WO2022001809A1

WO2022001809A1 - Conveying robot and control method therefor

Info

Publication number: WO2022001809A1
Application number: PCT/CN2021/102025
Authority: WO
Inventors: 谢耿勋; 姚秀军; 王重山; 李尚�; 王辉; 罗欣
Original assignee: 京东科技信息技术有限公司
Priority date: 2020-06-30
Filing date: 2021-06-24
Publication date: 2022-01-06
Also published as: CN113859383A; CN113859383B

Abstract

A conveying robot and a control method therefor. The conveying robot comprises a chassis (7), a traction structure, an environment perception assembly (8), and a human-computer interaction assembly (9); the chassis (7) is used for driving the conveying robot to move; the traction structure is provided on a tail portion of the conveying robot, fixed on the chassis (7), and used for connecting to an object to be drawn; the environment perception assembly (8) is used for providing navigation and obstacle avoidance for the conveying robot; and the human-computer interaction assembly (9) is provided on a head portion of the conveying robot and used for achieving a human-computer interaction with the conveying robot.

Description

运送机器人及其控制方法Transport robot and control method thereof

相关申请的引用Citations to Related Applications

本公开要求于2020年6月30日向中华人民共和国国家知识产权局提交的申请号为202010618106.3、名称为“运送机器人及其控制方法”的发明专利申请的全部权益，并通过引用的方式将其全部内容并入本文。This disclosure claims the entire rights and interests of the invention patent application with the application number 202010618106.3 and titled "Transportation Robot and its Control Method" filed with the State Intellectual Property Office of the People's Republic of China on June 30, 2020, and is hereby incorporated by reference in its entirety The contents are incorporated herein.

领域field

本公开大体上涉及机器人技术领域，更具体地，涉及运送机器人以及该运送机器人的控制方法。The present disclosure generally relates to the field of robotics, and more particularly, to a transport robot and a control method of the transport robot.

背景background

随着人工智能技术的飞速发展，机器人在功能和技术层次上有了很大的提高，拥有移动能力的机器人逐渐进入更多领域，为人们提供各种服务。多种场景下，机器人可以完成餐饮运送，医疗物品运送、垃圾运送等低技术而又重复性的工作，运送类机器人行业正在快速发展，按照运送的形式来分类，运送机器人可以分为一体式机器人，牵引式机器人，顶升式机器人等三类。With the rapid development of artificial intelligence technology, the function and technical level of robots have been greatly improved, and robots with mobile capabilities have gradually entered more fields to provide people with various services. In a variety of scenarios, robots can complete low-tech and repetitive tasks such as catering delivery, medical item delivery, and garbage delivery. The delivery robot industry is developing rapidly. According to the form of delivery, delivery robots can be divided into integrated robots. , traction robots, jacking robots and other three categories.

现有机器人在运输过程中大都存在局限性，例如现有的各种机器人对于场景中医疗设备推车、工厂物料推车、餐饮推车等无法实现自主连接，自主断开，并将其运送至目的地。Most of the existing robots have limitations in the transportation process. For example, various existing robots cannot autonomously connect to medical equipment carts, factory material carts, and catering carts in the scene, disconnect them autonomously, and transport them to destination.

概述Overview

一方面，本公开涉及运送机器人，其包括：In one aspect, the present disclosure relates to a delivery robot comprising:

底盘，用于驱动所述运送机器人运动；a chassis for driving the transport robot to move;

牵引结构，设置于所述运送机器人的车尾部分，固定在所述底盘上，用于与待牵引对象进行连接；a traction structure, arranged on the rear part of the transport robot, fixed on the chassis, and used for connecting with the object to be towed;

环境感知组件，用于为所述运送机器人提供导航和避障；以及an environment perception component for providing navigation and obstacle avoidance for the delivery robot; and

人机交互组件，设置于所述运送机器人的车头部分，用于实现与所述运送机器人的人机交互。The human-computer interaction component is arranged on the front part of the transport robot, and is used for realizing human-computer interaction with the transport robot.

在某些实施方案中，所述运送机器人还包括控制器和用于获取待牵引对象图像信息的图像采集装置，所述图像采集装置安装在所述运送机器人的尾部，所述控制器用于在所述图像信息中识别设置于待牵引对象上的识别码，并确定所述识别码在所述待牵引对象上的位置信息。In some embodiments, the transport robot further includes a controller and an image acquisition device for acquiring image information of the object to be towed, the image acquisition device is installed at the tail of the transport robot, and the controller is used for The identification code set on the object to be pulled is identified in the image information, and the position information of the identification code on the object to be pulled is determined.

在某些实施方案中，所述牵引结构包括：In certain embodiments, the traction structure includes:

抱夹组件，包括固定部和滑动设置在所述固定部上相互正对的两个夹持件；以及a holding clip assembly, comprising a fixed part and two clips slidably arranged on the fixed part facing each other; and

三维移动机构，包括用于驱动两个所述夹持件沿X轴方向相互靠近或远离的X轴移动组件、用于驱动所述抱夹组件沿Y轴方向移动的Y轴移动组件和用于驱动所述抱夹组件沿Z轴方向移动的Z轴移动组件，所述X轴、Y轴和Z轴彼此正交。A three-dimensional moving mechanism includes an X-axis moving assembly for driving two of the clamps to approach or move away from each other along the X-axis direction, a Y-axis moving assembly for driving the clamping assembly to move along the Y-axis direction, and a Y-axis moving assembly for driving the clamp assembly. A Z-axis moving assembly that drives the clamping assembly to move along the Z-axis direction, the X-axis, Y-axis and Z-axis are orthogonal to each other.

在某些实施方案中，所述抱夹组件和所述X轴移动组件滑动连接在所述Y轴移动组件上，所述Y轴移动组件滑动连接在所述Z轴移动组件上。In some embodiments, the clamp assembly and the X-axis moving assembly are slidably connected to the Y-axis moving assembly, and the Y-axis moving assembly is slidably connected to the Z-axis moving assembly.

在某些实施方案中，所述X轴移动组件包括平行于所述X轴方向的第一丝杠和用于驱动所述第一丝杠转动的第一驱动机构，所述第一丝杠为双向丝杠，两个所述夹持件匹配螺接在所述双向丝杠上螺纹旋向相反的两个螺纹段上。In some embodiments, the X-axis moving assembly includes a first lead screw parallel to the X-axis direction and a first driving mechanism for driving the first lead screw to rotate, and the first lead screw is In the bidirectional lead screw, the two clamping pieces are matched and screwed on the two threaded segments of the two-way lead screw with opposite threaded directions.

在某些实施方案中，所述Y轴移动组件包括平行于所述Y轴方向的第二丝杠和用于驱动所述第二丝杠转动的第二驱动机构，所述固定部匹配螺接在所述第二丝杠上。In some embodiments, the Y-axis moving assembly includes a second lead screw parallel to the Y-axis direction and a second driving mechanism for driving the second lead screw to rotate, and the fixing portion is matched with a screw connection on the second lead screw.

在某些实施方案中，运送机器人还包括垂直于Z轴方向的支撑板，所述Y轴移动组件固定在所述支撑板上。In some embodiments, the transport robot further includes a support plate perpendicular to the Z-axis direction, and the Y-axis moving component is fixed on the support plate.

在某些实施方案中，所述抱夹组件滑动连接在所述支撑板上，所述Z轴移动组件包括平行于所述Z轴方向的第三丝杠和用于驱动所述第三丝杠转动的第三驱动机构，所述支撑板匹配螺接在所述第三丝杠上。In some embodiments, the clamp assembly is slidably connected to the support plate, and the Z-axis moving assembly includes a third lead screw parallel to the Z-axis direction and a third lead screw for driving the third lead screw In the third rotating drive mechanism, the support plate is matched and screwed on the third lead screw.

