Obtain the cartographic information at least one region in the logistics place where the merchandising machine people, it is described at least one Region includes all or part of of the whole region in the logistics place；

Determine the current location of the merchandising machine people；

Obtain the information of instruction navigation target position；

Information planning at least based on the cartographic information, the current location and the instruction navigation target position is by institute It states merchandising machine people and navigates to the navigation routine of the navigation target position, and control the movable pedestal to make the logistics machine Device people advances along the navigation routine,

Wherein at least one described region includes the current location and the navigation target position.

The merchandising machine people according to scheme 13 of scheme 14., further includes the second information collecting device, second information Acquisition device is suitable for: acquiring the location information of object present at least one described region；And based on collected described The location information of object present at least one region establishes the map at least one region, wherein the master controller It is coupled to second information collecting device, and is configured as obtaining the map from second information collecting device, wherein The cartographic information includes the map.

The merchandising machine people according to scheme 14 of scheme 15., wherein second information collecting device includes laser thunder It reaches, the laser radar is suitable for: acquiring object present at least one described region by scanning at least one described region Laser point cloud data, the laser point cloud data indicates the location information of object present at least one described region；It is logical It crosses and the laser point cloud data is converted into two dimensional image, the location information based on object present at least one described region Determine two-dimensional coordinate of the object relative to a scheduled fixed point present at least one described region, thus foundation is described extremely The map in a few region, wherein the cartographic information includes object present at least one described region relative to described pre- The two-dimensional coordinate of fixed fixed point.

The merchandising machine people according to scheme 15 of scheme 16., wherein in first and second information collecting device At least one information collecting device includes monocular camera, and the monocular camera is suitable for capturing each of at least one described region The image of characteristic element, wherein the master controller is configured as: received every based on the map and from the monocular camera The image of a characteristic element determines that two-dimensional coordinate of each characteristic element in the map, the characteristic element are to arrange in advance Or present at least one described region Object Selection.

The merchandising machine people according to scheme 15 of scheme 17., wherein determining the current location packet of the merchandising machine people Include: the information obtained by laser radar real time scan and the feature in the map matched, identify in the map with by The matching characteristic that the information that laser radar scanning obtains matches, the two-dimensional coordinate based on the matching characteristic in the map Determine the current location of the merchandising machine people.

The merchandising machine people according to scheme 15 of scheme 18., wherein determining the current location packet of the merchandising machine people It includes: determining the direction of travel and travel speed of merchandising machine people in real time, thereby determine that the merchandising machine people in the map Travel track and advance displacement；It is determined based on the travel track and displacement of advancing and updates the merchandising machine people described Position in map.

The merchandising machine people according to scheme 1,7 or 13 of scheme 19. further includes obstacle avoidance sensor device, the avoidance Sensor device is suitable for detection barrier and acquires the information in relation to barrier, wherein the master controller is coupled to the avoidance Sensor device, and be configured as:

The information in relation to barrier is obtained from the obstacle avoidance sensor device；

It follows route or navigation routine that the route is made to get around the barrier described in planning, and/or is had based on described Close barrier information determine whether barrier be located at planned follow on route or navigation routine and have obstacle in determination In the case that level follows on route or navigation routine in what is planned, what adjustment was planned follows route or navigation routine to make The route gets around the barrier,

Wherein the information in relation to barrier includes the location information and dimension information of the barrier detected.

The merchandising machine people according to scheme 1,7 or 13 of scheme 20., wherein the movable pedestal is provided at least 3 A wheel, at least two at least three wheel are power wheel, and driving device is equipped in each power wheel for wheel Son provides driving force, is equipped with drive control device in the movable pedestal, the drive control device is coupled to each drive Dynamic device is simultaneously coupled to the master controller, wherein movable pedestal described in the main controller controls makes the merchandising machine people Following route or navigation routine to advance described in includes: that the master controller follows route or navigation routine to send use according to In each power wheel speed signal to the drive control device, the speed signal instruction causes the merchandising machine people along described Each power wheel travel speed for following route or navigation routine to advance, wherein the drive control device is according to the speed signal control Making each driving device makes each power wheel advance with corresponding travel speed.

