WO2021121069A1 - Delivery robot and control method, apparatus and system therefor, and storage medium - Google Patents
Delivery robot and control method, apparatus and system therefor, and storage medium Download PDFInfo
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- WO2021121069A1 WO2021121069A1 PCT/CN2020/134384 CN2020134384W WO2021121069A1 WO 2021121069 A1 WO2021121069 A1 WO 2021121069A1 CN 2020134384 W CN2020134384 W CN 2020134384W WO 2021121069 A1 WO2021121069 A1 WO 2021121069A1
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- robot
- chassis
- box
- delivery
- distribution
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 226
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000003032 molecular docking Methods 0.000 claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims description 44
- 230000032258 transport Effects 0.000 claims description 39
- 238000013439 planning Methods 0.000 claims description 21
- 238000007726 management method Methods 0.000 claims description 18
- 230000003068 static effect Effects 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000004904 shortening Methods 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 28
- 238000002604 ultrasonography Methods 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 6
- 230000008447 perception Effects 0.000 description 6
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- 230000008439 repair process Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Definitions
- the present disclosure relates to the field of intelligent distribution, in particular to a distribution robot and its control method, device and system, and storage medium.
- a robot chassis is provided, wherein the robot chassis is used to receive delivery task information issued by a dispatch center, wherein the delivery task information includes a delivery task starting point and a delivery task ending point; autonomously moving to the delivery task Starting point, docking with the corresponding robot box; transporting the corresponding robot box to the end of the distribution task, and separating it from the corresponding robot box.
- the robot chassis further includes a jacking platform, wherein:
- the jacking platform is set on the top of the robot chassis
- the jacking platform is used to lift the robot box when the robot chassis is mounted on the robot chassis, and the robot box is lifted by the jacking system; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform is lowered so that The robot chassis and the robot box are separated.
- the robot chassis further includes a robot controller, wherein:
- the robot controller is used to receive the distribution task information issued by the dispatch center.
- the distribution task information includes the starting point and the ending point of the distribution task; controlling the robot chassis to move to the starting point of the distribution task and docking with the corresponding robot box; controlling the robot chassis
- the corresponding robot box is transported to the end of the distribution task and separated from the corresponding robot box.
- the robot chassis further includes a plurality of environmental sensors, among which:
- Environmental sensors are used to identify the robot box when the robot chassis moves to the starting point of the distribution task, and send the identification information of the robot box to the robot controller;
- the robot controller is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box, and then control the robot chassis to dock with the corresponding robot box.
- the robot chassis further includes a prompt device, wherein:
- Environmental sensors are used to monitor environmental information in real time during the movement of the robot chassis and send the monitoring information to the robot controller;
- the robot controller is used to judge whether the robot chassis is blocked in real time based on the environment information, and when the robot movement is blocked, determine whether the obstacle is a dynamic obstacle or a static obstacle according to the environmental information;
- the prompting device is used to prompt the dynamic obstacle to leave when the robot controller determines that the obstacle is a dynamic obstacle, and to prompt the dynamic obstacle to leave according to the instructions of the robot controller; and to display the status information of the robot chassis in real time.
- the robot controller is also used to perform local path planning to autonomously avoid the obstacle when the obstacle is a static obstacle; when the prompt of the prompt device is valid, control the robot chassis Continue to run; when the prompt of the prompt device is invalid, perform local path planning to avoid obstacles autonomously.
- the robot chassis further includes an anti-collision module, wherein:
- Anti-collision modules are arranged on the front and rear sides of the robot chassis;
- the anti-collision module is used for collision detection and emergency braking when the robot collides with other objects during operation.
- a delivery robot including a robot box and the robot chassis according to any of the above embodiments.
- the robot box includes at least one of a display screen, an emergency stop button, a manual pusher, a status indicator, a door with a lock, and an ultrasound module.
- a dispatch center including:
- the distribution data receiving module is used to receive the distribution task data uploaded by the distribution management system
- the distribution information sending module is used to send the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task according to the distribution task information.
- the robot chassis docks with the corresponding robot box, and the robot chassis transports the corresponding robot box to The end of the delivery task is separated from the corresponding robot box, where the delivery task information includes the start of the delivery task and the end of the delivery task.
- a dispatch center including:
- Dispatching center memory used to store instructions
- the dispatch center processor is used to execute the instructions so that the dispatch center performs the following operations: receiving the distribution task data uploaded by the distribution management system; sending the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task, and the robot The chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box.
- the delivery task information includes the starting point of the delivery task and the end of the delivery task.
- a delivery robot control system including the robot chassis according to any one of the above embodiments, and the dispatch center according to any one of the above embodiments.
- the delivery robot control system further includes:
- the distribution management system is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information.
- the distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; the newly created distribution task data is uploaded to the dispatch center.
- a method for controlling a delivery robot including:
- Control the robot chassis to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate it from the corresponding robot box.
- the docking of the robot chassis with the corresponding robot box includes: controlling the jacking system of the robot chassis to drive the jacking platform to rise to jack up the robot box.
- the delivery robot control method further includes: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis loading the robot box; and loading the robot box on the robot chassis to arrive After the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box.
- the lifting system for controlling the robot chassis drives the lifting platform to lift, and lifting the robot box includes:
- the control jacking platform cooperates with the distribution robot box, and after the jacking platform is raised to a predetermined position, the box wheels are suspended.
- the delivery robot control method further includes:
- the robot box is identified through environmental sensors
- the robot box According to the identification information of the robot box, adjust the position of the robot chassis to match the position of the robot box, and then perform the steps of docking the robot chassis with the corresponding robot box.
- the delivery robot control method further includes:
- the obstacle is determined as a dynamic obstacle or a static obstacle according to the information of the environmental sensor;
- the local path planning is performed to avoid the obstacle autonomously.
- the delivery robot control method further includes:
- the prompt device is activated to prompt the dynamic obstacle to leave;
- the delivery robot control method further includes:
- the anti-collision module When the robot collides with other objects during operation, the anti-collision module is controlled to perform collision detection and emergency braking.
- the anti-collision module is arranged on the front and rear sides of the robot chassis.
- a method for controlling a delivery robot including:
- the distribution task information includes the starting point of the distribution task and the ending point of the distribution task.
- the sending the delivery task information to the robot chassis includes:
- a computer-readable storage medium stores computer instructions, which when executed by a processor, implement the delivery robot control method as described in any of the above embodiments .
- Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure.
- Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure.
- Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.
- Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure.
- Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure.
- Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure.
- Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure.
- Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller.
- FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure.
- Figure 9 is a schematic diagram of other embodiments of the disclosed delivery robot control method
- Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure.
- Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure.
- FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure.
- FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure.
- the robot reaches the destination of the transportation, if the transportation task cannot be completed in time (for example, the customer does not pick up the goods in time, etc.), the robot needs to wait for the task to end before proceeding to the next step. Operation, this process greatly wastes robot resources, the utilization rate of the robot is low, and the transportation efficiency is low.
- the inventor also discovered through research that the related technology robot adopts a single forward positioning navigation and obstacle avoidance method, and the robot's environmental perception range is small. When an obstacle approaches the robot, the robot cannot perform flexible and autonomous obstacle avoidance and promptly remind dynamic obstacles. .
- the present disclosure provides a distribution robot and its control method, device and system, and storage medium, which improve the transportation efficiency of the robot and the utilization rate of the chassis.
- the present disclosure will be described below through specific embodiments.
- Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure.
- Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure.
- Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.
- the delivery robot of the present disclosure can be formed by combining the robot box 200 of the embodiment of Fig. 2 and the robot chassis 100 of the embodiment of Fig. 3, wherein:
- the robot chassis 100 is used to receive the distribution task information issued by the dispatch center; move to the starting point of the distribution task, and dock with the corresponding robot box 200; follow the distribution task path to transport the corresponding robot box 200 to the end of the distribution task, and the corresponding robot
- the box 200 is separated to complete the delivery of the robot box.
- the delivery task information may include a delivery task starting point, a delivery task destination, and a delivery task path, where the delivery task path is planned by the dispatch center based on the delivery task data (delivery task starting point and delivery task destination) And issued to the robot chassis.
- the delivery task information may include a delivery task starting point and a delivery task ending point, and the robot chassis autonomously plans the delivery task path according to the delivery task starting point and the delivery task ending point.
- the delivery robot of the present disclosure may be implemented as an indoor transportation robot.
- the multi-purpose indoor transportation robot can replace manual transportation of various materials and consumables.
- the disclosed multi-purpose indoor transportation robot can be applied to hospitals, nursing homes, office buildings, hotels and other types of indoor places, supporting various scenarios such as meals, bedding, medical supplies, express delivery, etc., thereby reducing employment costs, optimizing delivery efficiency, and improving The delivery experience.
- the delivery robot provided by the above-mentioned embodiments of the present disclosure may include a robot chassis and a robot box.
- the above-mentioned embodiments of the present disclosure adopt a detachable/carrying robot design scheme.
- the robot chassis can be moved to the starting point of the delivery task by controlling the robot chassis to move the robot chassis. Docking with the corresponding robot box, and transporting the corresponding robot box to the end of the delivery task according to the delivery task path, and separating it from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot
- the transportation efficiency and chassis utilization rate shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.
- Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure.
- the robot box of the present disclosure may include a display screen 201, an emergency stop button 202, a manual pusher 203, a status indicator light 204, and a door with a lock.
- At least one of 205 and ultrasound module 206 wherein:
- the display screen 201 is used to display the motion and parameter status of the robot box.
- the emergency stop button 202 is used for being manually pressed in the case of an accident in the box (a child suddenly appears, etc.) to stop the robot box from moving.
- the lockable warehouse door 205 is used to close and lock the cargo after the packing is completed by the staff to keep the cargo in the box safe.
- the status indicator 204 is used to always display the cabinet status (pause, stop, normal operation, etc.) during operation.
- the robot box of the present disclosure is provided with an ultrasonic module 206 including eight ultrasonic sensors.
- the ultrasound module 206 is used to detect environmental information.
- the loaded robot chassis after docking with the robot chassis, can be separated from the corresponding robot box after reaching the end of the delivery task, and the idle robot chassis can continue to transport other robot boxes. This improves the efficiency of robot delivery and the utilization rate of the chassis, shortens the delivery time of multiple goods or multiple destinations, and improves the user experience.
- Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure.
- the robot chassis of the present disclosure may include, for example, a robot controller 120, wherein:
- the robot controller 120 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task and the path of the distribution task; controlling the robot chassis to move to the starting point of the distribution task, and connecting the robot chassis with the corresponding robot The boxes are docked; the robot chassis is controlled to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate from the corresponding robot box.
- Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure.
- the robot chassis of the present disclosure may also include a jacking platform 101, wherein:
- the jacking platform 101 is set on the top of the robot chassis.
- the jacking platform 101 is used to lift the robot box when the robot chassis is mounted on the robot chassis by the jacking system to lift the robot box; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform 101 The descent separates the robot chassis from the robot box.
- the robot box may also include box wheels, where:
- the jacking platform 101 is used to cooperate with the box of the delivery robot. After the jacking platform 101 rises to a predetermined position, the wheels of the box are suspended.
- the robot chassis may further include a plurality of environmental sensors 130, among which:
- the environment sensor 130 is used to identify the robot box when the robot chassis moves to the starting point of the delivery task.
- the robot controller 120 is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box.
- the environmental sensor 130 can also be used to monitor environmental information in real time and determine whether the robot chassis is blocked in real time during the movement of the robot chassis; the robot controller can also be used to prevent the robot from moving. According to the information of environmental sensors, it is determined that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.
- the environmental sensor 130 in the embodiment of FIG. 5a may include two depth cameras installed at the positions of diagonal lidars 107 and 110, and five rear ultrasound modules 104 and five.
- the depth cameras installed at the positions of the two diagonal lidars 107 and 110, five rear ultrasound modules 104, five front ultrasound modules 111, and two side ultrasound modules 115 are used for omnidirectional real-time monitoring of environmental information .
- the robot chassis may further include a prompting device 140, wherein:
- the robot controller 120 is used when the obstacle is a dynamic obstacle, and the prompt device 140 is activated to prompt the dynamic obstacle to leave; if the prompt is valid, the robot chassis continues to run; if the prompt is invalid, the local path planning is performed to avoid the obstacle autonomously Things.
- the prompting device 140 in the embodiment of FIG. 5a may include an indicator light 103, two side indicator lights 108, a front indicator light at 110 positions, a speaker 112, and a status display screen 113. ,among them:
- the front indicator light at the 110 position, the indicator light 103 and the two side indicator lights 108 can also be used to indicate the robot running status.
- the speaker 112 can also be used to broadcast system voice prompts and real-time voice prompts.
- the status display screen 113 can also be used to display the status of the robot chassis (for example, power, transportation tasks, etc.).
- the robot chassis may further include an anti-collision module 150, wherein:
- the anti-collision module 150 is arranged on the front and rear sides of the robot chassis; the anti-collision module may include a rear anti-collision module 106 and a front anti-collision module 114.
- the rear anti-collision module 106 and the front anti-collision module 114 are used for collision detection and emergency braking when the robot collides with other objects during operation.