在某些实施方案中，所述夹持件为夹板，两个所述夹持件相互正对的一侧设置有缓冲垫。In some embodiments, the clamps are splints, and a buffer pad is provided on the opposite sides of the two clamps.

在某些实施方案中，所述Z轴移动组件固定在所述底盘上，所述底盘上设置有若干与垂直穿过所述支撑板的导向杆，所述支撑板在所述Z轴移动组件的驱动下沿所述导向杆往复移动。In some embodiments, the Z-axis moving assembly is fixed on the chassis, and the chassis is provided with a number of guide rods that vertically pass through the support plate, and the support plate is on the Z-axis moving assembly The drive reciprocates along the guide rod.

在某些实施方案中，所述底盘包括本体、驱动轮、万向轮、减震机构和第四驱动机构，所述驱动轮通过所述减震机构与所述本体连接，所述第四驱动机构用于驱动所述驱动轮，所述万向轮安装在所述本体上。In some embodiments, the chassis includes a body, a driving wheel, a universal wheel, a damping mechanism and a fourth driving mechanism, the driving wheel is connected to the body through the damping mechanism, and the fourth driving mechanism The mechanism is used to drive the drive wheel, and the universal wheel is mounted on the body.

在某些实施方案中，所述环境感知组件包括激光雷达、超声波传感器、热红外传感器、防碰撞传感器和防跌落传感器中的至少一种。In certain embodiments, the environment perception component includes at least one of a lidar, an ultrasonic sensor, a thermal infrared sensor, an anti-collision sensor, and an anti-drop sensor.

在某些实施方案中，所述人机交互组件包括前指示灯、触摸屏、声音模块、开关机按钮、急停按钮和警示灯。In some embodiments, the human-computer interaction component includes a front indicator light, a touch screen, a sound module, a switch button, an emergency stop button, and a warning light.

另一方面，本公开涉及运送机器人的控制方法，该方法应用于本公开的运送机器人，所述方法包括：In another aspect, the present disclosure relates to a control method of a transport robot, the method being applied to the transport robot of the present disclosure, the method comprising:

通过图像采集装置进行图像采集，得到待牵引对象的图像信息；Perform image acquisition through the image acquisition device to obtain image information of the object to be pulled;

在所述图像信息中识别设置于待牵引对象上的识别码，并确定所述识别码在所述待牵引对象中的位置信息；Identifying the identification code set on the object to be pulled in the image information, and determining the position information of the identification code in the object to be pulled;

根据所述位置信息确定牵引结构与所述待牵引对象的相对位置；以及Determine the relative position of the pulling structure and the object to be pulled according to the position information; and

基于所述相对位置对底盘和牵引结构进行移动操作，以使所述牵引结构与所述待牵引对象结合。The chassis and the traction structure are moved based on the relative positions, so that the traction structure is combined with the object to be towed.

在某些实施方案中，所述通过图像采集装置进行图像采集之前，还包括：In some embodiments, before the image acquisition by the image acquisition device, the method further includes:

通过人机交互组件接收用户发送的操作信息；Receive the operation information sent by the user through the human-computer interaction component;

根据所述操作信息，控制底盘进行运动；以及controlling the chassis to move according to the operating information; and

通过环境感知组件获取环境数据，并根据所述环境数据进行定位导航处理，控制所述运送机器人运动至待牵引对象所在的位置。The environmental data is acquired through the environmental perception component, and positioning and navigation processing is performed according to the environmental data, so as to control the transport robot to move to the position where the object to be pulled is located.

本公开某些实施方案中的运送机器人，通过环境感知组件和人机交互组件的配合，控制牵引结构和底盘的运动，可以精确的将运送机器人导航至指定位置，实现与点牵引对象的连接，并带动待牵引对象一起运动。The transport robot in some embodiments of the present disclosure controls the movement of the traction structure and the chassis through the cooperation of the environment perception component and the human-computer interaction component, so that the transport robot can be accurately navigated to a designated position, and the connection with the point traction object can be realized. And drive the object to be pulled to move together.

附图的简要说明Brief Description of Drawings

构成本公开的一部分的附图用来提供对本公开的进一步理解，使得本公开的其它特征、目的和优点变得更明显。本公开的示意性实施例附图及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：The accompanying drawings, which constitute a part of this disclosure, are included to provide a further understanding of the disclosure, and to make other features, objects, and advantages of the disclosure more apparent. The accompanying drawings and descriptions of the exemplary embodiments of the present disclosure are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached image:

图1示意性的给出了本公开一实施例提供的运送机器人在抱夹组件处于收缩状态下的立体结构图；FIG. 1 schematically shows a three-dimensional structural view of a transport robot provided by an embodiment of the present disclosure when the clamp assembly is in a retracted state;

图2示意性的给出了本公开一实施例提供的运送机器人在抱夹组件处于张开状态下的立体结构图；FIG. 2 schematically shows a three-dimensional structural view of the transport robot provided by an embodiment of the present disclosure when the clamp assembly is in an open state;

图3示意性的给出了本公开一实施例提供的运送机器人在抱夹组件处于张开状态下的俯视图；FIG. 3 schematically shows a top view of the transport robot provided by an embodiment of the present disclosure when the clamp assembly is in an open state;

图4示意性的给出了本公开一实施例提供的运送机器人的前视图；FIG. 4 schematically shows a front view of a transport robot provided by an embodiment of the present disclosure;

图5示意性的给出了本公开一实施例提供的运送机器人的部分剖视图；FIG. 5 schematically shows a partial cross-sectional view of a transport robot provided by an embodiment of the present disclosure;

图6示意性的给出了本公开一实施例提供的运送机器人的仰视图；FIG. 6 schematically shows a bottom view of a transport robot provided by an embodiment of the present disclosure;

图7示意性的给出了本公开一实施例提供的牵引结构的立体结构图一；FIG. 7 schematically shows a three-dimensional structure diagram 1 of a traction structure provided by an embodiment of the present disclosure;

图8示意性的给出了本公开一实施例提供的牵引结构的立体结构图二；FIG. 8 schematically shows a second perspective structure diagram of a traction structure provided by an embodiment of the present disclosure;

图9示意性的给出了本公开一实施例提供的牵引结构的立体结构图三；FIG. 9 schematically shows a three-dimensional structure diagram of a traction structure provided by an embodiment of the present disclosure;

图10示意性的给出了本公开一实施例提供的运送机器人在移动推车过程中的结构图；FIG. 10 schematically shows a structural diagram of a transport robot provided by an embodiment of the present disclosure in the process of moving a cart;

图11示意性的给出了本公开一实施例提供的运送机器人控制***的结构框图；FIG. 11 schematically shows a structural block diagram of a transport robot control system provided by an embodiment of the present disclosure;

图12示意性的给出了本公开一实施例提供的运送机器人控制方法的流程框图；以及Fig. 12 schematically shows a flow chart of a method for controlling a transport robot provided by an embodiment of the present disclosure; and

图13示意性的给出了本公开一实施例提供的运送机器人的工作流程图。FIG. 13 schematically shows a work flow diagram of a transport robot provided by an embodiment of the present disclosure.