The merchandising machine people according to scheme 20 of scheme 21., wherein 2 power wheels are configured as controlling the object The direction controlling power wheel of the direction of travel of robot is flowed, 2 direction controlling power wheels are abreast mounted on described removable The two sides of dynamic pedestal so that the direction of travel of the merchandising machine people by this 2 direction controlling power wheels travel speed difference It determines, the travel speed of the merchandising machine people is determined by the sum of the travel speed of this 2 direction controlling power wheels.

The merchandising machine people according to scheme 11 or 17 of scheme 22., wherein determining the present bit of the merchandising machine people It sets further include: in the case where receiving the current location information of the merchandising machine people, based on the logistics machine received The current location information of device people determines the current location of the merchandising machine people.

The merchandising machine people according to scheme 11 or 17 of scheme 23., wherein the information collecting device includes monocular phase Machine, the monocular camera are suitable for capturing the image of each characteristic element at least one described region, and the characteristic element is It is arranging in advance or the Object Selection present at least one described region, wherein the master controller is configured as: base Determine each characteristic element in the map in the map and from the image of the received each characteristic element of the monocular camera In two-dimensional coordinate,

Wherein determine the current location of the merchandising machine people further include: by the image captured in real time by monocular camera with The characteristic element matches, when identifying the matching characteristic element that the image captured in real time with monocular camera matches, The current location of the merchandising machine people is determined based on two-dimensional coordinate of the matching characteristic element in the map.

The merchandising machine people according to scheme 12 or 18 of scheme 24., wherein determining the present bit of the merchandising machine people It sets further include: the information obtained by laser radar real time scan and the feature in the map are matched, it is described identifying When the matching characteristic to be matched in map and by the information that laser radar scanning obtains, based on the matching characteristic in the map In two-dimensional coordinate calibration determined by advance displacement, and calibrate based on the travel track and advance be displaced determined by described in Position of the merchandising machine people in the map.

The merchandising machine people according to scheme 12 or 18 of scheme 25., wherein the information collecting device further includes monocular Camera, the monocular camera are suitable for capturing the image of each characteristic element at least one described region, the characteristic element Be arrange in advance or the Object Selection present at least one described region, wherein the master controller is configured as: Each characteristic element is determined described based on the map and from the image of the received each characteristic element of the monocular camera Two-dimensional coordinate in figure,

Wherein determine the current location of the merchandising machine people further include: by the image captured in real time by monocular camera with The characteristic element matches, when identifying the matching characteristic element that the image captured in real time with monocular camera matches, Based on matching characteristic element traveling displacement determined by the two-dimensional coordinate calibration in the map, and calibrate based on described Travel track and position of the merchandising machine people in the map determined by displacement of advancing.

The merchandising machine people according to scheme 12 or 18 of scheme 26., wherein determining the present bit of the merchandising machine people It sets further include: obtain the consecutive image obtained in real time by a camera；For the every two consecutive image in a period of time: extracting it In a same characteristic features point, by the same characteristic features point therein be mapped in the same coordinate system with determine the same characteristic features point speed Spend vector；Based on the series of the velocity vector so obtained, traveling of the merchandising machine people within described a period of time is calculated Displacement；The location information of initial time based on traveling displacement calculated and the merchandising machine people in described a period of time, Determine the current location of the merchandising machine people；It is determined using the current location calibration of the merchandising machine people thereby determined that Traveling displacement, and calibrate based on the travel track and advance be displaced determined by the merchandising machine people in the map Position.

The merchandising machine people according to scheme 1,7 or 13 of scheme 27., wherein the merchandising machine people further includes illumination dress It sets, the lighting device is coupled to the master controller and is selectively enabled and disabled by the master controller.

The merchandising machine people according to scheme 1,7 or 13 of scheme 28., further includes: prolong upwards from the movable pedestal At least one pillar stretched；The control panel above the movable pedestal is mounted on by least one described pillar.