- the robot chassis may further include an electromagnetic lock 102, a charging electrode 105, an emergency stop button 109, and a start switch 116, among which:
- the start switch 116 is used to complete the start and stop actions on the robot chassis.
- the function of the electromagnetic lock 102 and the emergency stop button 109 is that the lifting platform 101 of the chassis is lifted by the lifting system during the working process of the robot chassis carrying the box body to lift the distribution robot box, and the lifting platform 101 and the distribution robot The box body cooperates to reach the predetermined position, the box body wheel is suspended, and the electromagnetic lock 102 is locked.
- the display screen 201 of the robot box body 200 displays the box body status. An unexpected situation occurred during transportation (skidding, sudden appearance of children, etc.)
- the emergency stop button 109 can be manually pressed.
- the robot controller 120 is used for autonomously navigating the robot chassis to the nearest charging pile electrode when the chassis power information is lower than a predetermined value; through environmental sensor observation, the charging electrode of the robot chassis is aligned with the charging pile electrode. Charging the robot chassis.
- the charging electrode 105 is used for charging the charging electrode 105 and the charging pile electrode in the charging process of the robot chassis.
- the robot chassis Based on the robot chassis provided by the above embodiments of the present disclosure, it can move to the starting point of the delivery task, dock with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box.
- the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- the above-mentioned embodiments of the present disclosure provide an omnidirectional environment perception system, which adopts environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure. Preferably, this embodiment can be executed by the robot controller of the present disclosure. The method includes the following steps:
- Step 61 The robot controller receives the distribution task information issued by the dispatch center.
- the delivery task information may include a delivery task starting point, a delivery task destination, and a delivery task path, where the delivery task path is planned by the dispatch center based on the delivery task data (delivery task starting point and delivery task destination) And issued to the robot chassis.
- the delivery task information may include a delivery task starting point and a delivery task ending point, and the robot chassis autonomously plans the delivery task path according to the delivery task starting point and the delivery task ending point.
- Step 62 The robot controller controls the robot chassis to move to the starting point of the distribution task, and docks the robot chassis with the corresponding robot box.
- the step of docking the robot chassis with the corresponding robot box may include: controlling the jacking system of the robot chassis to drive the jacking platform 101 to rise, and to top the robot box. Up.
- Step 63 The robot controller controls the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box.
- the delivery robot control method may further include: controlling the jacking platform 101 to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After the body reaches the end of the distribution task, the lifting platform 101 is controlled to descend so that the robot chassis and the robot box are separated.
- the lifting system for controlling the robot chassis drives the lifting platform 101 to rise
- the step of lifting the robot box may include: controlling the lifting platform 101 to cooperate with the delivery robot box, and After the jacking platform 101 rises to a predetermined position, the box wheels are suspended.
- the delivery robot control method may further include: when the robot chassis moves to the starting point of the delivery task, identifying the robot box through environmental sensors; adjusting the robot according to the identification information of the robot box The position of the chassis is consistent with the position of the robot box, and then the step of docking the robot chassis with the corresponding robot box is performed.
- the delivery robot control method may further include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is obstructed; in the case where the robot movement is obstructed, according to The information of the environmental sensor determines that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, local path planning is performed to avoid the obstacle autonomously.
- the delivery robot control method may further include: when the obstacle is a dynamic obstacle, starting a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis to continue running; If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
- the delivery robot control method may further include: when the robot collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking, wherein the anti-collision mode
- the groups are set on the front and back sides of the robot chassis.
- the robot chassis can be controlled to move to the starting point of the distribution task, the robot chassis can be docked with the corresponding robot box, and the corresponding robot box can be transported to the end of the distribution task according to the distribution task path. , Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- the above-mentioned embodiments of the present disclosure provide an omnidirectional environment perception system, which adopts environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller.
- the robot controller of the present disclosure may include a delivery information receiving module 121, a box docking control module 122, and a box transportation control module 123, wherein:
- the delivery information receiving module 121 is configured to receive delivery task information issued by the dispatch center, where the delivery task information includes a delivery task starting point and a delivery task ending point.
- the box docking control module 122 is used to control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box.
- the box transport control module 123 is used to control the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the corresponding robot box from the corresponding robot box.
- the robot controller is used to perform operations for implementing the delivery robot control method described in any of the above embodiments (for example, the embodiment of FIG. 6).
- the robot chassis can be controlled to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path. Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure.
- the robot controller of the present disclosure may include a robot memory 128 and a robot processor 129, wherein:
- the robot memory 128 is used to store instructions.
- the robot processor 129 is configured to execute the instructions, so that the robot controller executes operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 6).
- the robot controller of the above-mentioned embodiment of the present disclosure can control the omni-directional environment perception system and use environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in real time. , Thereby improving the safety of robot operation.
- FIG. 9 is a schematic diagram of other embodiments of the control method of the delivery robot of the present disclosure.
- this embodiment can be executed by the dispatch center of the present disclosure.
- the method includes the following steps:
- Step 91 The dispatch center receives the distribution task data uploaded by the distribution management system.
- Step 92 The dispatch center sends the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task.
- the robot chassis will be docked with the corresponding robot box.
- the robot chassis will transport the corresponding robot box to the destination of the distribution task according to the delivery task path. Separate from the corresponding robot box, where the distribution task information includes the starting point and the ending point of the distribution task.
- step 92 may include: instructing all robot chassis to perform self-inspection; acquiring the self-inspection information of all robot chassis; determining the optimum based on the self-inspection information, delivery task data, and delivery task information of all robot chassis Robot chassis; send the distribution task information to the optimal robot chassis.
- the delivery robot control method of the present disclosure may further include a dispatch center planning a delivery task path according to the delivery task data.
- the step of the dispatch center planning the delivery task path according to the delivery task data may include: the dispatch center plans the task path according to the delivery task data, calculates the delivery time, the robot turning situation and other information.
- the optimal robot chassis can be determined according to the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information is sent to the optimal robot chassis for the robot chassis Move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate from the corresponding robot box, so that the idle robot chassis can continue to be transported
- Other robot boxes improve the efficiency of robot transportation and chassis utilization, shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.
- Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure.
- the dispatch center of the present disclosure may include a distribution data receiving module 310 and a distribution information sending module 330, where:
- the delivery data receiving module 310 is used to receive delivery task data uploaded by the delivery management system.
- the distribution information sending module 330 is used to send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task, the robot chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the distribution according to the delivery task path
- the task destination is separated from the corresponding robot box, where the delivery task information includes the delivery task starting point and the delivery task ending point.
- the dispatch center of the present disclosure may further include a distribution route planning module 320, wherein:
- the distribution path planning module 320 is used to plan the distribution task path according to the distribution task data.
- the delivery task information issued by the delivery information sending module 330 may also include the delivery task path.
- the delivery route planning module 320 may be used to plan task routes, calculate delivery time, robot turning conditions, and other information according to the delivery task data.
- the dispatch center is used to perform operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).
- Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure.
- the robot controller of the present disclosure may include a dispatch center memory 380 and a dispatch center processor 390, where:
- the dispatch center memory 380 is used to store instructions.
- the dispatch center processor 390 is configured to execute the instructions, so that the dispatch center executes operations that implement the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).
- the intelligent distribution scheduling scheme can be used to determine the optimal robot chassis based on the self-inspection information, distribution task data, and distribution task information of all robot chassis; send the distribution task information to the optimal robot chassis , So that the robot chassis moves to the starting point of the delivery task, docks the robot chassis with the corresponding robot box, and transports the corresponding robot box to the end of the delivery task according to the delivery task path, and separates from the corresponding robot box, so that the idle robot
- the chassis can continue to transport other robot boxes, thereby improving the efficiency of robot transportation and the utilization rate of the chassis, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure.
- the robot controller of the present disclosure may include a robot chassis 100 and a dispatch center 300, where:
- the dispatch center 300 is used to receive the distribution task data uploaded by the distribution management system; and send the distribution task information to the robot chassis 100.
- the dispatch center 300 may be a dispatch center as described in any of the foregoing embodiments (for example, the embodiment of FIG. 11 or FIG. 12).
- the robot chassis 100 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task and the ending point of the distribution task; moving to the starting point of the distribution task, docking the robot chassis with the corresponding robot box; according to the distribution task
- the path transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box.
- the robot chassis 100 may be the robot chassis as described in any of the above-mentioned embodiments (for example, the embodiment of FIG. 1, FIG. 3, FIG. 5a, or FIG. 5b).
- the dispatch center 300 can also be used to transport the robot box to the end of the delivery task on the robot chassis, and after the user picks up the goods manually, if the user terminal or the robot box sends the pickup completed Message, instructs the idle robot chassis 100 to transport the robot box back to the designated starting point of the delivery task, and load the new delivery task.
- the delivery robot control system may further include a delivery management system 400, wherein:
- the distribution management system 400 is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information.
- the distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; uploading the newly created distribution task data to the dispatch center.
- the distribution management system 400 may be used to send the new distribution task to the dispatch center 300 after generating a new distribution task.
- the delivery management system 400 may include a human-computer interaction interface.
- the human-computer interaction interface can display the task list, floor information, delivery task information, robot management information and other information to the user.
- the human-computer interaction interface can also display information such as the overview of today's tasks, the number of deliveries, the number of robots at work, the number of delivery tasks, historical task information, average delivery time, abnormal alarms, and abnormal robots to the user.
- its dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis.
- the above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure.
- this embodiment can be executed by the delivery robot control system of the present disclosure.
- the method includes the following steps:
- Step 1301 The user selects the starting point of the distribution task, the ending point of the distribution task, the type of the distribution task, etc. through the distribution management system to establish distribution task data.
- Step 1302 The distribution management system uploads the newly-created distribution task data to the dispatch center, and the dispatch center plans the task path, calculates the delivery time, the robot turning situation and other information according to the distribution task data.
- Step 1303 All robot chassis start self-checking, and report the self-checking information to the dispatch center for analysis.
- Step 1304 The dispatch center judges whether the robot chassis is available according to the self-check information of the robot chassis. If the robot chassis is available, step 1307 is executed; if the robot chassis is available, step 1305 is executed.
- the chassis self-check information may include information such as the position of the chassis and the power level of the chassis.
- Step 1305 Instruct the robot chassis to repair itself (such as in the case of charging or environmental obstacle avoidance); determine whether the robot chassis repairs successfully. If the robot chassis is repaired successfully by itself, return to step 1303 to continue the robot chassis self-check; if the robot chassis fails to repair itself, go to step 1306.
- the step of repairing the robot chassis by itself may include: when the power information of the chassis is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; observes through environmental sensors, Realize the charging electrode of the robot chassis and the charging pile electrode to pile, and charge the robot chassis.
- the step of repairing the robot chassis by itself may include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is blocked; in the case where the robot's movement is blocked , Determine whether the obstacle is a dynamic obstacle or a static obstacle according to the information of the environmental sensor; when the obstacle is a static obstacle, perform local path planning to avoid the obstacle autonomously.
- the step of repairing the robot chassis by itself may further include: when the obstacle is a dynamic obstacle, activating a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis Continue to run; if the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
- the step of the robot chassis performing self-repair may further include: when the robot chassis collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking.
- Step 1306 The robot chassis uploads the self-repairing result or the self-adjusting result to the dispatch center; the dispatching center integrates the self-repairing result or the autonomous adjustment result and gives manual processing suggestions.
- Step 1307 The dispatch center collects all the robot chassis self-inspection information and distribution task data for calculation, and selects the optimal robot chassis.
- Step 1308 The dispatch center delivers the distribution task information to the optimal robot chassis selected in step 1307, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task, and the path of the distribution task.
- Step 1309 The optimal robot chassis receives the delivery task information and starts the working mode.
- Step 1310 The optimal robot chassis autonomously navigates and moves to the starting point of the delivery task according to the delivery task information.
- Step 1311 The optimal robot chassis recognizes the task robot box through multiple environmental sensors, and adjusts the position to match the position of the robot box.
- Step 1312 The optimal robot chassis is docked with the task robot box, and the jacking structure lifts the task robot box.
- step 1312 may include: controlling the jacking platform to cooperate with the distribution task robot box, and after the jacking platform is raised to a predetermined position, the task robot box wheel is suspended.
- step 1313 After the robot chassis jacks up the task robot box, it is transported according to the delivery task path, and step 1314 and step 1316 are performed at the same time.
- the delivery robot control method may further include: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After reaching the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box.
- the delivery robot control method may further include: when the delivery robot collides with other objects during the operation of the robot chassis, controlling the anti-collision module to perform collision detection and emergency braking.
- the delivery robot control method may further include: during the operation of the robot chassis and the chassis power information is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; Environmental sensor observation realizes that the charging electrode of the robot chassis and the electrode of the charging pile are paired to the pile, and the robot chassis is charged.
- Step 1314 During the movement of the optimal robot chassis, multiple environmental sensors monitor the environmental information in real time and judge whether it is blocked in real time. If the robot chassis is not blocked, go to step 1316; if the robot chassis is blocked, go to step 1315.