图中：In the picture:

1、抱夹组件；101、固定部；102、夹持件；103、缓冲垫；104、连接板；2、X轴移动组件；201、第一丝杠；202、第一驱动机构；203、第一滑轨；204、第一滑块；3、Y轴移动组件；301、第二丝杠；302、第二驱动机构；303、第二滑轨；304、第二滑块；4、Z轴移动组件；401、第三驱动机构；402、第三滑轨；403、支撑板；404、导向杆；5、图像采集装置；6、外壳；7、底盘；701、本体；702、驱动轮；703、万向轮；704、减震机构；705、第四驱动机构；706、侧指示灯；707、电源；708、充电接口；8、环境感知组件；801、激光雷达；802、超声波传感器；803、热红外传感器；804、防碰撞传感器；805、防跌落传感器；9、人机交互组件；901、前指示灯；902、触摸屏；903、声音模块；904、开关机按钮；905、急停按钮；10、推车；11、识别码。1. Clamp assembly; 101, fixed part; 102, clamping part; 103, buffer pad; 104, connecting plate; 2, X-axis moving assembly; 201, first lead screw; 202, first drive mechanism; 203, 204, the first sliding block; 3, the Y-axis moving assembly; 301, the second lead screw; 302, the second driving mechanism; 303, the second sliding rail; 304, the second sliding block; 4, Z Shaft moving assembly; 401, the third drive mechanism; 402, the third slide rail; 403, the support plate; 404, the guide rod; 5, the image acquisition device; 6, the casing; 7, the chassis; 701, the body; 702, the driving wheel ;703, universal wheel; 704, shock absorption mechanism; 705, fourth drive mechanism; 706, side indicator light; 707, power supply; 708, charging interface; 8, environmental perception component; 801, lidar; 802, ultrasonic sensor ;803, thermal infrared sensor; 804, anti-collision sensor; 805, anti-drop sensor; 9, human-computer interaction component; 901, front indicator light; 902, touch screen; 903, sound module; 904, switch button; 905, emergency Stop button; 10. Cart; 11. Identification code.

详述detail

为了使本技术领域的人员更好地理解本公开方案，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的实施例，而不是全部的实施例。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，都应当属于本公开保护的范围。In order to make those skilled in the art better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only Embodiments are part of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second" and the like in the description and claims of the present disclosure and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances for the embodiments of the present disclosure described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

在本公开中，术语“上”、“下”、“内”、“中”、“外”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本公开及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。In the present disclosure, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or position shown in the drawings relation. These terms are primarily used to better describe the present disclosure and embodiments thereof, and are not intended to limit the fact that the indicated device, element, or component must have a particular orientation, or be constructed and operated in a particular orientation.

并且，上述部分术语除了可以用于表示方位或位置关系以外，还可能用于表示其他含义，例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言，可以根据具体情况理解这些术语在本公开中的具体含义。In addition, some of the above-mentioned terms may be used to express other meanings besides orientation or positional relationship. For example, the term "on" may also be used to express a certain attachment or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present disclosure can be understood according to specific situations.

此外，术语“设置”、“连接”、“固定”应做广义理解。例如，“连接”可以是固定连接，可拆卸连接，或整体式构造；可以是机械连接，或电连接；可以是直接相连，或者是通过中间媒介间接相连，又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。Furthermore, the terms "arranged", "connected", "fixed" should be construed broadly. For example, "connection" may be a fixed connection, a detachable connection, or a unitary construction; it may be a mechanical connection, or an electrical connection; it may be a direct connection, or an indirect connection through an intermediary, or two devices, elements or Internal connectivity between components. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。下面将参考附图1-13并结合实施例来详细说明本公开。It should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to FIGS. 1-13 in conjunction with embodiments.

实施例1Example 1

如图1-6所示，本实施例提供了运送机器人。图1给出了运送机器人在抱夹组件1处于收缩状态下的立体结构图；图2给出了运送机器人在抱夹组件1处于张开状态下的立体结构图；图3给出了运送机器人在抱夹组件1处于张开状态下的俯视图；图4给出了运送机器人的前视图；图5给出了运送机器人的部分剖视图；并且图6给出了运送机器人的仰视图。As shown in Figures 1-6, this embodiment provides a transport robot. Figure 1 shows the three-dimensional structure diagram of the transport robot when the clamp assembly 1 is in a retracted state; Figure 2 shows the three-dimensional structure diagram of the transport robot when the clamp assembly 1 is in an open state; Figure 3 shows the transport robot Figure 4 shows a front view of the transport robot; Figure 5 shows a partial cross-sectional view of the transport robot; and Figure 6 shows a bottom view of the transport robot.

本公开实施例提供的运送机器人包括底盘7、牵引结构、环境感知组件8和人机交互组件9，其中，底盘7用于驱动所述运送机器人运动；牵引结构设置于所述运送机器人的车尾部分，固定在所述底盘7上，用于与待牵引对象进行连接；环境感知组件8，用于为所述运送机器人提供导航和避障；人机交互组件9设置于所述运送机器人的车头部分，用于实现与所述运送机器人的人机交互。图11给出了运送机器人中底盘7、牵引结构、环境感知组件8和人机交互组件9的各控制和受控结构的连接关系框图。The transport robot provided by the embodiment of the present disclosure includes a chassis 7, a traction structure, an environment perception component 8 and a human-computer interaction component 9, wherein the chassis 7 is used to drive the transport robot to move; the traction structure is provided at the rear of the transport robot part, which is fixed on the chassis 7 for connecting with the object to be towed; the environment perception component 8 is used to provide navigation and obstacle avoidance for the transport robot; the human-computer interaction component 9 is arranged on the front of the transport robot part for realizing human-machine interaction with the delivery robot. FIG. 11 is a block diagram showing the connection relationship of each control and controlled structure of the chassis 7 , the traction structure, the environment perception component 8 and the human-computer interaction component 9 in the transport robot.

如图所示，底盘7包括本体701、驱动轮702、万向轮703、减震机构704和第四驱动机构705，所述驱动轮702通过所述减震机构704与所述本体701连接，所述第四驱动机构705用于驱动所述驱动轮702，所述万向轮703安装在所述本体701上。机器人的底盘7为机器人提供了运动能力，机器人可进行前进、后退、旋转运动，其包括呈方形设置的主体结构。万向轮703优选设置于主体的四个圆角处，支撑机器人重量，使得支撑面积最大化，保证机器人的平稳运动；驱动轮702对称放置于主体左右两位置，可以实现以底盘7中心为中心，进行旋转运动，其固定在减震机构704上，减震机构704可以确保驱动轮702与地面的接触，保证驱动轮702提供足够动力；机器人具有较小的转弯半径和较强的稳定性；第四驱动机构705优选为电机，其与驱动轮702相连，为机器人前进提供动力，电源707优选为电池，设置于机器人底盘7中部偏后的位置，充电极位于主体的后方，是机器人电池的充电接口708；侧指示灯706位于主体的两侧，指示机器人目前运行状态，提醒周围人员。As shown in the figure, the chassis 7 includes a main body 701, a driving wheel 702, a universal wheel 703, a damping mechanism 704 and a fourth driving mechanism 705. The driving wheel 702 is connected to the main body 701 through the damping mechanism 704, The fourth driving mechanism 705 is used for driving the driving wheel 702 , and the universal wheel 703 is mounted on the body 701 . The chassis 7 of the robot provides the robot with motion capability, and the robot can perform forward, backward, and rotational motions, and includes a main structure arranged in a square shape. The universal wheels 703 are preferably arranged at the four rounded corners of the main body to support the weight of the robot, so as to maximize the support area and ensure the smooth movement of the robot; the driving wheels 702 are symmetrically placed at the left and right positions of the main body, which can realize the center of the chassis 7 as the center , performs a rotary motion, which is fixed on the damping mechanism 704, the damping mechanism 704 can ensure the contact between the driving wheel 702 and the ground, and ensure that the driving wheel 702 provides sufficient power; the robot has a small turning radius and strong stability; The fourth driving mechanism 705 is preferably a motor, which is connected with the driving wheel 702 to provide power for the robot to move forward. The power source 707 is preferably a battery, which is arranged at the rear of the middle of the robot chassis 7. The charging pole is located at the rear of the main body and is the battery of the robot. The charging interface 708; the side indicator lights 706 are located on both sides of the main body, indicating the current running state of the robot and reminding the surrounding people.