The merchandising machine people according to scheme 28 of scheme 29., wherein being equipped with emergency stop switch use on the control panel In in case of emergency braking the merchandising machine people, the master controller is coupled to the emergency stop switch, and is configured as The emergency stop switch brakes the movable pedestal when being activated, to brake the merchandising machine people.

The merchandising machine people according to scheme 1,7 or 13 of scheme 30., further include be located above the movable pedestal, The additional pallet being spaced apart with the movable pedestal, the additional pallet are suitable for bearing goods.

The merchandising machine people according to scheme 30 of scheme 31., wherein the additional pallet passes through at least one described branch Column is installed to the merchandising machine people；Alternatively, wherein the merchandising machine people further includes upwardly extending from the movable pedestal At least one arm brace, the arm brace is suitable for installing by mounting hole reserved on the movable pedestal to described Movable pedestal, and the shelf are installed by least one described pillar and at least one described arm brace to the object Flow robot.

The merchandising machine people according to scheme 19 of scheme 32., wherein the obstacle avoidance sensor device includes being arranged in institute State multiple ultrasonic sensors of each side of movable pedestal.

The merchandising machine people according to scheme 32 of scheme 33., wherein each side arrangement of the movable pedestal has Two ultrasonic sensors.

The merchandising machine people according to scheme 3,9 or 15 of scheme 34., wherein the laser radar be mounted on it is described removable The front and/or rear and/or side of dynamic pedestal.

The merchandising machine people according to scheme 34 of scheme 35., wherein the laser radar be mounted on be set to it is described can In the front and/or rear of mobile base and/or the groove of side.

A kind of method for the merchandising machine people with movable pedestal of scheme 36., comprising:

The merchandising machine people identity information for following target to be followed is obtained, wherein described follow target to have correlation The identification feature of connection；

Figure is received from the information collecting device of the image information of existing object and depth information in its coverage area is acquired As information and degree information；

From described image information extraction characteristics of image corresponding with the identification feature, by described image feature and the knowledge Other feature is matched, and to follow target described in identification, and follows target to capture in the information collecting device based on described Position in image follows target relative to the direction of the merchandising machine people described in determining, wherein described image information includes institute State image；

Identified from the extraction of depth information follow the range information of target with followed described in determination target relative to The distance of the merchandising machine people；With

At least based on include identified direction and distance follow target position information plan the merchandising machine people with With the route that follows for following target, and controlling the movable pedestal makes the merchandising machine people follow route row along described Into.

A kind of method for the merchandising machine people with movable pedestal of scheme 37., comprising:

Obtain the cartographic information at least one region in the logistics place where the merchandising machine people, it is described at least one Region includes all or part of of the whole region in the logistics place；

Determine the current location of the merchandising machine people；

Obtain the information of instruction navigation target position；With

Information planning at least based on the cartographic information, the current location and the instruction navigation target position is by institute It states merchandising machine people and navigates to the navigation routine of the navigation target position, and control the movable pedestal to make the logistics machine Device people advances along the navigation routine,

Wherein at least one described region includes the current location and the navigation target position.

The method according to scheme 37 of scheme 38., wherein determining that the current location of the merchandising machine people includes:

By the spy in the information obtained by the laser radar real time scan for being installed on the movable pedestal and the map Sign matches, and identifies the matching characteristic to be matched in the map and by the information that laser radar scanning obtains, based on described Two-dimensional coordinate with feature in the map determines the current location of the merchandising machine people；And/or

The direction of travel and travel speed for determining merchandising machine people in real time, thereby determine that the merchandising machine people describedly Travel track in figure and displacement of advancing；It determines based on the travel track and displacement of advancing and updates the merchandising machine people and exist Position in the map.

A kind of controller for the merchandising machine people with movable pedestal of scheme 39., the controller include storage Device and processor, wherein being stored with computer instruction on the memory, described instruction causes when being executed by the processor The controller executes the step of method according to any in scheme 36-38.

A kind of computer readable storage medium of scheme 40. is stored with computer on the computer readable storage medium and refers to It enables, described instruction is realized in the one or more processors execution by the merchandising machine people with movable pedestal according to scheme In 36-38 the step of any described method.