- Step 1315 When the motion of the optimal robot chassis is blocked, perform the autonomous adjustment of the optimal robot chassis motion path; determine whether the autonomous adjustment of the optimal robot chassis motion path is successful. If the autonomous adjustment is successful, return to step 1313 and continue to transport the robot box; if the autonomous adjustment fails, then go to step 1306.
- the step of performing autonomous adjustment of the movement path of the robot chassis may include: determining whether the obstacle is a dynamic obstacle or a static obstacle according to the information of multiple environmental sensors; In the case of static obstacles, perform local path planning to avoid obstacles autonomously; if the obstacles are dynamic obstacles, the robot chassis activates the voice prompt + prompt light prompt mode. If the prompt is valid, the robot chassis performs step 1313 to continue the transportation task The robot box, if the prompt is invalid, the robot chassis performs local path planning to avoid obstacles autonomously.
- Step 1316 Determine whether the optimal robot chassis has reached the end of the delivery task. If the robot chassis reaches the end of the delivery task, go to step 1317; if the robot chassis does not reach the end of the delivery task, return to step 1313 to continue to transport the task robot box.
- Step 1317 The optimal robot chassis distribution task The robot box arrives at the end of the distribution task and waits for manual pick-up. After the manual pick-up, the distribution task is completed.
- the robot chassis after the robot chassis has transported the robot box to the end of the delivery task, the robot chassis is in idle state, and other robot boxes can continue to be transported according to the scheduling of the dispatch center.
- the delivery robot control method may further include: after the robot chassis transports the robot box to the end of the delivery task, and the user picks up the goods manually, the user terminal or the robot box sends the delivery to the dispatch center. Complete the message; the dispatch center instructs the idle robot chassis to transport the robot box back to the designated starting point of the distribution task, and load the new distribution task.
- the dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis.
- the above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- the above-mentioned embodiments of the present disclosure can control the omni-directional environment perception system and adopt environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- a computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, they can implement any of the above-mentioned embodiments (for example, FIGS. 6 and 9). Or the delivery robot control method described in the embodiment of FIG. 13).
- the optimal robot chassis can be determined based on the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information can be sent to the optimal robot chassis.
- the above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
- the above-mentioned embodiments of the present disclosure can control the omni-directional environment perception system and adopt environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
- the robot controller and dispatch center described above can be implemented as general-purpose processors, programmable logic controllers (PLC), digital signal processors (DSP), and application-specific integrated circuits (ASIC) for performing the functions described in this application , Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or any appropriate combination thereof.
- PLC programmable logic controllers
- DSP digital signal processors
- ASIC application-specific integrated circuits
- FPGA Field Programmable Gate Array
- FPGA Field Programmable Gate Array
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Abstract
A delivery robot and a control method, apparatus and system therefor, and a storage medium. The control method for the delivery robot comprises: receiving delivery task information issued by a scheduling center (300), wherein the delivery task information comprises a delivery task start point and a delivery task end point; controlling a robot chassis (100) to move to the delivery task start point, and docking the robot chassis (100) with a corresponding robot cabinet body (200); and controlling the robot chassis (100) to deliver the corresponding robot cabinet body (200) to the delivery task end point according to a delivery task path, so as to be separated from the corresponding robot cabinet body (200). The delivery robot adopts a detachable/mountable robot design scheme, thereby improving the robot delivery efficiency and the usage rate of the chassis (100), shortening the multi-cargo or multi-end-point delivery time, and improving the user experience.
Description
相关申请的交叉引用Cross-references to related applications
本申请是以CN申请号为201911308549.6,申请日为2019年12月18日的申请为基础,并主张其优先权,该CN申请的公开内容在此作为整体引入本申请中。This application is based on the application with the CN application number 201911308549.6 and the filing date of December 18, 2019, and claims its priority. The disclosure of the CN application is hereby incorporated into this application as a whole.
本公开涉及智能配送领域,特别涉及一种配送机器人及其控制方法、装置和***、存储介质。The present disclosure relates to the field of intelligent distribution, in particular to a distribution robot and its control method, device and system, and storage medium.
随着信息化、数字化与智能化时代的到来,人工智能设备已经逐步进入人们的日常生活并受到人们的广泛关注。其中,人工智能设备的示范性应用案例——机器人成为了人们生活中常见的智能设备。现有的运送服务机器人以一体运送形式为主,一车一箱,用户通过向一体机器人的箱体中投放货物,机器人按用户任务的目的地进行运送,此过程大大减少了人力成本,并且提升了用户的运送体验。With the advent of informatization, digitization and intelligence, artificial intelligence devices have gradually entered people's daily lives and have received widespread attention. Among them, a demonstration application case of artificial intelligence equipment-robots have become common smart devices in people's lives. The existing transportation service robots are mainly in the form of integrated transportation, one car and one box. The user puts goods into the box of the integrated robot, and the robot delivers the goods according to the destination of the user’s task. This process greatly reduces labor costs and improves Improve the user’s shipping experience.
发明内容Summary of the invention
根据本公开的另一方面,提供一种机器人底盘,其中,机器人底盘,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;自主移动到配送任务起点,与相应机器人箱体进行对接;将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。According to another aspect of the present disclosure, a robot chassis is provided, wherein the robot chassis is used to receive delivery task information issued by a dispatch center, wherein the delivery task information includes a delivery task starting point and a delivery task ending point; autonomously moving to the delivery task Starting point, docking with the corresponding robot box; transporting the corresponding robot box to the end of the distribution task, and separating it from the corresponding robot box.
在本公开的一些实施例中,所述机器人底盘还包括顶升平台,其中:In some embodiments of the present disclosure, the robot chassis further includes a jacking platform, wherein:
顶升平台,设置在机器人底盘顶部;The jacking platform is set on the top of the robot chassis;
顶升平台,用于在机器人底盘搭载机器人箱体工作过程中,由顶升***带动升起,将机器人箱体顶起;在机器人底盘搭载机器人箱体到达配送任务终点后,顶升平台下降使得机器人底盘和机器人箱体分离。The jacking platform is used to lift the robot box when the robot chassis is mounted on the robot chassis, and the robot box is lifted by the jacking system; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform is lowered so that The robot chassis and the robot box are separated.
在本公开的一些实施例中,所述机器人底盘还包括机器人控制器,其中:In some embodiments of the present disclosure, the robot chassis further includes a robot controller, wherein:
机器人控制器,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;控制机器人底盘移动到配送任务起点,与相应机器人箱体进 行对接;控制机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。The robot controller is used to receive the distribution task information issued by the dispatch center. The distribution task information includes the starting point and the ending point of the distribution task; controlling the robot chassis to move to the starting point of the distribution task and docking with the corresponding robot box; controlling the robot chassis The corresponding robot box is transported to the end of the distribution task and separated from the corresponding robot box.
在本公开的一些实施例中,所述机器人底盘还包括多个环境传感器,其中:In some embodiments of the present disclosure, the robot chassis further includes a plurality of environmental sensors, among which:
环境传感器,用于在机器人底盘移动到配送任务起点的情况下,识别机器人箱体,将机器人箱体的识别信息发送给机器人控制器;Environmental sensors are used to identify the robot box when the robot chassis moves to the starting point of the distribution task, and send the identification information of the robot box to the robot controller;
机器人控制器,用于根据机器人箱体的识别信息,调整机器人底盘的位置与机器人箱***置吻合,之后控制机器人底盘与相应机器人箱体进行对接。The robot controller is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box, and then control the robot chassis to dock with the corresponding robot box.
在本公开的一些实施例中,所述机器人底盘还包括提示装置,其中:In some embodiments of the present disclosure, the robot chassis further includes a prompt device, wherein:
环境传感器,用于在机器人底盘移动过程中,实时监控环境信息并将监控信息发送给机器人控制器;Environmental sensors are used to monitor environmental information in real time during the movement of the robot chassis and send the monitoring information to the robot controller;
机器人控制器,用于通过环境信息实时判断机器人底盘是否受阻,在机器人运动受阻的情况下,根据环境信息判定障碍物为动态障碍物或静态障碍物;The robot controller is used to judge whether the robot chassis is blocked in real time based on the environment information, and when the robot movement is blocked, determine whether the obstacle is a dynamic obstacle or a static obstacle according to the environmental information;
提示装置,用于在机器人控制器判断障碍物为动态障碍物的情况下,根据机器人控制器的指示,提示动态障碍物离开;并实时显示机器人底盘状态信息。The prompting device is used to prompt the dynamic obstacle to leave when the robot controller determines that the obstacle is a dynamic obstacle, and to prompt the dynamic obstacle to leave according to the instructions of the robot controller; and to display the status information of the robot chassis in real time.
在本公开的一些实施例中,机器人控制器,还用于在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物;在提示装置的提示有效的情况下,控制机器人底盘继续运行;在提示装置的提示无效的情况下,进行局部路径规划自主避开障碍物。In some embodiments of the present disclosure, the robot controller is also used to perform local path planning to autonomously avoid the obstacle when the obstacle is a static obstacle; when the prompt of the prompt device is valid, control the robot chassis Continue to run; when the prompt of the prompt device is invalid, perform local path planning to avoid obstacles autonomously.
在本公开的一些实施例中,所述机器人底盘还包括防碰撞模组,其中:In some embodiments of the present disclosure, the robot chassis further includes an anti-collision module, wherein:
防碰撞模组设置在机器人底盘的前后两侧;Anti-collision modules are arranged on the front and rear sides of the robot chassis;
防碰撞模组,用于运行过程中机器人与其他物体碰撞的情况下,进行碰撞检测紧急制动。The anti-collision module is used for collision detection and emergency braking when the robot collides with other objects during operation.
根据本公开的另一方面,提供一种配送机器人,包括机器人箱体和如上述任一实施例所述的机器人底盘。According to another aspect of the present disclosure, a delivery robot is provided, including a robot box and the robot chassis according to any of the above embodiments.
在本公开的一些实施例中,机器人箱体包括显示屏幕、急停按钮、人工推手、状态指示灯、带锁仓门和超声模组中的至少一项。In some embodiments of the present disclosure, the robot box includes at least one of a display screen, an emergency stop button, a manual pusher, a status indicator, a door with a lock, and an ultrasound module.
根据本公开的另一方面,提供一种调度中心,包括:According to another aspect of the present disclosure, a dispatch center is provided, including:
配送数据接收模块,用于接收配送管理***上传的配送任务数据;The distribution data receiving module is used to receive the distribution task data uploaded by the distribution management system;
配送信息发送模块,用于将配送任务信息发送给机器人底盘,以便机器人底盘依据所述配送任务信息移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务 信息包括配送任务起点和配送任务终点。The distribution information sending module is used to send the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task according to the distribution task information. The robot chassis docks with the corresponding robot box, and the robot chassis transports the corresponding robot box to The end of the delivery task is separated from the corresponding robot box, where the delivery task information includes the start of the delivery task and the end of the delivery task.
根据本公开的另一方面,提供一种调度中心,包括:According to another aspect of the present disclosure, a dispatch center is provided, including:
调度中心存储器,用于存储指令;Dispatching center memory, used to store instructions;
调度中心处理器,用于执行所述指令,使得所述调度中心执行如下操作:接收配送管理***上传的配送任务数据;将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。The dispatch center processor is used to execute the instructions so that the dispatch center performs the following operations: receiving the distribution task data uploaded by the distribution management system; sending the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task, and the robot The chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box. The delivery task information includes the starting point of the delivery task and the end of the delivery task.
根据本公开的另一方面,提供一种配送机器人控制***,包括如上述任一实施例所述的机器人底盘、和如上述任一实施例所述的调度中心。According to another aspect of the present disclosure, a delivery robot control system is provided, including the robot chassis according to any one of the above embodiments, and the dispatch center according to any one of the above embodiments.
在本公开的一些实施例中,所述配送机器人控制***还包括:In some embodiments of the present disclosure, the delivery robot control system further includes:
配送管理***,用于接收用户输入的配送信息,根据配送信息建立配送任务,其中,配送信息包括配送任务起点、配送任务终点和配送任务类型;将新建的配送任务数据上传给调度中心。The distribution management system is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; the newly created distribution task data is uploaded to the dispatch center.
根据本公开的一个方面,提供一种配送机器人控制方法,包括:According to an aspect of the present disclosure, a method for controlling a delivery robot is provided, including:
接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;Receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task;
控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接;Control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box;
控制机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。Control the robot chassis to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate it from the corresponding robot box.
在本公开的一些实施例中,所述将机器人底盘与相应机器人箱体进行对接包括:控制机器人底盘的顶升***带动顶升平台升起,将机器人箱体顶起。In some embodiments of the present disclosure, the docking of the robot chassis with the corresponding robot box includes: controlling the jacking system of the robot chassis to drive the jacking platform to rise to jack up the robot box.
在本公开的一些实施例中,所述配送机器人控制方法还包括:在机器人底盘搭载机器人箱体工作过程中,控制顶升平台保持机器人箱体的顶起状态;在机器人底盘搭载机器人箱体到达配送任务终点后,控制顶升平台下降使得机器人底盘和机器人箱体分离。In some embodiments of the present disclosure, the delivery robot control method further includes: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis loading the robot box; and loading the robot box on the robot chassis to arrive After the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box.