如图7-9所示，给出了本公开实施例提供的牵引结构的示意图。牵引结构包括抱夹组件1和三维移动机构，其中，抱夹组件1包括固定部101和夹持件102，夹持件102设置有两个且均滑动设置在所述固定部101上，两个夹持件102相互正对设置。三维移动机构与抱夹组件1连接，三维移动机构包括X轴移动组件、Y轴移动组件和Z轴移动组件，X轴移动组件用于驱动两个所述夹持件102沿X轴方向相互靠近或远离，Y轴移动组件用于驱动所述抱夹组件1沿Y轴方向移动，Z轴移动组件用于驱动所述抱夹组件1沿Z轴方向移动，X轴方向、Y轴方向和Z轴方向彼此正交且X轴的方向为两个夹持件102相互靠近或远离的方向。As shown in FIGS. 7-9 , schematic diagrams of the traction structure provided by the embodiments of the present disclosure are given. The traction structure includes a clamp assembly 1 and a three-dimensional moving mechanism, wherein the clamp assembly 1 includes a fixed part 101 and a clamping member 102. The clamping members 102 are disposed opposite to each other. The three-dimensional moving mechanism is connected with the clamp assembly 1, and the three-dimensional moving mechanism includes an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly, and the X-axis moving assembly is used to drive the two clamping members 102 to approach each other along the X-axis direction. Or away, the Y-axis moving assembly is used to drive the clamp assembly 1 to move along the Y-axis direction, the Z-axis moving assembly is used to drive the clamp assembly 1 to move along the Z-axis direction, the X-axis direction, the Y-axis direction and the Z-axis direction The axial directions are orthogonal to each other and the direction of the X-axis is the direction in which the two clamping members 102 approach or move away from each other.

通过本实施例的牵引结构，可以实现对夹持件102的X轴直线移动、Y轴直线移动、Z轴直线移动三个自由度的精确调整，从而可精确的将两个夹持件102调整至指定位置，可实现对推车10的抱夹，实现与推车10的连接，当该牵引结构应用于机器人时，配合机器人的底盘7和环境感知传感器，可以带动推车10一起运动。Through the traction structure of this embodiment, it is possible to accurately adjust the three degrees of freedom of the X-axis linear movement, the Y-axis linear movement, and the Z-axis linear movement of the clamping member 102 , so that the two clamping members 102 can be accurately adjusted To the designated position, the cart 10 can be clamped and connected to the cart 10. When the traction structure is applied to the robot, the cart 10 can be driven to move together with the robot's chassis 7 and the environment perception sensor.

在上面的实施例中，三维移动机构可以有多种的设置形式，图7-9示例性地给出了其中一种形式，其中X轴移动组件固定在抱夹组件1，具体可以固定在抱夹组件1的固定部101上，X轴移动组件滑动连接在所述Y轴移动组件上，从而使得X轴移动组件和抱夹组件1可以整体相对于Y轴移动组件滑动，所述Y轴移动组件滑动连接在所述Z轴移动组件上，从而使得X轴移动组件、抱夹组件1和Y轴移动组件可以整体相对于Z轴移动组件滑动。Z轴移动组件用于固定在机器人的底盘7结构上或机器人的其他固定结构上。In the above embodiment, the three-dimensional moving mechanism can be set in various forms, one of which is exemplarily shown in Figs. On the fixed part 101 of the clamp assembly 1, the X-axis moving assembly is slidably connected to the Y-axis moving assembly, so that the X-axis moving assembly and the clamp assembly 1 can slide relative to the Y-axis moving assembly as a whole, and the Y-axis moving assembly The assembly is slidably connected to the Z-axis moving assembly, so that the X-axis moving assembly, the clamp assembly 1 and the Y-axis moving assembly can slide relative to the Z-axis moving assembly as a whole. The Z-axis moving component is used to be fixed on the chassis 7 structure of the robot or other fixed structures of the robot.

其中X轴移动组件、Y轴移动组件和Z轴移动组件的具体实现方式可以有多种，可以采用现有技术中各种实现形式。The specific implementation manners of the X-axis moving component, the Y-axis moving component, and the Z-axis moving component may be various, and various implementation forms in the prior art may be adopted.

在某些实施方案中，如图所示，所述X轴移动组件包括平行于所述X轴方向的第一丝杠201和用于驱动所述第一丝杠201转动的第一驱动机构202，所述第一丝杠201为双向丝杠，两个所述夹持件102匹配螺接在所述双向丝杠上螺纹旋向相反的两个螺纹段上。在某些实施方案中，固定部101为垂直于Y轴方向设置的固定板，夹持件102为夹持板，夹持板与连接板104垂直连接形成L形结构，两个夹持板平行设置且垂直设于固定板，两个所述夹持板相互正对的一侧设置有缓冲垫103，用于增加其与被夹持对象之间的摩擦力，缓冲垫103的材质优选为橡胶。连接板104和第一丝杠201均设置在固定板的正面，连接板104平行于固定板，连接板104上设置有与第一丝杠201上的螺纹段相匹配的结构，固定板上沿X轴方向设置有第一滑轨203，连接板104上设置有与第一滑轨203匹配的第一滑块204，通过第一滑轨203与第一滑块204的配合实现夹持件102的直线移动，为了实现滑动连接的稳定性，第一滑块204和第一滑轨203优选设置有两组。第一驱动机构202优选为固定在固定板背面的伺服电机，伺服电机的输出轴与第一丝杠201平行设置，伺服电机的输出轴与第一丝杠201上均设置齿轮，两个齿轮之间通过同步带啮合连接，通过同步带和齿轮传动的方式可以合理配置各结构的空间布局。In some embodiments, as shown in the figures, the X-axis moving assembly includes a first lead screw 201 parallel to the X-axis direction and a first drive mechanism 202 for driving the first lead screw 201 to rotate , the first lead screw 201 is a bidirectional lead screw, and the two clamping members 102 are matched and screwed on two thread segments of the bidirectional lead screw with opposite screw threads. In some embodiments, the fixing portion 101 is a fixing plate arranged perpendicular to the Y-axis direction, the clamping member 102 is a clamping plate, the clamping plate and the connecting plate 104 are vertically connected to form an L-shaped structure, and the two clamping plates are parallel It is arranged vertically on the fixing plate, and a buffer pad 103 is arranged on the opposite side of the two clamping plates to increase the friction between it and the object to be clamped. The material of the buffer pad 103 is preferably rubber . The connecting plate 104 and the first lead screw 201 are both arranged on the front of the fixing plate. The connecting plate 104 is parallel to the fixing plate. The connecting plate 104 is provided with a structure matching the thread segments on the first lead screw 201. A first sliding rail 203 is provided in the X-axis direction, and a first sliding block 204 matched with the first sliding rail 203 is provided on the connecting plate 104 . The clamping member 102 is realized by the cooperation of the first sliding rail 203 and the first sliding block 204 . In order to realize the stability of the sliding connection, two groups of the first sliding block 204 and the first sliding rail 203 are preferably provided. The first drive mechanism 202 is preferably a servo motor fixed on the back of the fixed plate, the output shaft of the servo motor is arranged in parallel with the first lead screw 201, the output shaft of the servo motor and the first lead screw 201 are both provided with gears, and the two gears are arranged in parallel. The space layout of each structure can be reasonably configured by means of synchronous belt and gear transmission.