Although being described in detail by example embodiment, preceding description is all illustrative in all respects rather than limits Property processed.It should be appreciated that can be designed that a number of other remodeling and variant without departing from the range of example embodiment, these are all fallen Enter the protection scope of the utility model.Therefore, the protection scope of the utility model should be determined by the appended claims.

Claims (66)

1. a kind of merchandising machine people, which is characterized in that the merchandising machine people includes:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described that target is followed to have Associated identification feature；

Information collecting device, for acquiring the image information and depth information of existing object in its coverage area, described image Information includes characteristics of image corresponding with the identification feature, and the depth information includes the range information of the object；With

Master controller is coupled to the input unit and the information collecting device, follows target from input unit reception Identity information, receive described image information and depth information from the information collecting device, wherein described image information includes Characteristics of image corresponding and matched to the identification feature it is described for identification follow object, it is described with the identification feature phase It answers and matched characteristics of image is used to follow target phase described in determination in the position in the information collecting device captured image For the direction of the merchandising machine people, the range information for following target that the depth information included identified is for determining The distance that target is followed relative to the merchandising machine people follows target position information to use including the direction and distance The route that follows for following target is followed in the planning merchandising machine people, wherein described image information includes described image,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

2. merchandising machine people according to claim 1, which is characterized in that the information collecting device includes: RGBD camera, The RGBD camera is used to acquire the image information and depth information of its existing object within sweep of the eye；And/or monocular camera And laser radar, the monocular camera are used to acquire the image information of its existing object within sweep of the eye, the laser radar For acquiring the depth information of its existing object within sweep of the eye.

3. merchandising machine people according to claim 1, which is characterized in that described to follow target to be authorized to use the object Flow robot personnel, the associated identification feature includes at least one of: the figure for following target, it is described with With target back carry work number, it is described follow target back carry two dimensional code, it is described follow target the color of clothes.

4. merchandising machine people according to claim 1, which is characterized in that the merchandising machine people further includes obstacle avoidance sensor Device, the obstacle avoidance sensor device is for detecting barrier and acquiring the information in relation to barrier, wherein the master controller It is coupled to the obstacle avoidance sensor device, obtains the information in relation to barrier from the obstacle avoidance sensor device, wherein described have The information for closing barrier includes the location information and dimension information of the barrier detected.

5. merchandising machine people according to claim 1, which is characterized in that the movable pedestal is provided at least three wheel Son, at least two at least three wheel are power wheel, and driving device is equipped in each power wheel for mentioning to wheel For driving force, drive control device is installed in the movable pedestal, the drive control device is coupled to each driving dress Set and be coupled to the master controller, the master controller provides the speed signal for each power wheel to the drive control Device, each power wheel travel speed that the speed signal instruction causes the merchandising machine people to advance along the route planned, institute Stating each driving device of drive control device control makes each power wheel advance with corresponding travel speed.

6. merchandising machine people according to claim 5, which is characterized in that 2 power wheels are to control the logistics machine The direction controlling power wheel of the direction of travel of device people, 2 direction controlling power wheels are abreast mounted on the removable bottom The two sides of seat.

7. merchandising machine people according to claim 1, which is characterized in that the merchandising machine people further includes lighting device, The lighting device is coupled to the master controller and is selectively enabled and disabled by the master controller.

8. merchandising machine people according to claim 1, which is characterized in that the merchandising machine people further include: from it is described can At least one pillar that mobile base upwardly extends；It is mounted on above the movable pedestal with by least one described pillar Control panel.

9. merchandising machine people according to claim 8, which is characterized in that be equipped with emergency stop switch use on the control panel In in case of emergency braking the merchandising machine people, the master controller is coupled to the emergency stop switch, the emergency stop switch It is activated the triggering master controller and brakes the movable pedestal, braking the movable pedestal causes to brake the logistics machine Device people.

10. merchandising machine people according to claim 8, which is characterized in that the merchandising machine people further includes positioned at described Above movable pedestal, the additional pallet that is spaced apart with the movable pedestal, the additional pallet is for bearing goods.