在本公开的一些实施例中,所述控制机器人底盘的顶升***带动顶升平台升起,将机器人箱体顶起包括:In some embodiments of the present disclosure, the lifting system for controlling the robot chassis drives the lifting platform to lift, and lifting the robot box includes:
控制顶升平台与配送机器人箱体配合,将顶升平台上升达到预定位置后,使得箱体车轮悬空。The control jacking platform cooperates with the distribution robot box, and after the jacking platform is raised to a predetermined position, the box wheels are suspended.
在本公开的一些实施例中,所述配送机器人控制方法还包括:In some embodiments of the present disclosure, the delivery robot control method further includes:
在机器人底盘移动到配送任务起点的情况下,通过环境传感器,识别机器人箱体;When the robot chassis moves to the starting point of the distribution task, the robot box is identified through environmental sensors;
根据机器人箱体的识别信息,调整机器人底盘的位置与机器人箱***置吻合,之后执行将机器人底盘与相应机器人箱体进行对接的步骤。According to the identification information of the robot box, adjust the position of the robot chassis to match the position of the robot box, and then perform the steps of docking the robot chassis with the corresponding robot box.
在本公开的一些实施例中,所述配送机器人控制方法还包括:In some embodiments of the present disclosure, the delivery robot control method further includes:
在机器人底盘移动过程中,通过环境传感器实时监控环境信息并实时判断机器人底盘是否受阻;During the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time judgment of whether the robot chassis is blocked;
在机器人运动受阻的情况下,根据环境传感器的信息判定障碍物为动态障碍物或静态障碍物;In the case that the movement of the robot is blocked, the obstacle is determined as a dynamic obstacle or a static obstacle according to the information of the environmental sensor;
在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物。When the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.
在本公开的一些实施例中,所述配送机器人控制方法还包括:In some embodiments of the present disclosure, the delivery robot control method further includes:
在障碍物为动态障碍物的情况下,启动提示装置提示动态障碍物离开;When the obstacle is a dynamic obstacle, the prompt device is activated to prompt the dynamic obstacle to leave;
如果提示有效,则控制机器人底盘继续运行;If the prompt is valid, control the robot chassis to continue running;
如果提示无效,则执行进行局部路径规划自主避开障碍物的步骤。If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
在本公开的一些实施例中,所述配送机器人控制方法还包括:In some embodiments of the present disclosure, the delivery robot control method further includes:
在运行过程中机器人与其他物体发生碰撞的情况下,控制防碰撞模组进行碰撞检测紧急制动,其中,防碰撞模组设置在机器人底盘的前后两侧。When the robot collides with other objects during operation, the anti-collision module is controlled to perform collision detection and emergency braking. The anti-collision module is arranged on the front and rear sides of the robot chassis.
根据本公开的另一方面,提供一种配送机器人控制方法,包括:According to another aspect of the present disclosure, a method for controlling a delivery robot is provided, including:
接收配送管理***上传的配送任务数据;Receive distribution task data uploaded by the distribution management system;
将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。Send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box. , The distribution task information includes the starting point of the distribution task and the ending point of the distribution task.
在本公开的一些实施例中,所述将配送任务信息发送给机器人底盘包括:In some embodiments of the present disclosure, the sending the delivery task information to the robot chassis includes:
指示所有机器人底盘进行自检;Instruct all robot chassis to perform self-inspection;
获取所有机器人底盘的自检信息;Obtain the self-inspection information of all robot chassis;
根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;Determine the optimal robot chassis based on the self-inspection information, distribution task data and distribution task information of all robot chassis;
将配送任务信息发送给最优机器人底盘。Send the distribution task information to the optimal robot chassis.
根据本公开的另一方面,提供计算机可读存储介质,其中,所述计算机可读存储介质存储计算机指令,所述指令被处理器执行时实现如上述任一实施例所述的配送机器人控制方法。According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement the delivery robot control method as described in any of the above embodiments .
为了更清楚地说明本公开实施例或相关技术中的技术方案,下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present disclosure or related technologies, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or related technologies. Obviously, the accompanying drawings in the following description are merely the present invention. For some of the disclosed embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative labor.
图1为本公开配送机器人一些实施例的组合示意图。Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure.
图2为本公开机器人箱体一些实施例的示意图。Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure.
图3为本公开机器人底盘一些实施例的示意图。Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.
图4为本公开机器人箱体另一些实施例的示意图。Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure.
图5a为本公开机器人底盘另一些实施例的示意图。Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure.
图5b为本公开机器人底盘另一些实施例中两个方向的示意图。Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure.
图6为本公开配送机器人控制方法一些实施例的示意图。Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure.
图7为本公开机器人控制器一些实施例的示意图。Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller.
图8为本公开机器人控制器另一些实施例的示意图。FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure.
图9为本公开配送机器人控制方法另一些实施例的示意图Figure 9 is a schematic diagram of other embodiments of the disclosed delivery robot control method
图10为本公开调度中心一些实施例的示意图。Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure.
图11为本公开调度中心另一些实施例的示意图。Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure.
图12为本公开配送机器人控制***一些实施例的示意图。FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure.
图13为本公开配送机器人控制方法又一些实施例的示意图。FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure.
下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的,决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.
除非另外具体说明,否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。Unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.
同时,应当明白,为了便于描述,附图中所示出的各个部分的尺寸并不是按照实际的 比例关系绘制的。At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论,但在适当情况下,所述技术、方法和设备应当被视为授权说明书的一部分。The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the authorization specification.
在这里示出和讨论的所有示例中,任何具体值应被解释为仅仅是示例性的,而不是作为限制。因此,示例性实施例的其它示例可以具有不同的值。In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.
应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步讨论。It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.
发明人通过研究发现:相关技术运送机器人以一体车为主,当机器人到达运送终点后,如果运送任务无法及时完成(例如,客户没有及时取货等),机器人需等待任务结束后才能进行下一步操作,此过程大大浪费了机器人资源,机器人利用率低,运送效率低。The inventor found through research that related technology transportation robots are mainly all-in-one vehicles. When the robot reaches the destination of the transportation, if the transportation task cannot be completed in time (for example, the customer does not pick up the goods in time, etc.), the robot needs to wait for the task to end before proceeding to the next step. Operation, this process greatly wastes robot resources, the utilization rate of the robot is low, and the transportation efficiency is low.
发明人通过研究还发现:相关技术机器人采用单一前方位定位导航及避障方式,机器人的环境感知范围较小,当有障碍物靠近机器人后机器人不能进行灵活的自主避障并及时提醒动态障碍物。The inventor also discovered through research that the related technology robot adopts a single forward positioning navigation and obstacle avoidance method, and the robot's environmental perception range is small. When an obstacle approaches the robot, the robot cannot perform flexible and autonomous obstacle avoidance and promptly remind dynamic obstacles. .
鉴于以上技术问题中的至少一项,本公开提供了一种配送机器人及其控制方法、装置和***、存储介质,提高了机器人运送效率及底盘使用率。下面通过具体实施例对本公开进行说明。In view of at least one of the above technical problems, the present disclosure provides a distribution robot and its control method, device and system, and storage medium, which improve the transportation efficiency of the robot and the utilization rate of the chassis. The present disclosure will be described below through specific embodiments.
图1为本公开配送机器人一些实施例的组合示意图。图2为本公开机器人箱体一些实施例的示意图。图3为本公开机器人底盘一些实施例的示意图。Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure. Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure. Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.
如图1所示,本公开配送机器人可以由图2实施例的机器人箱体200和图3实施例的机器人底盘100组合而成,其中:As shown in Fig. 1, the delivery robot of the present disclosure can be formed by combining the robot box 200 of the embodiment of Fig. 2 and the robot chassis 100 of the embodiment of Fig. 3, wherein:
机器人底盘100,用于接收调度中心下发的配送任务信息;移动到配送任务起点,与相应机器人箱体200进行对接;按照配送任务路径将相应机器人箱体200运送至配送任务终点,与相应机器人箱体200进行分离,完成该机器人箱体的配送。The robot chassis 100 is used to receive the distribution task information issued by the dispatch center; move to the starting point of the distribution task, and dock with the corresponding robot box 200; follow the distribution task path to transport the corresponding robot box 200 to the end of the distribution task, and the corresponding robot The box 200 is separated to complete the delivery of the robot box.
在本公开的一些实施例中,配送任务信息可以包括配送任务起点、配送任务终点和配送任务路径,其中,所述配送任务路径是调度中心根据配送任务数据(配送任务起点和配送任务终点)规划并下发给机器人底盘的。In some embodiments of the present disclosure, the delivery task information may include a delivery task starting point, a delivery task destination, and a delivery task path, where the delivery task path is planned by the dispatch center based on the delivery task data (delivery task starting point and delivery task destination) And issued to the robot chassis.
在本公开的另一些实施例中,配送任务信息可以包括配送任务起点和配送任务终点,机器人底盘根据配送任务起点和配送任务终点自主规划配送任务路径。In other embodiments of the present disclosure, the delivery task information may include a delivery task starting point and a delivery task ending point, and the robot chassis autonomously plans the delivery task path according to the delivery task starting point and the delivery task ending point.
在本公开的一些实施例中,本公开配送机器人可以实现为室内运送机器人。多用型室内运送机器人可以代替人工运送各类材料、耗材。本公开多用型室内运送机器人可以应用 于医院、养老院、写字楼、酒店等多类室内场所,支持餐食、被服、医疗物资、快递等多种场景,从而降低了用人成本、优化了配送效率,提升了运送体验。In some embodiments of the present disclosure, the delivery robot of the present disclosure may be implemented as an indoor transportation robot. The multi-purpose indoor transportation robot can replace manual transportation of various materials and consumables. The disclosed multi-purpose indoor transportation robot can be applied to hospitals, nursing homes, office buildings, hotels and other types of indoor places, supporting various scenarios such as meals, bedding, medical supplies, express delivery, etc., thereby reducing employment costs, optimizing delivery efficiency, and improving The delivery experience.
基于本公开上述实施例提供的配送机器人,可以包括机器人底盘和机器人箱体,本公开上述实施例采用可拆分/搭载的机器人设计方案,可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。The delivery robot provided by the above-mentioned embodiments of the present disclosure may include a robot chassis and a robot box. The above-mentioned embodiments of the present disclosure adopt a detachable/carrying robot design scheme. The robot chassis can be moved to the starting point of the delivery task by controlling the robot chassis to move the robot chassis. Docking with the corresponding robot box, and transporting the corresponding robot box to the end of the delivery task according to the delivery task path, and separating it from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot The transportation efficiency and chassis utilization rate shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.
下面通过具体实施例对本公开机器人箱体和机器人底盘的具体结构和功能进行说明。The specific structure and function of the robot box and the robot chassis of the present disclosure are described below through specific embodiments.
图4为本公开机器人箱体另一些实施例的示意图。如图4所示,本公开机器人箱体(例如图1或图2实施例的机器人箱体200)可以包括显示屏幕201、急停按钮202、人工推手203、状态指示灯204、带锁仓门205和超声模组206中的至少一项,其中:Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure. As shown in FIG. 4, the robot box of the present disclosure (for example, the robot box 200 of the embodiment of FIG. 1 or FIG. 2) may include a display screen 201, an emergency stop button 202, a manual pusher 203, a status indicator light 204, and a door with a lock. At least one of 205 and ultrasound module 206, wherein:
如图4所示,人工推手203有前后两个。在机器人箱体搭载机器人底盘前,操作人员可以通过推动人工推手203移动机器人箱体。As shown in Fig. 4, there are two manual push hands 203 in front and back. Before the robot box is loaded with the robot chassis, the operator can move the robot box by pushing the manual pusher 203.
显示屏幕201,用于显示机器人箱体运动及参数状态。The display screen 201 is used to display the motion and parameter status of the robot box.
急停按钮202,用于在箱体出现意外情况下(有儿童突然出现等情况)被人工按下,使机器人箱体停止运动。The emergency stop button 202 is used for being manually pressed in the case of an accident in the box (a child suddenly appears, etc.) to stop the robot box from moving.
带锁仓门205,用于在工作人员装箱结束后关闭并上锁,使箱体内货物安全。The lockable warehouse door 205 is used to close and lock the cargo after the packing is completed by the staff to keep the cargo in the box safe.
状态指示灯204,用于在运行过程中一直显示箱体状态(暂停、停止、正常运行等)。The status indicator 204 is used to always display the cabinet status (pause, stop, normal operation, etc.) during operation.
在本公开的一些实施例中,本公开机器人箱体设置有包含八个超声传感器的超声模组206。In some embodiments of the present disclosure, the robot box of the present disclosure is provided with an ultrasonic module 206 including eight ultrasonic sensors.
超声模组206,用于检测环境信息。The ultrasound module 206 is used to detect environmental information.
基于本公开上述实施例提供的机器人箱体,可以通过与机器人底盘进行对接后,搭载机器人底盘到达配送任务终点后,与相应机器人箱体进行分离,空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the robot box provided by the above-mentioned embodiments of the present disclosure, after docking with the robot chassis, the loaded robot chassis can be separated from the corresponding robot box after reaching the end of the delivery task, and the idle robot chassis can continue to transport other robot boxes. This improves the efficiency of robot delivery and the utilization rate of the chassis, shortens the delivery time of multiple goods or multiple destinations, and improves the user experience.