在某些实施方案中，如图所示，所述Y轴移动组件包括平行于所述Y轴方向的第二丝杠301和用于驱动所述第二丝杠301转动的第二驱动机构302，所述固定部101匹配螺接在所述第二丝杠301上。在某些实施方案中，牵引结构包括一垂直于Z轴方向的支撑板403，第二驱动机构302和第二丝杠301均设置在支撑板403上，固定板上连接有与第二丝杠301上的螺纹段相匹配的结构，支撑板403上设置有与Y轴方向平行第二滑轨303，固定板上设置有与第二滑轨303匹配的第二滑块304，通过第二滑轨303与第二滑块304的配合实现固定板的直线移动，为了实现滑动连接的稳定性，第二滑块304和第二滑轨303优选设置有两组。第二驱动机构302优选为固定在支撑板403上的伺服电机，伺服电机的输出轴与第二丝杠301平行设置，伺服电机的输出轴与第二丝杠301上均设置齿轮，两个齿轮之间通过同步带啮合连接，通过同步带和齿轮传动的方式可以合理配置各结构的空间布局。In some embodiments, as shown in the figures, the Y-axis moving assembly includes a second lead screw 301 parallel to the Y-axis direction and a second driving mechanism 302 for driving the second lead screw 301 to rotate , the fixing portion 101 is matched and screwed on the second lead screw 301 . In some embodiments, the traction structure includes a support plate 403 perpendicular to the Z-axis direction, the second drive mechanism 302 and the second lead screw 301 are both disposed on the support plate 403, and the fixing plate is connected with the second lead screw The threaded section on 301 is matched with the structure, the support plate 403 is provided with a second slide rail 303 parallel to the Y-axis direction, and the fixed plate is provided with a second slider 304 that matches the second slide rail 303. The cooperation of the rail 303 and the second sliding block 304 realizes the linear movement of the fixed plate. In order to realize the stability of the sliding connection, two groups of the second sliding block 304 and the second sliding rail 303 are preferably provided. The second driving mechanism 302 is preferably a servo motor fixed on the support plate 403. The output shaft of the servo motor is arranged in parallel with the second lead screw 301, and the output shaft of the servo motor and the second lead screw 301 are both provided with gears. They are meshed and connected by synchronous belts, and the spatial layout of each structure can be reasonably configured by means of synchronous belts and gear transmission.

在某些实施方案中，如图所示，所述Z轴移动组件包括平行于所述Z轴方向的第三丝杠(图中未示出)和用于驱动所述第三丝杠转动的第三驱动机构401，所述支撑板403匹配螺接在所述第三丝杠上。与第三驱动机构配合设置的还有与Z轴方向平行第三滑轨402，支撑板403与第三滑轨402相匹配，通过第三滑轨402与支撑板403的配合实现支撑板403的直线移动，In some embodiments, as shown in the figures, the Z-axis moving assembly includes a third lead screw (not shown in the figure) parallel to the Z-axis direction and a third lead screw for driving the third lead screw to rotate. In the third driving mechanism 401, the support plate 403 is matched and screwed on the third lead screw. A third sliding rail 402 parallel to the Z-axis direction is also arranged in cooperation with the third driving mechanism. The supporting plate 403 is matched with the third sliding rail 402. move straight,

需要说明的是，本公开实施例中第一驱动机构202、第二驱动机构302和第三驱动机构401还可以选择为电动执行器。It should be noted that, in the embodiment of the present disclosure, the first driving mechanism 202 , the second driving mechanism 302 and the third driving mechanism 401 may also be selected as electric actuators.

牵引结构安装在所述底盘7上，其中Z轴移动组件的第三驱动机构401固定在所述底盘7上，所述底盘7上设置有若干与垂直穿过所述支撑板403的导向杆404，所述支撑板403在所述Z轴移动组件的驱动下沿所述导向杆404往复移动，使得整个牵引结构沿着导向杆404上下运动。为了增强牵引结构的防尘和防水性能，牵引结构还包括有外壳6。在使用过程中，将左右方向设定为X轴方向，前后方向设定为Y轴方向，上下方向设定为Z轴方向，这样X轴移动组件可以驱动抱夹组件1在作用方向上相互靠近或远离，Y轴移动组件可以驱动所述抱夹组件1沿前后方向移动，Z轴移动组件可以驱动所述抱夹组件1沿上下方向移动。The traction structure is installed on the chassis 7, wherein the third drive mechanism 401 of the Z-axis moving assembly is fixed on the chassis 7, and the chassis 7 is provided with a number of guide rods 404 vertically passing through the support plate 403 , the support plate 403 reciprocates along the guide rod 404 under the driving of the Z-axis moving component, so that the entire traction structure moves up and down along the guide rod 404 . In order to enhance the dustproof and waterproof performance of the traction structure, the traction structure further includes a casing 6 . During use, set the left-right direction as the X-axis direction, the front-back direction as the Y-axis direction, and the up-down direction as the Z-axis direction, so that the X-axis moving assembly can drive the clamp assembly 1 to approach each other in the action direction Or away, the Y-axis moving component can drive the clip assembly 1 to move in the front-rear direction, and the Z-axis moving component can drive the clip component 1 to move in the up-down direction.

如图1所示，运送机器人的抱夹组件1处于收缩状态，可以减小运送机器人本体701的占地面积，空间占用小，移动更加零活；如图2和3所示，运送机器人的抱夹组件1处于张开状态，两个加持板相对于底盘7向后运动，且左右张开。在运送机器人的后部设置有图像采集装置5，可以辅助机器人进行视觉定位，在某些实施方案中，可以在待牵引对象上设置识别码11，通过图像采集装置5识别识别码11来判断运送机器人与待牵引对象的相对位置，同时监控运送机器人的抱夹组件1与推车10的实时位置，通过机器人本体701的移动，完成抱夹任务。其中识别码11包括但不限于二维码。As shown in FIG. 1 , the clamp assembly 1 of the transport robot is in a retracted state, which can reduce the footprint of the transport robot body 701 , occupy less space, and move more easily. As shown in FIGS. 2 and 3 , the clamps of the transport robot are The assembly 1 is in an open state, and the two support plates move backward relative to the chassis 7 and open left and right. An image acquisition device 5 is provided at the rear of the transport robot, which can assist the robot to perform visual positioning. In some embodiments, an identification code 11 can be set on the object to be pulled, and the identification code 11 can be identified by the image acquisition device 5 to determine the transport. The relative position of the robot and the object to be towed, and the real-time position of the gripping assembly 1 and the cart 10 of the transporting robot are monitored at the same time, and the gripping task is completed by the movement of the robot body 701 . The identification code 11 includes, but is not limited to, a two-dimensional code.

运送机器人通过环境感知组件8为机器人的行走提供自主导航及自主避障，环境感知组件8包括但不限于激光雷达801、超声波传感器802、热红外传感器803、防碰撞传感器804和防跌落传感器805。激光雷达801设置在机器人的正前方，用于以激光方式用于获取物体精确位置信息；超声波传感器802分布于机器人的前方和两侧，用于以超声波方式获取物***置信息，可以探测玻璃，与激光雷达801形成互补；热红外传感器803位于机器人的前方，可以利用红外线的物理性质来进行测量，用来判断是否有人靠近；防碰撞传感器804位于机器人的前方，用于在被碰撞后产生信号，被碰撞后，防碰撞传感器804将信号传送给控制器，从而控制机器人停止运动，是机器人的一层安全防线；防跌落传感器805位于底盘7的下方，通过距离的检测判断前方路面是否为台阶、深坑等。通过激光雷达801，超声波传感器802，热红外传感器803的融合算法，让机器人更准确的感知周围的环境，可以保障机器人的导航避障，防碰撞传感器804可以作为机器人的最后一道防护传感器。The transport robot provides autonomous navigation and autonomous obstacle avoidance for the robot to walk through the environment perception component 8 . The environment perception component 8 includes but is not limited to lidar 801 , ultrasonic sensor 802 , thermal infrared sensor 803 , anti-collision sensor 804 and anti-drop sensor 805 . The lidar 801 is arranged in front of the robot, and is used to obtain the precise position information of the object in a laser manner; the ultrasonic sensors 802 are distributed in front and on both sides of the robot, and are used to obtain the position information of the object in an ultrasonic manner. The lidar 801 is complementary; the thermal infrared sensor 803 is located in front of the robot and can be measured by using the physical properties of infrared rays to determine whether someone is approaching; the anti-collision sensor 804 is located in front of the robot and is used to generate a signal after being collided, After being collided, the anti-collision sensor 804 transmits a signal to the controller, thereby controlling the robot to stop moving, which is a safety line of defense for the robot; the anti-drop sensor 805 is located under the chassis 7, and determines whether the road ahead is a step, Deep pit etc. Through the fusion algorithm of lidar 801, ultrasonic sensor 802, and thermal infrared sensor 803, the robot can perceive the surrounding environment more accurately, which can ensure the robot's navigation and obstacle avoidance. The anti-collision sensor 804 can be used as the last protection sensor of the robot.