11. merchandising machine people according to claim 10, which is characterized in that the additional pallet by it is described at least one Pillar is installed to the merchandising machine people.

12. merchandising machine people according to claim 10, which is characterized in that the merchandising machine people further include from it is described can At least one arm brace that mobile base upwardly extends, the arm brace are used for by reserving on the movable pedestal Mounting hole is installed to the movable pedestal, and the additional pallet pass through at least one described pillar and it is described at least one Arm brace is installed to the merchandising machine people.

13. merchandising machine people according to claim 4, which is characterized in that the obstacle avoidance sensor device includes being arranged in Multiple ultrasonic sensors of each side of the movable pedestal.

14. merchandising machine people according to claim 13, which is characterized in that each side arrangement of the movable pedestal There are two ultrasonic sensors.

15. merchandising machine people according to claim 2, which is characterized in that the laser radar is mounted on described removable The front and/or rear and/or side of pedestal.

16. merchandising machine people according to claim 15, which is characterized in that the laser radar be mounted on be set to it is described In the front and/or rear of movable pedestal and/or the groove of side.

17. a kind of merchandising machine people, which is characterized in that the merchandising machine people includes:

Movable pedestal；

Information collecting device, it is right present at least one region in the logistics place where the merchandising machine people for acquiring The location information of elephant, the location information of object present at least one described region are used to establish at least one region Map, at least one described region include all or part of of the whole region in the logistics place；With

Master controller is coupled to the information collecting device, receives at least one region from the information collecting device Map is for planning the navigation routine that the merchandising machine people is navigated to navigation target position from its current location, wherein described At least one region includes the current location and the navigation target position,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

18. merchandising machine people according to claim 17, which is characterized in that the information collecting device includes laser thunder It reaches, the laser radar is used to acquire object present at least one described region by scanning at least one described region Laser point cloud data, the laser point cloud data indicate the location information of object present at least one described region.

19. merchandising machine people according to claim 18, which is characterized in that the information collecting device further includes monocular phase Machine, the monocular camera is used to capture the image of each characteristic element at least one described region, wherein the feature is wanted Element be arrange in advance or the Object Selection present at least one described region.

20. merchandising machine people according to claim 17, which is characterized in that the merchandising machine people further includes avoidance sensing Device device, the obstacle avoidance sensor device is for detecting barrier and acquiring the information in relation to barrier, wherein the main control Device is coupled to the obstacle avoidance sensor device, obtains the information in relation to barrier from the obstacle avoidance sensor device, wherein described Information in relation to barrier includes the location information and dimension information of the barrier detected.

21. merchandising machine people according to claim 17, which is characterized in that the movable pedestal is provided at least three Wheel, at least two at least three wheel are power wheel, and driving device is equipped in each power wheel for wheel Driving force is provided, drive control device is installed in the movable pedestal, the drive control device is coupled to each driving Device is simultaneously coupled to the master controller, and the master controller provides the speed signal for each power wheel to the drive control Device, each power wheel travel speed that the speed signal instruction causes the merchandising machine people to advance along the route planned, institute Stating each driving device of drive control device control makes each power wheel advance with corresponding travel speed.

22. merchandising machine people according to claim 21, which is characterized in that 2 power wheels are to control the logistics The direction controlling power wheel of the direction of travel of robot, 2 direction controlling power wheels are abreast mounted on described removable The two sides of pedestal.

23. merchandising machine people according to claim 17, which is characterized in that the merchandising machine people further includes illumination dress It sets, the lighting device is coupled to the master controller and is selectively enabled and disabled by the master controller.

24. merchandising machine people according to claim 17, which is characterized in that the merchandising machine people further include: from described At least one pillar that movable pedestal upwardly extends；It is mounted on the movable pedestal with by least one described pillar The control panel of side.