图5a为本公开机器人底盘另一些实施例的示意图。如图5所示,本公开机器人底盘(例如本公开图1、图3和图5b实施例的机器人底盘)可以包括如机器人控制器120,其 中:Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure. As shown in FIG. 5, the robot chassis of the present disclosure (for example, the robot chassis of the embodiments of FIG. 1, FIG. 3, and FIG. 5b of the present disclosure) may include, for example, a robot controller 120, wherein:
机器人控制器120,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点、配送任务终点和配送任务路径;控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接;控制机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。The robot controller 120 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task and the path of the distribution task; controlling the robot chassis to move to the starting point of the distribution task, and connecting the robot chassis with the corresponding robot The boxes are docked; the robot chassis is controlled to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate from the corresponding robot box.
图5b为本公开机器人底盘另一些实施例中两个方向的示意图。如图5a和图5b所示,本公开机器人底盘除了包括机器人控制器外,还可以包括顶升平台101,其中:Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure. As shown in Figures 5a and 5b, in addition to the robot controller, the robot chassis of the present disclosure may also include a jacking platform 101, wherein:
顶升平台101,设置在机器人底盘顶部。The jacking platform 101 is set on the top of the robot chassis.
顶升平台101,用于在机器人底盘搭载机器人箱体工作过程中,由顶升***带动升起,将机器人箱体顶起;在机器人底盘搭载机器人箱体到达配送任务终点后,顶升平台101下降使得机器人底盘和机器人箱体分离。The jacking platform 101 is used to lift the robot box when the robot chassis is mounted on the robot chassis by the jacking system to lift the robot box; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform 101 The descent separates the robot chassis from the robot box.
在本公开的一些实施例中,如图1-2、图4所示,机器人箱体还可以包括箱体车轮,其中:In some embodiments of the present disclosure, as shown in Figures 1-2 and 4, the robot box may also include box wheels, where:
顶升平台101,用于与配送机器人箱体配合,顶升平台101上升达到预定位置后,箱体车轮悬空。The jacking platform 101 is used to cooperate with the box of the delivery robot. After the jacking platform 101 rises to a predetermined position, the wheels of the box are suspended.
在本公开的一些实施例中,如图5a所示,机器人底盘还可以包括多个环境传感器130,其中:In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include a plurality of environmental sensors 130, among which:
环境传感器130,用于在机器人底盘移动到配送任务起点的情况下,识别机器人箱体。The environment sensor 130 is used to identify the robot box when the robot chassis moves to the starting point of the delivery task.
机器人控制器120,用于根据机器人箱体的识别信息,调整机器人底盘的位置与机器人箱***置吻合。The robot controller 120 is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box.
在本公开的一些实施例中,环境传感器130还可以用于在机器人底盘移动过程中,实时监控环境信息并实时判断机器人底盘是否受阻;机器人控制器还可以用于在机器人运动受阻的情况下,根据环境传感器的信息判定障碍物为动态障碍物或静态障碍物;在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物。In some embodiments of the present disclosure, the environmental sensor 130 can also be used to monitor environmental information in real time and determine whether the robot chassis is blocked in real time during the movement of the robot chassis; the robot controller can also be used to prevent the robot from moving. According to the information of environmental sensors, it is determined that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.
在本公开的一些实施例中,如图5b所示,图5a实施例的环境传感器130可以包括两个对角激光雷达107、110位置所安装的深度相机、五个后超声模组104、五个前超声模组111、两个侧超声模组115,其中,In some embodiments of the present disclosure, as shown in FIG. 5b, the environmental sensor 130 in the embodiment of FIG. 5a may include two depth cameras installed at the positions of diagonal lidars 107 and 110, and five rear ultrasound modules 104 and five. One front ultrasound module 111 and two side ultrasound modules 115, of which,
所述两个对角激光雷达107、110位置所安装的深度相机、五个后超声模组104、五个前超声模组111和两个侧超声模组115,用于全方位实时监测环境信息。The depth cameras installed at the positions of the two diagonal lidars 107 and 110, five rear ultrasound modules 104, five front ultrasound modules 111, and two side ultrasound modules 115 are used for omnidirectional real-time monitoring of environmental information .
在本公开的一些实施例中,如图5a所示,机器人底盘还可以包括提示装置140,其中:In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include a prompting device 140, wherein:
机器人控制器120,用在障碍物为动态障碍物的情况下,启动提示装置140提示动态障碍物离开;如果提示有效,则机器人底盘继续运行;如果提示无效,则进行局部路径规划自主避开障碍物。The robot controller 120 is used when the obstacle is a dynamic obstacle, and the prompt device 140 is activated to prompt the dynamic obstacle to leave; if the prompt is valid, the robot chassis continues to run; if the prompt is invalid, the local path planning is performed to avoid the obstacle autonomously Things.
在本公开的一些实施例中,如图5b所示,图5a实施例的提示装置140可以包括指示灯103、两个侧指示灯108、110位置的前指示灯、扬声器112和状态显示屏113,其中:In some embodiments of the present disclosure, as shown in FIG. 5b, the prompting device 140 in the embodiment of FIG. 5a may include an indicator light 103, two side indicator lights 108, a front indicator light at 110 positions, a speaker 112, and a status display screen 113. ,among them:
110位置的前指示灯、指示灯103和两个侧指示灯108,还可以用于提示机器人运行状态。The front indicator light at the 110 position, the indicator light 103 and the two side indicator lights 108 can also be used to indicate the robot running status.
扬声器112,还可以用于播报***语音提示及实时语音提示。The speaker 112 can also be used to broadcast system voice prompts and real-time voice prompts.
状态显示屏113,还可以用于显示机器人底盘状态(例如电量、运送任务等)。The status display screen 113 can also be used to display the status of the robot chassis (for example, power, transportation tasks, etc.).
在本公开的一些实施例中,如图5a所示,机器人底盘还可以包括防碰撞模组150,其中:In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include an anti-collision module 150, wherein:
如图5b所示,防碰撞模组150设置在机器人底盘的前后两侧;防碰撞模组可以包括后防碰撞模组106与前防碰撞模组114。As shown in FIG. 5b, the anti-collision module 150 is arranged on the front and rear sides of the robot chassis; the anti-collision module may include a rear anti-collision module 106 and a front anti-collision module 114.
后防碰撞模组106与前防碰撞模组114,用于运行过程中机器人与其他物体碰撞的情况下,进行碰撞检测紧急制动。The rear anti-collision module 106 and the front anti-collision module 114 are used for collision detection and emergency braking when the robot collides with other objects during operation.
在本公开的一些实施例中,如图5a和图5b所示,机器人底盘还可以包括电磁锁102、充电电极105、急停按钮109、启动开关116,其中:In some embodiments of the present disclosure, as shown in FIGS. 5a and 5b, the robot chassis may further include an electromagnetic lock 102, a charging electrode 105, an emergency stop button 109, and a start switch 116, among which:
启动开关116,用于在机器人底盘,完成启动与停止动作。The start switch 116 is used to complete the start and stop actions on the robot chassis.
电磁锁102和急停按钮109的作用在于:在机器人底盘搭载箱体工作过程中底盘的顶升平台101由顶升***带动升起,将配送机器人箱体顶起,顶升平台101与配送机器人箱体配合,达到预定位置,箱体车轮悬空,电磁锁102上锁,此时机器人箱体200的显示屏201显示箱体状态,在运送过程中出现意外情况(打滑、有儿童突然出现等)下,可以人为按下急停按钮109。The function of the electromagnetic lock 102 and the emergency stop button 109 is that the lifting platform 101 of the chassis is lifted by the lifting system during the working process of the robot chassis carrying the box body to lift the distribution robot box, and the lifting platform 101 and the distribution robot The box body cooperates to reach the predetermined position, the box body wheel is suspended, and the electromagnetic lock 102 is locked. At this time, the display screen 201 of the robot box body 200 displays the box body status. An unexpected situation occurred during transportation (skidding, sudden appearance of children, etc.) Next, the emergency stop button 109 can be manually pressed.
机器人控制器120,用于在底盘电量信息低于预定值的情况下,机器人底盘自主导航移动到最近的充电桩电极;通过环境传感器观测,实现机器人底盘的充电电极与充电桩电极对桩,进行机器人底盘充电。The robot controller 120 is used for autonomously navigating the robot chassis to the nearest charging pile electrode when the chassis power information is lower than a predetermined value; through environmental sensor observation, the charging electrode of the robot chassis is aligned with the charging pile electrode. Charging the robot chassis.
充电电极105,用于机器人底盘充电过程中充电电极105与充电桩电极对桩,进行充电。The charging electrode 105 is used for charging the charging electrode 105 and the charging pile electrode in the charging process of the robot chassis.
基于本公开上述实施例提供的机器人底盘,可以移动到配送任务起点,与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器 人箱体进行分离,空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the robot chassis provided by the above embodiments of the present disclosure, it can move to the starting point of the delivery task, dock with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box. The idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
本公开上述实施例提供一种全方位环境感知***,采用对角激光雷达、深度相机、后超声模组、前超声模组和侧超声模组等环境传感器全方位实时监测环境信息,从而提高了机器人运行安全性。The above-mentioned embodiments of the present disclosure provide an omnidirectional environment perception system, which adopts environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
图6为本公开配送机器人控制方法一些实施例的示意图。优选的,本实施例可由本公开机器人控制器执行。该方法包括以下步骤:Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure. Preferably, this embodiment can be executed by the robot controller of the present disclosure. The method includes the following steps:
步骤61,机器人控制器接收调度中心下发的配送任务信息。Step 61: The robot controller receives the distribution task information issued by the dispatch center.
在本公开的一些实施例中,配送任务信息可以包括配送任务起点、配送任务终点和配送任务路径,其中,所述配送任务路径是调度中心根据配送任务数据(配送任务起点和配送任务终点)规划并下发给机器人底盘的。In some embodiments of the present disclosure, the delivery task information may include a delivery task starting point, a delivery task destination, and a delivery task path, where the delivery task path is planned by the dispatch center based on the delivery task data (delivery task starting point and delivery task destination) And issued to the robot chassis.
在本公开的另一些实施例中,配送任务信息可以包括配送任务起点和配送任务终点,机器人底盘根据配送任务起点和配送任务终点自主规划配送任务路径。In other embodiments of the present disclosure, the delivery task information may include a delivery task starting point and a delivery task ending point, and the robot chassis autonomously plans the delivery task path according to the delivery task starting point and the delivery task ending point.
步骤62,机器人控制器控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接。Step 62: The robot controller controls the robot chassis to move to the starting point of the distribution task, and docks the robot chassis with the corresponding robot box.
在本公开的一些实施例中,步骤62中,所述将机器人底盘与相应机器人箱体进行对接的步骤可以包括:控制机器人底盘的顶升***带动顶升平台101升起,将机器人箱体顶起。In some embodiments of the present disclosure, in step 62, the step of docking the robot chassis with the corresponding robot box may include: controlling the jacking system of the robot chassis to drive the jacking platform 101 to rise, and to top the robot box. Up.
步骤63,机器人控制器控制机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。Step 63: The robot controller controls the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘搭载机器人箱体工作过程中,控制顶升平台101保持机器人箱体的顶起状态;在机器人底盘搭载机器人箱体到达配送任务终点后,控制顶升平台101下降使得机器人底盘和机器人箱体分离。In some embodiments of the present disclosure, the delivery robot control method may further include: controlling the jacking platform 101 to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After the body reaches the end of the distribution task, the lifting platform 101 is controlled to descend so that the robot chassis and the robot box are separated.
在本公开的一些实施例中,所述控制机器人底盘的顶升***带动顶升平台101升起,将机器人箱体顶起的步骤可以包括:控制顶升平台101与配送机器人箱体配合,将顶升平台101上升达到预定位置后,使得箱体车轮悬空。In some embodiments of the present disclosure, the lifting system for controlling the robot chassis drives the lifting platform 101 to rise, and the step of lifting the robot box may include: controlling the lifting platform 101 to cooperate with the delivery robot box, and After the jacking platform 101 rises to a predetermined position, the box wheels are suspended.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘移动到配送任务起点的情况下,通过环境传感器,识别机器人箱体;根据机器人箱体的识别信 息,调整机器人底盘的位置与机器人箱***置吻合,之后执行将机器人底盘与相应机器人箱体进行对接的步骤。In some embodiments of the present disclosure, the delivery robot control method may further include: when the robot chassis moves to the starting point of the delivery task, identifying the robot box through environmental sensors; adjusting the robot according to the identification information of the robot box The position of the chassis is consistent with the position of the robot box, and then the step of docking the robot chassis with the corresponding robot box is performed.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘移动过程中,通过环境传感器实时监控环境信息并实时判断机器人底盘是否受阻;在机器人运动受阻的情况下,根据环境传感器的信息判定障碍物为动态障碍物或静态障碍物;在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物。In some embodiments of the present disclosure, the delivery robot control method may further include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is obstructed; in the case where the robot movement is obstructed, according to The information of the environmental sensor determines that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, local path planning is performed to avoid the obstacle autonomously.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在障碍物为动态障碍物的情况下,启动提示装置提示动态障碍物离开;如果提示有效,则控制机器人底盘继续运行;如果提示无效,则执行进行局部路径规划自主避开障碍物的步骤。In some embodiments of the present disclosure, the delivery robot control method may further include: when the obstacle is a dynamic obstacle, starting a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis to continue running; If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在运行过程中机器人与其他物体发生碰撞的情况下,控制防碰撞模组进行碰撞检测紧急制动,其中,防碰撞模组设置在机器人底盘的前后两侧。In some embodiments of the present disclosure, the delivery robot control method may further include: when the robot collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking, wherein the anti-collision mode The groups are set on the front and back sides of the robot chassis.