运送机器人通过人机交互组件9设置于机器人的车头部分，其提供了人机交互的平台。人机交互组件9包括但不限于前指示灯901、触摸屏902、声音模块903、开关机按钮904、急停按钮905和警示灯。工作人员可以通过触摸屏902或远程平台下发指令控制机器人；前指示灯901设置在机器人前方的中间位置，用于指示机器人运行状态；声音模块903设置于机器人的头部两侧，用于发出提示和警示的声音；开关机按钮904设置于机器人的上方，用于控制机器人的开机和关机；急停按钮905设置于机器人的上方，在紧急情况下按下急停按钮905，机器人会暂停运动。The transport robot is arranged on the front part of the robot through the human-computer interaction component 9, which provides a platform for human-computer interaction. The human-computer interaction component 9 includes, but is not limited to, a front indicator light 901 , a touch screen 902 , a sound module 903 , a switch button 904 , an emergency stop button 905 and a warning light. The staff can issue commands to control the robot through the touch screen 902 or the remote platform; the front indicator light 901 is set in the middle position in front of the robot to indicate the running state of the robot; the sound module 903 is set on both sides of the robot's head to give out prompts The power button 904 is placed above the robot to control the startup and shutdown of the robot; the emergency stop button 905 is placed above the robot. Press the emergency stop button 905 in an emergency and the robot will suspend movement.

根据上述实施例的运送机器人还可以包括传动机构及控制电路等其他必要组件或结构，并且对应的布置位置和连接关系均可参考现有技术中的机器人，各未述及结构的连接关系、操作及工作原理对于本领域的普通技术人员来说是可知的，在此不再详细描述。The transport robot according to the above embodiment may also include other necessary components or structures such as a transmission mechanism and a control circuit, and the corresponding arrangement positions and connection relationships may refer to robots in the prior art, and the connection relationship and operation of each structure are not mentioned. And the working principle is known to those of ordinary skill in the art, and will not be described in detail here.

实施例2Example 2

本实施例提供了运送机器人的控制方法，该方法可以应用于实施例1中的运送机器人。如图所示，所述方法包括步骤1201-1204。This embodiment provides a control method for a transport robot, which can be applied to the transport robot in Embodiment 1. As shown, the method includes steps 1201-1204.

步骤1201：通过图像采集装置进行图像采集，得到待牵引对象的图像信息。在某些实施方案中，在工作过程中，运送机器人通常与待牵引对象放置在同一区域内；或者，运送机器人在进行工作后可以通过导航和定位***运动至待牵引对象所在的区域，以使得待牵引对象能够进入到运送机器人上设置的图像采集装置的采集范围内，运送机器人可以图像采集装置对待牵引对象进行图像采集，得到待牵引对象的图像信息。Step 1201: Perform image acquisition by an image acquisition device to obtain image information of the object to be pulled. In some embodiments, during the working process, the transport robot is usually placed in the same area as the object to be towed; alternatively, the transport robot can move to the area where the object to be tow is located through the navigation and positioning system after working, so as to make The object to be pulled can enter the collection range of the image acquisition device set on the transport robot, and the transport robot can capture the image of the object to be pulled by the image acquisition device to obtain image information of the object to be pulled.

步骤1202：在所述图像信息中识别设置于待牵引对象上的识别码，并确定所述识别码在所述待牵引对象中的位置信息。在某些实施方案中，识别码通常设置在待牵引对象的外侧，具体设置在正对待牵引对象的侧面。该识别码可以是二维码、条形码等图形码，本公开实施例不做限定。图像采集装置采集到的待牵引对象的图像信息传递至控制器，控制可以识别出图像信息中是否包含识别码。若控制器识别出图像信息中包含识别码，则确定识别码在图像信息中的位置信息，其中，该位置信息可以用像素坐标表示，也可以预先建立的坐标系，用该坐标系中的坐标来表示，进而确定该识别码在待牵引对象上的位置，若未识别出识别码，则继续执行步骤1201，直到识别出识别码。Step 1202: Identify the identification code set on the object to be pulled in the image information, and determine the position information of the identification code in the object to be pulled. In some embodiments, the identification code is generally arranged on the outside of the object to be towed, and is specifically arranged on the side of the object to be towed. The identification code may be a graphic code such as a two-dimensional code or a barcode, which is not limited in the embodiment of the present disclosure. The image information of the object to be pulled collected by the image acquisition device is transmitted to the controller, and the control can identify whether the image information contains an identification code. If the controller recognizes that the image information contains an identification code, it determines the position information of the identification code in the image information, wherein the position information can be represented by pixel coordinates, or a pre-established coordinate system can be used to use the coordinates in the coordinate system. to indicate, and then determine the position of the identification code on the object to be towed. If the identification code is not identified, step 1201 is continued until the identification code is identified.

在某些实施方案中，在图像信息中识别识别码，并确定识别码在图像信息中的位置信息的具体过程可以为：控制器可以通过预设的图像处理算法，提取目标图像包含的轮廓信息；在提取出的轮廓信息中，确定满足预设轮廓特征的目标轮廓信息，并将目标轮廓信息对应的图像作为识别码的角点图像；以及基于角点图像在目标图像中的位置坐标，计算识别码在图像信息中的位置信息。在某些实施方案中，可以通过控制器对图像信息进行平滑滤波和二值化处理，得到目标图像包含的轮廓信息，然后可以在这些轮廓信息中，查找满足预设轮廓特征的目标轮廓信息，并将目标轮廓信息对应的图像作为识别码的角点图像。计算位置信息的方式可以是多种多样的，例如可以根据两个对角的角点图像的位置坐标，计算中心点的位置坐标，将中心点的位置坐标作为识别码在图像信息中的位置信息；或者也可以直接将某个角点图像的位置坐标，作为识别码在图像信息中的位置信息。In some embodiments, the specific process of identifying the identification code in the image information and determining the position information of the identification code in the image information can be as follows: the controller can extract the contour information contained in the target image through a preset image processing algorithm In the extracted contour information, determine the target contour information that satisfies the preset contour feature, and use the image corresponding to the target contour information as the corner image of the identification code; And based on the position coordinates of the corner image in the target image, calculate The location information of the identification code in the image information. In some embodiments, the controller can perform smooth filtering and binarization processing on the image information to obtain the contour information contained in the target image, and then search for the target contour information that satisfies the preset contour characteristics in these contour information, The image corresponding to the target contour information is used as the corner image of the identification code. There are various ways to calculate the position information. For example, the position coordinates of the center point can be calculated according to the position coordinates of the two diagonal corner images, and the position coordinates of the center point can be used as the position information of the identification code in the image information. ; or directly use the position coordinates of a corner image as the position information of the identification code in the image information.

步骤1203：根据所述位置信息确定牵引结构与所述待牵引对象的相对位置。在某些实施方案中，控制器可以根据位置信息确定牵引机构与待牵引对象的相对位置。可以获取预设的识别码在图像信息中的基准位置信息，然后计算位置信息相对于基准位置信息的偏移量，将偏移量作为运送机器人的牵引结构与待牵引对象的相对位置。其中，基准位置信息是运送机器人正对待牵引对象时，识别码在图像采集装置所拍摄到的图像信息中的位置信息。Step 1203: Determine the relative position of the pulling structure and the object to be pulled according to the position information. In some embodiments, the controller may determine the relative position of the pulling mechanism and the object to be pulled based on the position information. The reference position information of the preset identification code in the image information can be obtained, and then the offset of the position information relative to the reference position information can be calculated, and the offset can be used as the relative position of the traction structure of the transport robot and the object to be towed. Wherein, the reference position information is the position information of the identification code in the image information captured by the image acquisition device when the transport robot is towing the object.