25. merchandising machine people according to claim 24, which is characterized in that be equipped with emergency stop switch on the control panel For in case of emergency braking the merchandising machine people, the master controller is coupled to the emergency stop switch, and the emergency stop is opened Pass is activated the triggering master controller and brakes the movable pedestal, and braking the movable pedestal causes to brake the logistics Robot.

26. merchandising machine people according to claim 24, which is characterized in that the merchandising machine people further includes positioned at described Above movable pedestal, the additional pallet that is spaced apart with the movable pedestal, the additional pallet is for bearing goods.

27. merchandising machine people according to claim 26, which is characterized in that the additional pallet by it is described at least one Pillar is installed to the merchandising machine people.

28. merchandising machine people according to claim 26, which is characterized in that the merchandising machine people further include from it is described can At least one arm brace that mobile base upwardly extends, the arm brace are used for by reserving on the movable pedestal Mounting hole is installed to the movable pedestal, and the additional pallet pass through at least one described pillar and it is described at least one Arm brace is installed to the merchandising machine people.

29. merchandising machine people according to claim 20, which is characterized in that the obstacle avoidance sensor device includes being arranged in Multiple ultrasonic sensors of each side of the movable pedestal.

30. merchandising machine people according to claim 29, which is characterized in that each side arrangement of the movable pedestal There are two ultrasonic sensors.

31. merchandising machine people according to claim 18, which is characterized in that the laser radar is mounted on described removable The front and/or rear and/or side of pedestal.

32. merchandising machine people according to claim 31, which is characterized in that the laser radar be mounted on be set to it is described In the front and/or rear of movable pedestal and/or the groove of side.

33. a kind of merchandising machine people, which is characterized in that the merchandising machine people includes:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described that target is followed to have Associated identification feature；

First information acquisition device, it is described for acquiring the image information and depth information of existing object in its coverage area Image information includes characteristics of image corresponding with the identification feature, and the depth information includes the range information of the object；

Second information collecting device exists at least one region for acquiring the logistics place where the merchandising machine people Object location information, the location information of object present at least one described region is for establishing at least one described area The map in domain, at least one described region include all or part of of the whole region in the logistics place；With

Master controller,

The master controller is coupled to the input unit and the first information acquisition device, from the input unit receive with With the identity information of target, described image information and depth information are received from the first information acquisition device, wherein the figure The characteristics of image corresponding and matched to the identification feature for including as information is described for identification to follow object, it is described with it is described Identification feature is corresponding and matched characteristics of image in the position in the information collecting device captured image for described in determining Follow target relative to the direction of the merchandising machine people, the distance for following target that the depth information included identified is believed Breath follows target for following target relative to the distance of the merchandising machine people described in determining, including the direction and distance Location information is used to plan that the merchandising machine people to follow the route that follows for following target, and wherein described image information includes Described image,

The master controller is also coupled to second information collecting device, from second information collecting device receive it is described to The merchandising machine people is navigated to navigation target position from its current location for planning by the map in a few region, the map The navigation routine set, wherein at least one described region includes the current location and the navigation target position,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

34. merchandising machine people according to claim 33, which is characterized in that the first information acquisition device includes: RGBD camera, the RGBD camera are used to acquire the image information and depth information of its existing object within sweep of the eye；With/ Or, monocular camera and laser radar, the monocular camera is used to acquire the image information of its existing object within sweep of the eye, institute Laser radar is stated for acquiring the depth information of its existing object within sweep of the eye.

35. merchandising machine people according to claim 33, which is characterized in that it is described follow target be authorized to use it is described The personnel of merchandising machine people, the associated identification feature includes at least one of: the figure for following target, described Follow target back carry work number, it is described follow target back carry two dimensional code, it is described follow target the face of clothes Color.

36. merchandising machine people according to claim 33, which is characterized in that second information collecting device includes laser Radar, the laser radar are used to acquire object present at least one described region by scanning at least one described region Laser point cloud data, the laser point cloud data indicates the location information of object present at least one described region.

37. merchandising machine people according to claim 36, which is characterized in that second information collecting device further includes list Mesh camera, the monocular camera is used to capture the image of each characteristic element at least one described region, wherein the spy Sign element be arrange in advance or the Object Selection present at least one described region.