基于本公开上述实施例提供的配送机器人控制方法,可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the distribution robot control method provided by the foregoing embodiments of the present disclosure, the robot chassis can be controlled to move to the starting point of the distribution task, the robot chassis can be docked with the corresponding robot box, and the corresponding robot box can be transported to the end of the distribution task according to the distribution task path. , Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
本公开上述实施例提供一种全方位环境感知***,采用对角激光雷达、深度相机、后超声模组、前超声模组和侧超声模组等环境传感器全方位实时监测环境信息,从而提高了机器人运行安全性。The above-mentioned embodiments of the present disclosure provide an omnidirectional environment perception system, which adopts environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
图7为本公开机器人控制器一些实施例的示意图。如图7所示,本公开机器人控制器(例如图5b实施例的机器人控制器120)可以包括配送信息接收模块121、箱体对接控制模块122和箱体运送控制模块123,其中:Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller. As shown in FIG. 7, the robot controller of the present disclosure (for example, the robot controller 120 in the embodiment of FIG. 5b) may include a delivery information receiving module 121, a box docking control module 122, and a box transportation control module 123, wherein:
配送信息接收模块121,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点。The delivery information receiving module 121 is configured to receive delivery task information issued by the dispatch center, where the delivery task information includes a delivery task starting point and a delivery task ending point.
箱体对接控制模块122,用于控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接。The box docking control module 122 is used to control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box.
箱体运送控制模块123,用于控制机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。The box transport control module 123 is used to control the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the corresponding robot box from the corresponding robot box.
在本公开的一些实施例中,所述机器人控制器用于执行实现如上述任一实施例(例如图6实施例)所述的配送机器人控制方法的操作。In some embodiments of the present disclosure, the robot controller is used to perform operations for implementing the delivery robot control method described in any of the above embodiments (for example, the embodiment of FIG. 6).
基于本公开上述实施例提供的机器人控制器,可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the robot controller provided by the above embodiments of the present disclosure, the robot chassis can be controlled to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path. Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
图8为本公开机器人控制器另一些实施例的示意图。如图8所示,本公开机器人控制器(例如图5b实施例的机器人控制器120)可以包括机器人存储器128和机器人处理器129,其中:FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure. As shown in FIG. 8, the robot controller of the present disclosure (for example, the robot controller 120 in the embodiment of FIG. 5b) may include a robot memory 128 and a robot processor 129, wherein:
机器人存储器128,用于存储指令。The robot memory 128 is used to store instructions.
机器人处理器129,用于执行所述指令,使得所述机器人控制器执行实现如上述任一实施例(例如图6实施例)所述的配送机器人控制方法的操作。The robot processor 129 is configured to execute the instructions, so that the robot controller executes operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 6).
本公开上述实施例机器人控制器,可以通过控制全方位环境感知***,采用对角激光雷达、深度相机、后超声模组、前超声模组和侧超声模组等环境传感器全方位实时监测环境信息,从而提高了机器人运行安全性。The robot controller of the above-mentioned embodiment of the present disclosure can control the omni-directional environment perception system and use environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in real time. , Thereby improving the safety of robot operation.
图9为本公开配送机器人控制方法另一些实施例的示意图。优选的,本实施例可由本公开调度中心执行。该方法包括以下步骤:FIG. 9 is a schematic diagram of other embodiments of the control method of the delivery robot of the present disclosure. Preferably, this embodiment can be executed by the dispatch center of the present disclosure. The method includes the following steps:
步骤91,调度中心接收配送管理***上传的配送任务数据。Step 91: The dispatch center receives the distribution task data uploaded by the distribution management system.
步骤92,调度中心将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。Step 92: The dispatch center sends the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the destination of the distribution task according to the delivery task path. Separate from the corresponding robot box, where the distribution task information includes the starting point and the ending point of the distribution task.
在本公开的一些实施例中,步骤92可以包括:指示所有机器人底盘进行自检;获取所有机器人底盘的自检信息;根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息发送给最优机器人底盘。In some embodiments of the present disclosure, step 92 may include: instructing all robot chassis to perform self-inspection; acquiring the self-inspection information of all robot chassis; determining the optimum based on the self-inspection information, delivery task data, and delivery task information of all robot chassis Robot chassis; send the distribution task information to the optimal robot chassis.
在本公开的一些实施例中,本公开配送机器人控制方法还可以包括调度中心根据配送任务数据规划配送任务路径。In some embodiments of the present disclosure, the delivery robot control method of the present disclosure may further include a dispatch center planning a delivery task path according to the delivery task data.
在本公开的一些实施例中,调度中心根据配送任务数据规划配送任务路径的步骤可以 包括:调度中心根据配送任务数据规划任务路径、计算运送时间、机器人转弯情况等信息。In some embodiments of the present disclosure, the step of the dispatch center planning the delivery task path according to the delivery task data may include: the dispatch center plans the task path according to the delivery task data, calculates the delivery time, the robot turning situation and other information.
基于本公开上述实施例提供的配送机器人控制方法,可以根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息发送给最优机器人底盘,以便机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the delivery robot control method provided by the above-mentioned embodiments of the present disclosure, the optimal robot chassis can be determined according to the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information is sent to the optimal robot chassis for the robot chassis Move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate from the corresponding robot box, so that the idle robot chassis can continue to be transported Other robot boxes improve the efficiency of robot transportation and chassis utilization, shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.
图10为本公开调度中心一些实施例的示意图。如图10所示,本公开调度中心可以包括配送数据接收模块310和配送信息发送模块330,其中:Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure. As shown in FIG. 10, the dispatch center of the present disclosure may include a distribution data receiving module 310 and a distribution information sending module 330, where:
配送数据接收模块310,用于接收配送管理***上传的配送任务数据。The delivery data receiving module 310 is used to receive delivery task data uploaded by the delivery management system.
配送信息发送模块330,用于将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。The distribution information sending module 330 is used to send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task, the robot chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the distribution according to the delivery task path The task destination is separated from the corresponding robot box, where the delivery task information includes the delivery task starting point and the delivery task ending point.
在本公开的一些实施例中,如图9所示,本公开调度中心还可以包括配送路径规划模块320,其中:In some embodiments of the present disclosure, as shown in FIG. 9, the dispatch center of the present disclosure may further include a distribution route planning module 320, wherein:
配送路径规划模块320,用于根据配送任务数据规划配送任务路径。配送信息发送模块330下发的配送任务信息还可以包括配送任务路径。在本公开的一些实施例中,配送路径规划模块320可以用于根据配送任务数据规划任务路径、计算运送时间、机器人转弯情况等信息。The distribution path planning module 320 is used to plan the distribution task path according to the distribution task data. The delivery task information issued by the delivery information sending module 330 may also include the delivery task path. In some embodiments of the present disclosure, the delivery route planning module 320 may be used to plan task routes, calculate delivery time, robot turning conditions, and other information according to the delivery task data.
在本公开的一些实施例中,所述调度中心用于执行实现如上述任一实施例(例如图9实施例)所述的配送机器人控制方法的操作。In some embodiments of the present disclosure, the dispatch center is used to perform operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).
图11为本公开调度中心另一些实施例的示意图。如图11所示,本公开机器人控制器可以包括调度中心存储器380和调度中心处理器390,其中:Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure. As shown in FIG. 11, the robot controller of the present disclosure may include a dispatch center memory 380 and a dispatch center processor 390, where:
调度中心存储器380,用于存储指令。The dispatch center memory 380 is used to store instructions.
调度中心处理器390,用于执行所述指令,使得所述调度中心执行实现如上述任一实施例(例如图9实施例)所述的配送机器人控制方法的操作。The dispatch center processor 390 is configured to execute the instructions, so that the dispatch center executes operations that implement the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).
基于本公开上述实施例提供的调度中心,采用智能配送调度方案,可以根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息 发送给最优机器人底盘,以便机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the dispatch center provided by the above-mentioned embodiments of the present disclosure, the intelligent distribution scheduling scheme can be used to determine the optimal robot chassis based on the self-inspection information, distribution task data, and distribution task information of all robot chassis; send the distribution task information to the optimal robot chassis , So that the robot chassis moves to the starting point of the delivery task, docks the robot chassis with the corresponding robot box, and transports the corresponding robot box to the end of the delivery task according to the delivery task path, and separates from the corresponding robot box, so that the idle robot The chassis can continue to transport other robot boxes, thereby improving the efficiency of robot transportation and the utilization rate of the chassis, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
图12为本公开配送机器人控制***一些实施例的示意图。如图12所示,本公开机器人控制器可以包括机器人底盘100和调度中心300,其中:FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure. As shown in FIG. 12, the robot controller of the present disclosure may include a robot chassis 100 and a dispatch center 300, where:
调度中心300,用于接收配送管理***上传的配送任务数据;将配送任务信息发送给机器人底盘100。The dispatch center 300 is used to receive the distribution task data uploaded by the distribution management system; and send the distribution task information to the robot chassis 100.
在本公开的一些实施例中,调度中心300可以为如上述任一实施例(例如图11或图12实施例)所述的调度中心。In some embodiments of the present disclosure, the dispatch center 300 may be a dispatch center as described in any of the foregoing embodiments (for example, the embodiment of FIG. 11 or FIG. 12).
机器人底盘100,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点、配送任务终点;移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接;按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。The robot chassis 100 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task and the ending point of the distribution task; moving to the starting point of the distribution task, docking the robot chassis with the corresponding robot box; according to the distribution task The path transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box.
在本公开的一些实施例中,机器人底盘100可以为如上述任一实施例(例如图1、图3、图5a或图5b实施例)所述的机器人底盘。In some embodiments of the present disclosure, the robot chassis 100 may be the robot chassis as described in any of the above-mentioned embodiments (for example, the embodiment of FIG. 1, FIG. 3, FIG. 5a, or FIG. 5b).
在本公开的一些实施例中,调度中心300,还可以用于在机器人底盘将机器人箱体运送到配送任务终点、用户人工取货后,如果接收到用户终端或机器人箱体发送的取货完成消息,则指示空闲机器人底盘100将该机器人箱体运送回指定的配送任务起点,进行新的配送任务装货。In some embodiments of the present disclosure, the dispatch center 300 can also be used to transport the robot box to the end of the delivery task on the robot chassis, and after the user picks up the goods manually, if the user terminal or the robot box sends the pickup completed Message, instructs the idle robot chassis 100 to transport the robot box back to the designated starting point of the delivery task, and load the new delivery task.
在本公开的一些实施例中,如图12所示,所述配送机器人控制***还可以包括配送管理***400,其中:In some embodiments of the present disclosure, as shown in FIG. 12, the delivery robot control system may further include a delivery management system 400, wherein:
配送管理***400,用于接收用户输入的配送信息,根据配送信息建立配送任务,其中,配送信息包括配送任务起点、配送任务终点和配送任务类型;将新建的配送任务数据上传给调度中心。The distribution management system 400 is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; uploading the newly created distribution task data to the dispatch center.
配送管理***400,可以用于生成新的配送任务后,将新的配送任务发送给调度中心300。The distribution management system 400 may be used to send the new distribution task to the dispatch center 300 after generating a new distribution task.
在本公开的一些实施例中,配送管理***400可以包括人机交互界面。In some embodiments of the present disclosure, the delivery management system 400 may include a human-computer interaction interface.
在本公开的一些实施例中,人机交互界面可以向用户展示任务列表、楼层信息、配送 任务信息、机器人管理信息等信息。In some embodiments of the present disclosure, the human-computer interaction interface can display the task list, floor information, delivery task information, robot management information and other information to the user.
在本公开的一些实施例中,人机交互界面还可以向用户展示今日任务概览、配送次数、工作中机器人数量、配送任务数量、历史任务信息、平均配送时长、异常告警、异常机器人等信息。In some embodiments of the present disclosure, the human-computer interaction interface can also display information such as the overview of today's tasks, the number of deliveries, the number of robots at work, the number of delivery tasks, historical task information, average delivery time, abnormal alarms, and abnormal robots to the user.
基于本公开上述实施例提供的配送机器人控制***,其调度中心可以根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息发送给最优机器人底盘。本公开上述实施例可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the distribution robot control system provided by the foregoing embodiments of the present disclosure, its dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
图13为本公开配送机器人控制方法又一些实施例的示意图。优选的,本实施例可由本公开配送机器人控制***执行。该方法包括以下步骤:FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure. Preferably, this embodiment can be executed by the delivery robot control system of the present disclosure. The method includes the following steps:
步骤1301:用户通过配送管理***选择配送任务起点、配送任务终点、配送任务类型等建立配送任务数据。Step 1301: The user selects the starting point of the distribution task, the ending point of the distribution task, the type of the distribution task, etc. through the distribution management system to establish distribution task data.