步骤1204：基于所述相对位置对底盘和牵引结构进行移动操作，以使所述牵引结构与所述待牵引对象结合。在某些实施方案中，控制器可以基于相对位置，向底盘中的第四驱动机构发送运动指令，控制运送机器人的运动，以使识别码的在图像信息中的位置信息与基准位置信息相同。当该位置信息与基准位置信息相同时，运送机器人的牵引结构正对待牵引对象，然后运送机器人可以继续向待牵引对象移动，并且控制器向牵引结构中的第一驱动机构、第二驱动机构和第三驱动机构发送运动指令，通过牵引机构完成运送机器人与待牵引对象的结合。Step 1204 : Move the chassis and the traction structure based on the relative positions, so as to combine the traction structure with the object to be towed. In some embodiments, the controller may send a motion command to the fourth driving mechanism in the chassis based on the relative position to control the movement of the transport robot, so that the position information of the identification code in the image information is the same as the reference position information. When the position information is the same as the reference position information, the traction structure of the transporting robot is handling the towing object, and then the transporting robot can continue to move towards the towing object, and the controller sends the first driving mechanism, the second driving mechanism and the second driving mechanism in the traction structure to the traction structure. The third driving mechanism sends motion instructions, and the combination of the transport robot and the object to be pulled is completed through the traction mechanism.

在某些实施方案中，所述通过图像采集装置进行图像采集之前，还包括：通过人机交互组件接收用户发送的操作信息；根据所述操作信息，控制底盘进行运动；以及通过环境感知组件获取环境数据，并根据所述环境数据进行定位导航处理，控制所述运送机器人运动至待牵引对象所在的位置。在某些实施方案中，运送机器人通过人机交互组件中的触摸屏接收用户发送的操作信息，并根据所述操作信息，控制底盘中的第四驱动机构运动，机器人在运动过程中，通过环境感知组件中的、激光雷达和超声波传感器检测到的环境数据构建地图，并通过热红外传感器、防碰撞传感器和防跌落传感器进行定位和导航，根据定位和导航信息使底盘改变运动方向和速度，实现自动定位导航。In some embodiments, before the image acquisition through the image acquisition device, the method further includes: receiving operation information sent by the user through the human-computer interaction component; controlling the chassis to move according to the operation information; and acquiring through the environment perception component environment data, and perform positioning and navigation processing according to the environment data to control the transport robot to move to the position where the object to be pulled is located. In some embodiments, the transport robot receives the operation information sent by the user through the touch screen in the human-computer interaction component, and controls the movement of the fourth drive mechanism in the chassis according to the operation information, and the robot senses the environment through the environment during the movement. The environmental data detected by the lidar and ultrasonic sensors in the components builds a map, and uses thermal infrared sensors, anti-collision sensors and anti-drop sensors for positioning and navigation. According to the positioning and navigation information, the chassis changes the direction and speed of movement to achieve automatic Positioning Navigation.

以待牵引对象为推车10为例，本实施例给出了运送机器人的一种工作过程。图10给出了本公开实施例提供的运送机器人在移动推车10过程中的结构图，图13给出了本公开实施例提供的运送机器人的工作流程图。如图10所示的推车10包括上平面、下平面、车轮和设置推车10前方的二维码，上平面和下平面之间形成用于存放物品的空间，当然推车10的结构并不限于图10中所示的形式。Taking the object to be pulled as the cart 10 as an example, this embodiment presents a working process of the transport robot. FIG. 10 shows the structure diagram of the transport robot provided by the embodiment of the present disclosure in the process of moving the cart 10 , and FIG. 13 shows the working flowchart of the transport robot provided by the embodiment of the present disclosure. The cart 10 shown in FIG. 10 includes an upper plane, a lower plane, wheels and a two-dimensional code arranged in front of the cart 10. A space for storing items is formed between the upper plane and the lower plane. Of course, the structure of the cart 10 is not Not limited to the form shown in FIG. 10 .

如图10和13所示，运送机器人移动推车10的工作过程可以为：As shown in Figures 10 and 13, the working process of the transport robot mobile cart 10 can be as follows:

步骤I，运送机器人默认处于待命状态，通过触摸屏902或者远程控制平台向运送机器人发送移动推车10的任务后，运送机器人接收任务； Step 1, the transport robot is in a standby state by default, and after sending the task of moving the cart 10 to the transport robot through the touch screen 902 or the remote control platform, the transport robot receives the task;

步骤II，控制器将控制指令传送给底盘7的第四驱动机构705，驱动机器人运动至推车10附近；Step II, the controller transmits the control command to the fourth drive mechanism 705 of the chassis 7, and drives the robot to move to the vicinity of the cart 10;

步骤III，运送机器人通过环境感知组件8和图像采集装置5识别推车10并调整位姿，并且图像采集装置5识别推车10上的二维码后，牵引结构调节夹持件102的高度；Step III, the transport robot recognizes the cart 10 and adjusts the pose through the environment perception component 8 and the image acquisition device 5, and after the image acquisition device 5 recognizes the two-dimensional code on the cart 10, the traction structure adjusts the height of the clamping member 102;

步骤IV，牵引结构的左右两个夹持件102张开后向推车10运动，然后两个夹持件102相互靠近收缩，夹紧推车10；Step IV, the two left and right clamping members 102 of the traction structure are opened and then moved toward the cart 10, and then the two clamping members 102 are close to each other and contract to clamp the cart 10;

步骤V，判断牵引结构是否抱夹成功，如果抱夹成功，则运送机器人安装预设的任务路径运动，将推车10运送至目的地，当机器人抱夹失败，则重新执行上述的步骤二至步骤四，其中判断是否抱夹成功的方法包括但不限于通过运送机器人中的某一驱动机构的输出扭矩来判断，当输出扭矩突然增大并且增量满足预设阈值，则判断抱夹成功；以及In step V, it is judged whether the traction structure is successful in holding the clip. If the clip is successful, the transport robot installs the preset task path and moves, and transports the cart 10 to the destination. When the robot fails to hold the clip, the above-mentioned steps 2 to 10 are re-executed. Step 4, wherein the method for judging whether the clamping is successful includes, but is not limited to, judging by the output torque of a certain drive mechanism in the transport robot, and when the output torque suddenly increases and the increment meets a preset threshold, it is judged that the clamping is successful; as well as

步骤VI，完成以上步骤外，运送机器人继续执行新任务或进入停放区待命。In step VI, after completing the above steps, the transport robot continues to perform new tasks or enters the parking area for standby.

本公开中部分实施例采用递进或并列的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Some embodiments in the present disclosure are described in a progressive or juxtaposed manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other.