38. merchandising machine people according to claim 33, which is characterized in that the merchandising machine people further includes avoidance sensing Device device, the obstacle avoidance sensor device is for detecting barrier and acquiring the information in relation to barrier, wherein the main control Device is coupled to the obstacle avoidance sensor device, obtains the information in relation to barrier from the obstacle avoidance sensor device, wherein described Information in relation to barrier includes the location information and dimension information of the barrier detected.

39. merchandising machine people according to claim 33, which is characterized in that the movable pedestal is provided at least three Wheel, at least two at least three wheel are power wheel, and driving device is equipped in each power wheel for wheel Driving force is provided, drive control device is installed in the movable pedestal, the drive control device is coupled to each driving Device is simultaneously coupled to the master controller, and the master controller provides the speed signal for each power wheel to the drive control Device, each power wheel travel speed that the speed signal instruction causes the merchandising machine people to advance along the route planned, institute Stating each driving device of drive control device control makes each power wheel advance with corresponding travel speed.

40. merchandising machine people according to claim 39, which is characterized in that 2 power wheels are to control the logistics The direction controlling power wheel of the direction of travel of robot, 2 direction controlling power wheels are abreast mounted on described removable The two sides of pedestal.

41. merchandising machine people according to claim 33, which is characterized in that the merchandising machine people further includes illumination dress It sets, the lighting device is coupled to the master controller and is selectively enabled and disabled by the master controller.

42. merchandising machine people according to claim 33, which is characterized in that the merchandising machine people further include: from described At least one pillar that movable pedestal upwardly extends；It is mounted on the movable pedestal with by least one described pillar The control panel of side.

43. merchandising machine people according to claim 42, which is characterized in that be equipped with emergency stop switch on the control panel For in case of emergency braking the merchandising machine people, the master controller is coupled to the emergency stop switch, and the emergency stop is opened Pass is activated the triggering master controller and brakes the movable pedestal, and braking the movable pedestal causes to brake the logistics Robot.

44. merchandising machine people according to claim 42, which is characterized in that the merchandising machine people further includes positioned at described Above movable pedestal, the additional pallet that is spaced apart with the movable pedestal, the additional pallet is for bearing goods.

45. merchandising machine people according to claim 44, which is characterized in that the additional pallet by it is described at least one Pillar is installed to the merchandising machine people.

46. merchandising machine people according to claim 44, which is characterized in that the merchandising machine people further include from it is described can At least one arm brace that mobile base upwardly extends, the arm brace are used for by reserving on the movable pedestal Mounting hole is installed to the movable pedestal, and the additional pallet pass through at least one described pillar and it is described at least one Arm brace is installed to the merchandising machine people.

47. the merchandising machine people according to claim 38, which is characterized in that the obstacle avoidance sensor device includes being arranged in Multiple ultrasonic sensors of each side of the movable pedestal.

48. merchandising machine people according to claim 47, which is characterized in that each side arrangement of the movable pedestal There are two ultrasonic sensors.

49. the merchandising machine people according to claim 34 or 36, which is characterized in that the laser radar be mounted on it is described can The front and/or rear and/or side of mobile base.

50. merchandising machine people according to claim 49, which is characterized in that the laser radar be mounted on be set to it is described In the front and/or rear of movable pedestal and/or the groove of side.

51. a kind of merchandising machine people, which is characterized in that the merchandising machine people includes:

Movable pedestal；

Input unit, for inputting information, the information inputted includes the identity information for following target, described that target is followed to have Associated identification feature；

Information collecting device, for acquiring the image and depth information of existing object in its coverage area, the object includes It is described to follow target；With

Master controller is coupled to the input unit and the information collecting device, follows target from input unit reception Identity information, receive described image and depth information from the information collecting device, wherein described image and depth information point It described Bao Kuo not follow target relative to the directional information and range information of the merchandising machine people, the directional information and distance Information be used to plan the merchandising machine people follow it is described follow target follow route, wherein the directional information corresponds to institute The position in image with the associated matched characteristics of image of identification feature in described image is stated,

Wherein the movable pedestal is for keeping the merchandising machine people mobile.