步骤1302:配送管理***将新建的配送任务数据上传给调度中心,调度中心根据配送任务数据规划任务路径、计算运送时间、机器人转弯情况等信息。Step 1302: The distribution management system uploads the newly-created distribution task data to the dispatch center, and the dispatch center plans the task path, calculates the delivery time, the robot turning situation and other information according to the distribution task data.
步骤1303:所有机器人底盘启动自检,并将自检信息上报给调度中心进行分析。Step 1303: All robot chassis start self-checking, and report the self-checking information to the dispatch center for analysis.
步骤1304:调度中心根据机器人底盘自检信息判断机器人底盘是否可用。如果机器人底盘可用,则执行步骤1307;如果机器人底盘可用,则执行步骤1305。Step 1304: The dispatch center judges whether the robot chassis is available according to the self-check information of the robot chassis. If the robot chassis is available, step 1307 is executed; if the robot chassis is available, step 1305 is executed.
在本公开的一些实施例中,所述底盘自检信息可以包括底盘位置、底盘电量等信息。In some embodiments of the present disclosure, the chassis self-check information may include information such as the position of the chassis and the power level of the chassis.
步骤1305:指示机器人底盘进行自行修复(如充电或者环境障碍物避障的情况);判断机器人底盘自行修复是否成功。如果机器人底盘自行修复成功,则返回步骤1303,继续进行机器人底盘自检;如果机器人底盘自行修复失败,则进入步骤1306。Step 1305: Instruct the robot chassis to repair itself (such as in the case of charging or environmental obstacle avoidance); determine whether the robot chassis repairs successfully. If the robot chassis is repaired successfully by itself, return to step 1303 to continue the robot chassis self-check; if the robot chassis fails to repair itself, go to step 1306.
在本公开的一些实施例中,所述机器人底盘进行自行修复的步骤可以包括:在底盘电量信息低于预定值的情况下,机器人底盘自主导航移动到最近的充电桩电极;通过环境传感器观测,实现机器人底盘的充电电极与充电桩电极对桩,进行机器人底盘充电。In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may include: when the power information of the chassis is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; observes through environmental sensors, Realize the charging electrode of the robot chassis and the charging pile electrode to pile, and charge the robot chassis.
在本公开的一些实施例中,所述机器人底盘进行自行修复的步骤可以包括:在机器人底盘移动过程中,通过环境传感器实时监控环境信息并实时判断机器人底盘是否受阻;在 机器人运动受阻的情况下,根据环境传感器的信息判定障碍物为动态障碍物或静态障碍物;在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物。In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is blocked; in the case where the robot's movement is blocked , Determine whether the obstacle is a dynamic obstacle or a static obstacle according to the information of the environmental sensor; when the obstacle is a static obstacle, perform local path planning to avoid the obstacle autonomously.
在本公开的一些实施例中,所述机器人底盘进行自行修复的步骤还可以包括:在障碍物为动态障碍物的情况下,启动提示装置提示动态障碍物离开;如果提示有效,则控制机器人底盘继续运行;如果提示无效,则执行进行局部路径规划自主避开障碍物的步骤。In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may further include: when the obstacle is a dynamic obstacle, activating a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis Continue to run; if the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
在本公开的一些实施例中,所述机器人底盘进行自行修复的步骤还可以包括:在运行过程中机器人底盘与其他物体发生碰撞的情况下,控制防碰撞模组进行碰撞检测紧急制动。In some embodiments of the present disclosure, the step of the robot chassis performing self-repair may further include: when the robot chassis collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking.
步骤1306:机器人底盘将自行修复结果或自主调整结果上传给调度中心;调度中心将自行修复结果或自主调整结果整合并给出人工处理建议。Step 1306: The robot chassis uploads the self-repairing result or the self-adjusting result to the dispatch center; the dispatching center integrates the self-repairing result or the autonomous adjustment result and gives manual processing suggestions.
步骤1307:调度中心收集所有机器人底盘自检信息与配送任务数据进行计算,选择最优机器人底盘。Step 1307: The dispatch center collects all the robot chassis self-inspection information and distribution task data for calculation, and selects the optimal robot chassis.
步骤1308:调度中心将配送任务信息下达至步骤1307所选择的最优机器人底盘,其中,配送任务信息包括配送任务起点、配送任务终点和配送任务路径。Step 1308: The dispatch center delivers the distribution task information to the optimal robot chassis selected in step 1307, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task, and the path of the distribution task.
步骤1309:所述最优机器人底盘接收配送任务信息,并启动工作模式。Step 1309: The optimal robot chassis receives the delivery task information and starts the working mode.
步骤1310:最优机器人底盘根据配送任务信息,自主导航移动到配送任务起点。Step 1310: The optimal robot chassis autonomously navigates and moves to the starting point of the delivery task according to the delivery task information.
步骤1311:最优机器人底盘通过多个环境传感器识别任务机器人箱体,并调整位置与机器人箱***置吻合。Step 1311: The optimal robot chassis recognizes the task robot box through multiple environmental sensors, and adjusts the position to match the position of the robot box.
步骤1312:最优机器人底盘与任务机器人箱体完成对接,顶升结构将任务机器人箱体顶起。Step 1312: The optimal robot chassis is docked with the task robot box, and the jacking structure lifts the task robot box.
在本公开的一些实施例中,步骤1312可以包括:控制顶升平台与配送任务机器人箱体配合,将顶升平台上升达到预定位置后,使得任务机器人箱体车轮悬空。步骤1313:机器人底盘顶起任务机器人箱体后,按着配送任务路径进行运送,并同时执行步骤1314及步骤1316。In some embodiments of the present disclosure, step 1312 may include: controlling the jacking platform to cooperate with the distribution task robot box, and after the jacking platform is raised to a predetermined position, the task robot box wheel is suspended. Step 1313: After the robot chassis jacks up the task robot box, it is transported according to the delivery task path, and step 1314 and step 1316 are performed at the same time.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘搭载机器人箱体工作过程中,控制顶升平台保持机器人箱体的顶起状态;在机器人底盘搭载机器人箱体到达配送任务终点后,控制顶升平台下降使得机器人底盘和机器人箱体分离。在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘运行过程中、配送机器人与其他物体发生碰撞的情况下,控制防碰撞模组进行碰撞检测紧急制动。In some embodiments of the present disclosure, the delivery robot control method may further include: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After reaching the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box. In some embodiments of the present disclosure, the delivery robot control method may further include: when the delivery robot collides with other objects during the operation of the robot chassis, controlling the anti-collision module to perform collision detection and emergency braking.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘运行 过程中、底盘电量信息低于预定值的情况下,机器人底盘自主导航移动到最近的充电桩电极;通过环境传感器观测,实现机器人底盘的充电电极与充电桩电极对桩,进行机器人底盘充电。In some embodiments of the present disclosure, the delivery robot control method may further include: during the operation of the robot chassis and the chassis power information is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; Environmental sensor observation realizes that the charging electrode of the robot chassis and the electrode of the charging pile are paired to the pile, and the robot chassis is charged.
步骤1314:最优机器人底盘运动过程中多个环境传感器实时监控环境信息并实时判断是否受阻。如果机器人底盘未受阻,则进入步骤1316;如果机器人底盘受阻,则进入步骤1315。Step 1314: During the movement of the optimal robot chassis, multiple environmental sensors monitor the environmental information in real time and judge whether it is blocked in real time. If the robot chassis is not blocked, go to step 1316; if the robot chassis is blocked, go to step 1315.
步骤1315:当最优机器人底盘运动受阻后,则进行最优机器人底盘运动路径的自主调整;判断最优机器人底盘运动路径的自主调整是否成功。如果自主调整成功,则返回步骤1313,继续运送机器人箱体;如果自主调整失败,则进入步骤1306。Step 1315: When the motion of the optimal robot chassis is blocked, perform the autonomous adjustment of the optimal robot chassis motion path; determine whether the autonomous adjustment of the optimal robot chassis motion path is successful. If the autonomous adjustment is successful, return to step 1313 and continue to transport the robot box; if the autonomous adjustment fails, then go to step 1306.
在本公开的一些实施例中,步骤1315中,所述进行机器人底盘运动路径的自主调整的步骤可以包括:根据多个环境传感器的信息判定障碍物为动态障碍物或静态障碍物;在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物;如果障碍物为动态障碍物,机器人底盘启动语音提示+提示灯提示模式,如果提示有效,机器人底盘执行步骤1313,继续运送任务机器人箱体,如提示无效,机器人底盘进行局部路径规划自主避开障碍物。In some embodiments of the present disclosure, in step 1315, the step of performing autonomous adjustment of the movement path of the robot chassis may include: determining whether the obstacle is a dynamic obstacle or a static obstacle according to the information of multiple environmental sensors; In the case of static obstacles, perform local path planning to avoid obstacles autonomously; if the obstacles are dynamic obstacles, the robot chassis activates the voice prompt + prompt light prompt mode. If the prompt is valid, the robot chassis performs step 1313 to continue the transportation task The robot box, if the prompt is invalid, the robot chassis performs local path planning to avoid obstacles autonomously.
步骤1316:判断最优机器人底盘是否到达配送任务终点。如果机器人底盘到达配送任务终点,进入步骤1317;如果机器人底盘未到达配送任务终点,则返回步骤1313,继续运送任务机器人箱体。Step 1316: Determine whether the optimal robot chassis has reached the end of the delivery task. If the robot chassis reaches the end of the delivery task, go to step 1317; if the robot chassis does not reach the end of the delivery task, return to step 1313 to continue to transport the task robot box.
步骤1317:最优机器人底盘配送任务机器人箱体到达配送任务终点,等待人工取货,人工取货后配送任务完成。Step 1317: The optimal robot chassis distribution task The robot box arrives at the end of the distribution task and waits for manual pick-up. After the manual pick-up, the distribution task is completed.
在本公开的一些实施例中,在机器人底盘将机器人箱体运送到配送任务终点后,机器人底盘状态为空闲,可以根据调度中心的调度,继续运送其他机器人箱体。In some embodiments of the present disclosure, after the robot chassis has transported the robot box to the end of the delivery task, the robot chassis is in idle state, and other robot boxes can continue to be transported according to the scheduling of the dispatch center.
在本公开的一些实施例中,所述配送机器人控制方法还可以包括:在机器人底盘将机器人箱体运送到配送任务终点、用户人工取货后,用户终端或机器人箱体向调度中心发送取货完成消息;调度中心指示空闲机器人底盘将该机器人箱体运送回指定的配送任务起点,进行新的配送任务装货。In some embodiments of the present disclosure, the delivery robot control method may further include: after the robot chassis transports the robot box to the end of the delivery task, and the user picks up the goods manually, the user terminal or the robot box sends the delivery to the dispatch center. Complete the message; the dispatch center instructs the idle robot chassis to transport the robot box back to the designated starting point of the distribution task, and load the new distribution task.
基于本公开上述实施例提供的配送机器人控制方法,调度中心可以根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息发送给最优机器人底盘。本公开上述实施例可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配 送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the distribution robot control method provided by the foregoing embodiments of the present disclosure, the dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
本公开上述实施例可以通过控制全方位环境感知***,采用对角激光雷达、深度相机、后超声模组、前超声模组和侧超声模组等环境传感器全方位实时监测环境信息,从而提高了机器人运行安全性。The above-mentioned embodiments of the present disclosure can control the omni-directional environment perception system and adopt environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
根据本公开的另一方面,提供计算机可读存储介质,其中,所述计算机可读存储介质存储计算机指令,所述指令被处理器执行时实现如上述任一实施例(例如图6、图9或图13实施例)所述的配送机器人控制方法。According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, they can implement any of the above-mentioned embodiments (for example, FIGS. 6 and 9). Or the delivery robot control method described in the embodiment of FIG. 13).
基于本公开上述实施例提供的计算机可读存储介质,可以根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;将配送任务信息发送给最优机器人底盘。本公开上述实施例可以通过控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接,并按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,由此空闲的机器人底盘可以继续运送其他机器人箱体,从而提高了机器人运送效率及底盘使用率,缩短了多货物或多终点运送时间,提升了用户体验。Based on the computer-readable storage medium provided by the foregoing embodiments of the present disclosure, the optimal robot chassis can be determined based on the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information can be sent to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.
本公开上述实施例可以通过控制全方位环境感知***,采用对角激光雷达、深度相机、后超声模组、前超声模组和侧超声模组等环境传感器全方位实时监测环境信息,从而提高了机器人运行安全性。The above-mentioned embodiments of the present disclosure can control the omni-directional environment perception system and adopt environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.
在上面所描述的机器人控制器和调度中心可以实现为用于执行本申请所描述功能的通用处理器、可编程逻辑控制器(PLC)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。The robot controller and dispatch center described above can be implemented as general-purpose processors, programmable logic controllers (PLC), digital signal processors (DSP), and application-specific integrated circuits (ASIC) for performing the functions described in this application , Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or any appropriate combination thereof.