以上仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

运送机器人，其包括：Delivery robot, which includes:

底盘，用于驱动所述运送机器人运动；a chassis for driving the transport robot to move;

牵引结构，设置于所述运送机器人的车尾部分，固定在所述底盘上，用于与待牵引对象进行连接；a traction structure, arranged on the rear part of the transport robot, fixed on the chassis, and used for connecting with the object to be towed;

环境感知组件，用于为所述运送机器人提供导航和避障；以及an environment perception component for providing navigation and obstacle avoidance for the delivery robot; and

人机交互组件，设置于所述运送机器人的车头部分，用于实现与所述运送机器人的人机交互。The human-machine interaction component is arranged on the front part of the transport robot, and is used for realizing human-machine interaction with the transport robot.
如权利要求1所述的运送机器人，其还包括控制器和用于获取待牵引对象图像信息的图像采集装置，所述图像采集装置安装在所述运送机器人的尾部，所述控制器用于在所述图像信息中识别设置于待牵引对象上的识别码，并确定所述识别码在所述待牵引对象上的位置信息。The transport robot according to claim 1, further comprising a controller and an image acquisition device for acquiring image information of the object to be towed, the image acquisition device is installed at the tail of the transport robot, and the controller is used for The identification code set on the object to be pulled is identified in the image information, and the position information of the identification code on the object to be pulled is determined.
如权利要求1或2所述的运送机器人，其中，所述牵引结构包括：The transport robot according to claim 1 or 2, wherein the traction structure comprises:

抱夹组件，包括固定部和滑动设置在所述固定部上相互正对的两个夹持件；以及a holding clip assembly, comprising a fixed part and two clips slidably arranged on the fixed part facing each other; and

三维移动机构，包括用于驱动两个所述夹持件沿X轴方向相互靠近或远离的X轴移动组件、用于驱动所述抱夹组件沿Y轴方向移动的Y轴移动组件和用于驱动所述抱夹组件沿Z轴方向移动的Z轴移动组件，所述X轴、Y轴和Z轴彼此正交。A three-dimensional moving mechanism includes an X-axis moving assembly for driving two of the clamps to approach or move away from each other along the X-axis direction, a Y-axis moving assembly for driving the clamping assembly to move along the Y-axis direction, and a Y-axis moving assembly for driving the clamp assembly. A Z-axis moving assembly that drives the clamping assembly to move along the Z-axis direction, the X-axis, Y-axis and Z-axis are orthogonal to each other.
如权利要求3所述的运送机器人，其中，所述抱夹组件和所述X轴移动组件滑动连接在所述Y轴移动组件上，所述Y轴移动组件滑动连接在所述Z轴移动组件上。The transport robot according to claim 3, wherein the clamping assembly and the X-axis moving assembly are slidably connected to the Y-axis moving assembly, and the Y-axis moving assembly is slidably connected to the Z-axis moving assembly superior.
如权利要求3或4所述的运送机器人，其中，所述X轴移动组件包括平行于所述X轴方向的第一丝杠和用于驱动所述第一丝杠转动的第一驱动机构，所述第一丝杠为双向丝杠，两个所述夹持件匹配螺接在所述双向丝杠上螺纹旋向相反的两个螺纹段上。The transport robot according to claim 3 or 4, wherein the X-axis moving component comprises a first lead screw parallel to the X-axis direction and a first driving mechanism for driving the first lead screw to rotate, The first lead screw is a two-way lead screw, and the two clamping pieces are matched and screwed on two thread segments of the two-way lead screw with opposite screw threads.
如权利要求3至5中任一权利要求所述的运送机器人，其中，所述Y轴移动组件包括平行于所述Y轴方向的第二丝杠和用于驱动所述第二丝杠转动的第二驱动机构，所述固定部匹配螺接在所述第二丝杠上。The transport robot according to any one of claims 3 to 5, wherein the Y-axis moving assembly comprises a second lead screw parallel to the Y-axis direction and a second lead screw for driving the second lead screw to rotate. In the second driving mechanism, the fixing part is matched and screwed on the second lead screw.
如权利要求3至6中任一权利要求所述的运送机器人，其还包括垂直于Z轴方向的支撑板，所述Y轴移动组件固定在所述支撑板上。The transport robot according to any one of claims 3 to 6, further comprising a support plate perpendicular to the Z-axis direction, and the Y-axis moving component is fixed on the support plate.
如权利要求7所述的运送机器人，其中，所述抱夹组件滑动连接在所述支撑板上，所述Z轴移动组件包括平行于所述Z轴方向的第三丝杠和用于驱动所述第三丝杠转动的第三驱动机构，所述支撑板匹配螺接在所述第三丝杠上。The transport robot according to claim 7, wherein the clamping assembly is slidably connected to the support plate, and the Z-axis moving assembly comprises a third lead screw parallel to the Z-axis direction and a third lead screw for driving the The third drive mechanism for the rotation of the third lead screw, the support plate is matched and screwed on the third lead screw.
如权利要求3至8中任一权利要求所述的运送机器人，其中，所述夹持件为夹板，两个所述夹持件相互正对的一侧设置有缓冲垫。The transport robot according to any one of claims 3 to 8, wherein the clamping member is a splint, and a buffer pad is provided on one side of the two clamping members facing each other.
如权利要求7或8所述的运送机器人，其中，所述Z轴移动组件固定在所述底盘上，所述底盘上设置有若干与垂直穿过所述支撑板的导向杆，所述支撑板在所述Z轴移动组件的驱动下沿所述导向杆往复移动。The transport robot according to claim 7 or 8, wherein the Z-axis moving component is fixed on the chassis, and the chassis is provided with a plurality of guide rods vertically passing through the support plate, the support plate It reciprocates along the guide rod under the driving of the Z-axis moving component.
如权利要求1至10中任一权利要求所述的运送机器人，其中，所述底盘包括本体、驱动轮、万向轮、减震机构和第四驱动机构，所述驱动轮通过所述减震机构与所述本体连接，所述第四驱动机构用于驱动所述驱动轮，所述万向轮安装在所述本体上。The transport robot according to any one of claims 1 to 10, wherein the chassis includes a body, a driving wheel, a universal wheel, a damping mechanism, and a fourth driving mechanism, and the driving wheel is damped by the damping mechanism The mechanism is connected with the main body, the fourth driving mechanism is used for driving the driving wheel, and the universal wheel is mounted on the main body.
如权利要求1至11中任一权利要求所述的运送机器人，其中，所述环境感知组件包括激光雷达、超声波传感器、热红外传感器、防碰撞传感器和防跌落传感器中的至少一种。The transport robot of any one of claims 1 to 11, wherein the environment perception component includes at least one of a lidar, an ultrasonic sensor, a thermal infrared sensor, an anti-collision sensor, and an anti-drop sensor.
如权利要求1至12中任一权利要求所述的运送机器人，其中，所述人机交互组件包括前指示灯、触摸屏、声音模块、开关机按钮、急停按钮和警示灯。The transport robot according to any one of claims 1 to 12, wherein the human-computer interaction component comprises a front indicator light, a touch screen, a sound module, a power on/off button, an emergency stop button and a warning light.
运送机器人的控制方法，其应用于权利要求1至13中任一权利要求所述的运送机器人，所述方法包括：A control method of a transport robot, which is applied to the transport robot according to any one of claims 1 to 13, the method comprising:

通过图像采集装置进行图像采集，得到待牵引对象的图像信息；Perform image acquisition through the image acquisition device to obtain image information of the object to be pulled;

在所述图像信息中识别设置于待牵引对象上的识别码，并确定所述识别码在所述待牵引对象中的位置信息；Identifying the identification code set on the object to be pulled in the image information, and determining the position information of the identification code in the object to be pulled;

根据所述位置信息确定牵引结构与所述待牵引对象的相对位置；以及Determine the relative position of the pulling structure and the object to be pulled according to the position information; and

基于所述相对位置对底盘和牵引结构进行移动操作，以使所述牵引结构与所述待牵引对象结合。The chassis and the traction structure are moved based on the relative positions, so that the traction structure is combined with the object to be towed.
如权利要求14所述的方法，其中，所述通过图像采集装置进行图像采集之前，还包括：The method of claim 14, wherein before the image acquisition by the image acquisition device further comprises:

通过人机交互组件接收用户发送的操作信息；Receive the operation information sent by the user through the human-computer interaction component;

根据所述操作信息，控制底盘进行运动；以及controlling the chassis to move according to the operating information; and

通过环境感知组件获取环境数据，并根据所述环境数据进行定位导航处理，控制所述运送机器人运动至待牵引对象所在的位置。The environmental data is acquired through the environmental perception component, and positioning and navigation processing is performed according to the environmental data, so as to control the transport robot to move to the position where the object to be pulled is located.