52. merchandising machine people according to claim 51, which is characterized in that the information collecting device includes: RGBD phase Machine, the RGBD camera are used to acquire the image information and depth information of its existing object within sweep of the eye；And/or monocular Camera and laser radar, the monocular camera are used to acquire the image information of its existing object within sweep of the eye, the laser Radar is used to acquire the depth information of its existing object within sweep of the eye.

53. merchandising machine people according to claim 51, which is characterized in that it is described follow target be authorized to use it is described The personnel of merchandising machine people, the associated identification feature includes at least one of: the figure for following target, described Follow target back carry work number, it is described follow target back carry two dimensional code, it is described follow target the face of clothes Color.

54. merchandising machine people according to claim 51, which is characterized in that the merchandising machine people further includes avoidance sensing Device device, the obstacle avoidance sensor device is for detecting barrier and acquiring the information in relation to barrier, wherein the main control Device is coupled to the obstacle avoidance sensor device, obtains the information in relation to barrier from the obstacle avoidance sensor device, wherein described Information in relation to barrier includes the location information and dimension information of the barrier detected.

55. merchandising machine people according to claim 51, which is characterized in that the movable pedestal is provided at least three Wheel, at least two at least three wheel are power wheel, and driving device is equipped in each power wheel for wheel Driving force is provided, drive control device is installed in the movable pedestal, the drive control device is coupled to each driving Device is simultaneously coupled to the master controller, and the master controller provides the speed signal for each power wheel to the drive control Device, each power wheel travel speed that the speed signal instruction causes the merchandising machine people to advance along the route planned, institute Stating each driving device of drive control device control makes each power wheel advance with corresponding travel speed.

56. merchandising machine people according to claim 55, which is characterized in that 2 power wheels are to control the logistics The direction controlling power wheel of the direction of travel of robot, 2 direction controlling power wheels are abreast mounted on described removable The two sides of pedestal.

57. merchandising machine people according to claim 51, which is characterized in that the merchandising machine people further includes illumination dress It sets, the lighting device is coupled to the master controller and is selectively enabled and disabled by the master controller.

58. merchandising machine people according to claim 51, which is characterized in that the merchandising machine people further include: from described At least one pillar that movable pedestal upwardly extends；It is mounted on the movable pedestal with by least one described pillar The control panel of side.

59. merchandising machine people according to claim 58, which is characterized in that be equipped with emergency stop switch on the control panel For in case of emergency braking the merchandising machine people, the master controller is coupled to the emergency stop switch, and the emergency stop is opened Pass is activated the triggering master controller and brakes the movable pedestal, and braking the movable pedestal causes to brake the logistics Robot.

60. merchandising machine people according to claim 58, which is characterized in that the merchandising machine people further includes positioned at described Above movable pedestal, the additional pallet that is spaced apart with the movable pedestal, the additional pallet is for bearing goods.

61. merchandising machine people according to claim 60, which is characterized in that the additional pallet by it is described at least one Pillar is installed to the merchandising machine people.

62. merchandising machine people according to claim 60, which is characterized in that the merchandising machine people further include from it is described can At least one arm brace that mobile base upwardly extends, the arm brace are used for by reserving on the movable pedestal Mounting hole is installed to the movable pedestal, and the additional pallet pass through at least one described pillar and it is described at least one Arm brace is installed to the merchandising machine people.

63. merchandising machine people according to claim 54, which is characterized in that the obstacle avoidance sensor device includes being arranged in Multiple ultrasonic sensors of each side of the movable pedestal.

64. merchandising machine people according to claim 63, which is characterized in that each side arrangement of the movable pedestal There are two ultrasonic sensors.

65. merchandising machine people according to claim 52, which is characterized in that the laser radar is mounted on described removable The front and/or rear and/or side of pedestal.

66. merchandising machine people according to claim 65, which is characterized in that the laser radar be mounted on be set to it is described In the front and/or rear of movable pedestal and/or the groove of side.