至此,已经详细描述了本公开。为了避免遮蔽本公开的构思,没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述,完全可以明白如何实施这里公开的技术方案。So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成,也可以通过程序来指示相关的硬件完成,所述的程序可以存储于一种计算机可读存储 介质中,上述提到的存储介质可以是只读存储器,磁盘或光盘等。Those of ordinary skill in the art can understand that all or part of the steps in the foregoing embodiments can be implemented by hardware, or by a program to instruct related hardware to be completed. The program can be stored in a computer-readable storage medium. The storage medium mentioned can be a read-only memory, a magnetic disk or an optical disk, etc.
本公开的描述是为了示例和描述起见而给出的,而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用,并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。The description of the present disclosure is given for the sake of example and description, and is not exhaustive or limiting the present disclosure to the disclosed form. Many modifications and changes are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure so as to design various embodiments with various modifications suitable for specific purposes.
Claims (23)
- 一种机器人底盘,其中,机器人底盘,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;自主移动到配送任务起点,与相应机器人箱体进行对接;将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。A robot chassis, in which the robot chassis is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task; it autonomously moves to the starting point of the distribution task and docks with the corresponding robot box ; Transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box.
- 根据权利要求1所述的机器人底盘,包括顶升平台,其中:The robot chassis according to claim 1, comprising a jacking platform, wherein:顶升平台,设置在机器人底盘顶部;The jacking platform is set on the top of the robot chassis;顶升平台,用于在机器人底盘搭载机器人箱体工作过程中,由顶升***带动升起,将机器人箱体顶起;在机器人底盘搭载机器人箱体到达配送任务终点后,顶升平台下降使得机器人底盘和机器人箱体分离。The jacking platform is used to lift the robot box when the robot chassis is mounted on the robot chassis, and the robot box is lifted by the jacking system; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform is lowered so that The robot chassis and the robot box are separated.
- 根据权利要求1或2所述的机器人底盘,还包括机器人控制器,其中:The robot chassis according to claim 1 or 2, further comprising a robot controller, wherein:机器人控制器,用于接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;控制机器人底盘移动到配送任务起点,与相应机器人箱体进行对接;控制机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。The robot controller is used to receive the distribution task information issued by the dispatch center. The distribution task information includes the starting point and the ending point of the distribution task; controlling the robot chassis to move to the starting point of the distribution task and docking with the corresponding robot box; controlling the robot chassis The corresponding robot box is transported to the end of the distribution task and separated from the corresponding robot box.
- 根据权利要求3所述的机器人底盘,还包括多个环境传感器,其中:The robot chassis according to claim 3, further comprising a plurality of environmental sensors, wherein:环境传感器,用于在机器人底盘移动到配送任务起点的情况下,识别机器人箱体,将机器人箱体的识别信息发送给机器人控制器;Environmental sensors are used to identify the robot box when the robot chassis moves to the starting point of the distribution task, and send the identification information of the robot box to the robot controller;机器人控制器,用于根据机器人箱体的识别信息,调整机器人底盘的位置与机器人箱***置吻合,之后控制机器人底盘与相应机器人箱体进行对接。The robot controller is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box, and then control the robot chassis to dock with the corresponding robot box.
- 根据权利要求4所述的机器人底盘,还包括提示装置,其中:The robot chassis according to claim 4, further comprising a prompting device, wherein:环境传感器,用于在机器人底盘移动过程中,实时监控环境信息并将监控信息发送给机器人控制器;Environmental sensors are used to monitor environmental information in real time during the movement of the robot chassis and send the monitoring information to the robot controller;机器人控制器,用于通过环境信息实时判断机器人底盘是否受阻,在机器人运动受阻的情况下,根据环境信息判定障碍物为动态障碍物或静态障碍物;The robot controller is used to judge whether the robot chassis is blocked in real time based on the environment information, and when the robot movement is blocked, determine whether the obstacle is a dynamic obstacle or a static obstacle according to the environmental information;提示装置,用于在机器人控制器判断障碍物为动态障碍物的情况下,根据机器人控制器的指示,提示动态障碍物离开;并实时显示机器人底盘状态信息。The prompting device is used to prompt the dynamic obstacle to leave when the robot controller determines that the obstacle is a dynamic obstacle, and to prompt the dynamic obstacle to leave according to the instructions of the robot controller; and to display the status information of the robot chassis in real time.
- 根据权利要求5所述的机器人底盘,其中,The robot chassis according to claim 5, wherein:机器人控制器,还用于在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物;在提示装置的提示有效的情况下,控制机器人底盘继续运行;在提示装置的提示无效的情况下,进行局部路径规划自主避开障碍物。The robot controller is also used for local path planning to avoid obstacles autonomously when the obstacle is a static obstacle; when the prompt of the prompt device is valid, control the robot chassis to continue running; when the prompt of the prompt device is invalid In the case of local path planning, avoid obstacles autonomously.
- 根据权利要求3所述的机器人底盘,还包括防碰撞模组,其中:The robot chassis according to claim 3, further comprising an anti-collision module, wherein:防碰撞模组设置在机器人底盘的前后两侧;Anti-collision modules are arranged on the front and rear sides of the robot chassis;防碰撞模组,用于运行过程中机器人与其他物体碰撞的情况下,进行碰撞检测紧急制动。The anti-collision module is used for collision detection and emergency braking when the robot collides with other objects during operation.
- 一种配送机器人,包括机器人箱体和如权利要求1-7中任一项所述的机器人底盘。A delivery robot, comprising a robot box and the robot chassis according to any one of claims 1-7.
- 根据权利要求8所述的配送机器人,其中,机器人箱体包括显示屏幕、急停按钮、人工推手、状态指示灯、带锁仓门和超声模组中的至少一项。The delivery robot according to claim 8, wherein the robot box includes at least one of a display screen, an emergency stop button, a manual pusher, a status indicator, a door with a lock, and an ultrasonic module.
- 一种调度中心,包括:A dispatch center including:配送数据接收模块,用于接收配送管理***上传的配送任务数据;The distribution data receiving module is used to receive the distribution task data uploaded by the distribution management system;配送信息发送模块,用于将配送任务信息发送给机器人底盘,以便机器人底盘依据所述配送任务信息移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。The distribution information sending module is used to send the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task according to the distribution task information. The robot chassis docks with the corresponding robot box, and the robot chassis transports the corresponding robot box to The end of the delivery task is separated from the corresponding robot box, where the delivery task information includes the start of the delivery task and the end of the delivery task.
- 一种调度中心,包括:A dispatch center including:调度中心存储器,用于存储指令;Dispatching center memory, used to store instructions;调度中心处理器,用于执行所述指令,使得所述调度中心执行如下操作:接收配送管理***上传的配送任务数据;将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体 运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。The dispatch center processor is used to execute the instructions so that the dispatch center performs the following operations: receiving the distribution task data uploaded by the distribution management system; sending the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task, and the robot The chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box. The delivery task information includes the starting point of the delivery task and the end of the delivery task.
- 一种配送机器人控制***,其特征在于,如权利要求1-7中任一项所述的机器人底盘和如权利要求10或11所述的调度中心。A distribution robot control system, characterized in that the robot chassis according to any one of claims 1-7 and the dispatch center according to claim 10 or 11.
- 根据权利要求12所述的配送机器人控制***,还包括:The delivery robot control system according to claim 12, further comprising:配送管理***,用于接收用户输入的配送信息,根据配送信息建立配送任务,其中,配送信息包括配送任务起点、配送任务终点和配送任务类型;将新建的配送任务数据上传给调度中心。The distribution management system is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; the newly created distribution task data is uploaded to the dispatch center.
- 一种配送机器人控制方法,包括:A control method of a distribution robot includes:接收调度中心下发的配送任务信息,其中,配送任务信息包括配送任务起点和配送任务终点;Receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task;控制机器人底盘移动到配送任务起点,将机器人底盘与相应机器人箱体进行对接;Control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box;控制机器人底盘按照配送任务路径将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离。Control the robot chassis to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate it from the corresponding robot box.
- 根据权利要求14所述的配送机器人控制方法,其中,The delivery robot control method according to claim 14, wherein:所述将机器人底盘与相应机器人箱体进行对接包括:控制机器人底盘的顶升***带动顶升平台升起,将机器人箱体顶起;The docking of the robot chassis with the corresponding robot box includes: controlling the jacking system of the robot chassis to drive the jacking platform to rise, and jack up the robot box;所述配送机器人控制方法还包括:在机器人底盘搭载机器人箱体工作过程中,控制顶升平台保持机器人箱体的顶起状态;在机器人底盘搭载机器人箱体到达配送任务终点后,控制顶升平台下降使得机器人底盘和机器人箱体分离。The delivery robot control method further includes: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis carrying the robot box; after the robot chassis carrying the robot box reaches the end of the delivery task, controlling the jacking platform The descent separates the robot chassis from the robot box.
- 根据权利要求15所述的配送机器人控制方法,其中,所述控制机器人底盘的顶升***带动顶升平台升起,将机器人箱体顶起包括:The distribution robot control method according to claim 15, wherein the lifting system for controlling the robot chassis drives the lifting platform to lift, and lifting the robot box comprises:控制顶升平台与配送机器人箱体配合,将顶升平台上升达到预定位置后,使得箱体车轮悬空。The control jacking platform cooperates with the distribution robot box, and after the jacking platform is raised to a predetermined position, the box wheels are suspended.
- 根据权利要求14-16中任一项所述的配送机器人控制方法,还包括:The delivery robot control method according to any one of claims 14-16, further comprising:在机器人底盘移动到配送任务起点的情况下,通过环境传感器,识别机器人箱体;When the robot chassis moves to the starting point of the distribution task, the robot box is identified through environmental sensors;根据机器人箱体的识别信息,调整机器人底盘的位置与机器人箱***置吻合,之后执行将机器人底盘与相应机器人箱体进行对接的步骤。According to the identification information of the robot box, adjust the position of the robot chassis to match the position of the robot box, and then perform the steps of docking the robot chassis with the corresponding robot box.
- 根据权利要求14-16中任一项所述的配送机器人控制方法,还包括:The delivery robot control method according to any one of claims 14-16, further comprising:在机器人底盘移动过程中,通过环境传感器实时监控环境信息并实时判断机器人底盘是否受阻;During the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time judgment of whether the robot chassis is blocked;在机器人运动受阻的情况下,根据环境传感器的信息判定障碍物为动态障碍物或静态障碍物;In the case that the movement of the robot is blocked, the obstacle is determined as a dynamic obstacle or a static obstacle according to the information of the environmental sensor;在障碍物为静态障碍物的情况下,进行局部路径规划自主避开障碍物。When the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.
- 根据权利要求18所述的配送机器人控制方法,还包括:The control method of a delivery robot according to claim 18, further comprising:在障碍物为动态障碍物的情况下,启动提示装置提示动态障碍物离开;When the obstacle is a dynamic obstacle, the prompt device is activated to prompt the dynamic obstacle to leave;如果提示有效,则控制机器人底盘继续运行;If the prompt is valid, control the robot chassis to continue running;如果提示无效,则执行进行局部路径规划自主避开障碍物的步骤。If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
- 根据权利要求14-16中任一项所述的配送机器人控制方法,还包括:The delivery robot control method according to any one of claims 14-16, further comprising:在运行过程中机器人与其他物体发生碰撞的情况下,控制防碰撞模组进行碰撞检测紧急制动,其中,防碰撞模组设置在机器人底盘的前后两侧。When the robot collides with other objects during operation, the anti-collision module is controlled to perform collision detection and emergency braking. The anti-collision module is arranged on the front and rear sides of the robot chassis.
- 一种配送机器人控制方法,包括:A control method of a distribution robot includes:接收配送管理***上传的配送任务数据;Receive distribution task data uploaded by the distribution management system;将配送任务信息发送给机器人底盘,以便机器人底盘移动到配送任务起点,机器人底盘与相应机器人箱体进行对接,机器人底盘将相应机器人箱体运送至配送任务终点,与相应机器人箱体进行分离,其中,配送任务信息包括配送任务起点和配送任务终点。Send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box. , The distribution task information includes the starting point of the distribution task and the ending point of the distribution task.
- 根据权利要求21所述的配送机器人控制方法,其中,所述将配送任务信息发送给机器人底盘包括:The delivery robot control method according to claim 21, wherein the sending the delivery task information to the robot chassis comprises:指示所有机器人底盘进行自检;Instruct all robot chassis to perform self-inspection;获取所有机器人底盘的自检信息;Obtain the self-inspection information of all robot chassis;根据所有机器人底盘的自检信息、配送任务数据和配送任务信息确定最优机器人底盘;Determine the optimal robot chassis based on the self-inspection information, distribution task data and distribution task information of all robot chassis;将配送任务信息发送给最优机器人底盘。Send the distribution task information to the optimal robot chassis.
- 一种计算机可读存储介质,其中,所述计算机可读存储介质存储计算机指令,所述指令被处理器执行时实现如权利要求14-22中任一项所述的配送机器人控制方法。A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the delivery robot control method according to any one of claims 14-22 is realized.
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