A mobile vending robot

Abstract

The present invention discloses a movable automatic vending robot, including an unmanned vehicle and an automatic vending machine; the automatic vending machine includes a control module, an image acquisition module and a human-computer interaction module; the image acquisition module acquires images around the robot in real time and transmits them to the control module; the control module determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first stop instruction to the base motor controller and a voice instruction to the human-computer interaction module when the user is detected; the base motor controller controls the unmanned vehicle to stop driving based on the received first stop instruction; the human-computer interaction module sends a purchase invitation to the user based on the received voice instruction. This application not only realizes the large-scale popularization of unmanned vehicle technology, but also realizes the function that the automatic vending machine can "actively" find consumers for vending services.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned vehicles, and in particular to a movable automatic vending robot. Background Art

[0002] At present, the research on driverless cars has made great progress, but under the current technical conditions, driverless cars still have difficulty coping with complex and changeable real-world road conditions. General artificial intelligence systems, such as search and translation, are allowed to make mistakes, but driverless systems are related to life and cannot make mistakes. Therefore, it is still a very difficult challenge to allow driverless cars to enter ordinary people's homes, enter underground garages very freely, park in small streets and alleys, and enter very complex intersections.

[0003] For unmanned driving technology to be widely popularized, on the one hand, it is necessary to make breakthroughs in low-cost, high-performance sensor technology, and to significantly improve the computing power of unmanned driving. On the other hand, the actual traffic environment is very complex. At present, unmanned vehicles cannot smoothly pass through intersections without traffic lights and mixed traffic of people and vehicles. Therefore, it will take a long time to improve the safety performance of unmanned driving in complex urban road traffic environments, so as to make unmanned driving technology widely popularized. Summary of the invention

[0004] The present invention provides a movable automatic vending robot, which not only realizes the large-scale popularization of driverless car technology, but also realizes the function that the automatic vending machine can "actively" find consumers to provide vending services.

[0005] An embodiment of the present invention provides a movable vending robot, comprising an unmanned vehicle and an automatic vending machine; the unmanned vehicle acts as a base to carry the automatic vending machine for movement; the unmanned vehicle comprises a base motor controller, and the base motor controller is used to control the movement of the unmanned vehicle; the automatic vending machine comprises a control module, an image acquisition module and a human-computer interaction module; the image acquisition module acquires images around the robot in real time and transmits them to the control module; the control module determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first stop instruction to the base motor controller and a voice instruction to the human-computer interaction module when the presence of a user is detected; the base motor controller controls the unmanned vehicle to stop driving based on the received first stop instruction; and the human-computer interaction module sends a purchase invitation to the user based on the received voice instruction.

[0006] Furthermore, the unmanned vehicle also includes a base controller, a 3D laser radar, a 3D camera and multiple ultrasonic sensors; the 3D laser radar, the 3D camera and the multiple ultrasonic sensors are all electrically connected to the base controller; the 3D laser radar is arranged on the top of the vending machine, for collecting environmental information around the robot and transmitting it to the base controller; the 3D camera is arranged at the front end of the unmanned vehicle, for collecting environmental information of the blind spot area of ​​the 3D laser radar at the front end of the unmanned vehicle in real time and transmitting it to the base controller; the base controller is also used to generate a path map based on the environmental information transmitted by the 3D laser radar, and supplement the path map based on the environmental information of the blind spot area transmitted by the 3D camera; the ultrasonic sensor is arranged on the unmanned vehicle, for real-time detection of whether there are obstacles around the unmanned vehicle, and sending an alarm signal to the base controller when it is a second preset distance away from the obstacle.

[0007] Furthermore, the driverless vehicle also includes a brightness sensor, a wheel speed sensor, at least four base cliff sensors and at least five base infrared sensors; the brightness sensor, the wheel speed sensor, the base cliff sensor and the base infrared sensor are all electrically connected to the base controller; the brightness sensor is used to detect the brightness information of the robot's environment and transmit it to the base controller; the base controller is also used to control the turning on or off of the headlights based on the brightness information; the wheel speed sensor is used to detect the walking speed and turning distance of the robot, and transmit them to the base controller; the base cliff sensor is used to detect whether there are steps in front and behind the robot, and transmit the detection result to the base controller; the base infrared sensor is used to obtain the position information of the charger when the robot is charging, and transmit the position information to the base controller, so that the base controller controls the robot to charge based on the position information.

[0008] Furthermore, the vending machine also includes a communication module, which is electrically connected to the control module; the control module receives a first control instruction through the communication module, and sends a first movement instruction to the base motor controller based on the first control instruction, so that the base motor controller controls the robot to reach a first preset position based on the first movement instruction.

[0009] Furthermore, the vending machine also includes a delivery information acquisition module; the delivery information acquisition module sends a second movement instruction to the base motor controller based on the acquired second control instruction, so that the base motor controller controls the robot to move to a second preset position based on the second movement instruction.

[0010] Furthermore, the vending machine also includes a vending machine motor controller, a cargo drop sensor and a delivery sensor; the cargo drop sensor is used to detect whether the cargo has fallen; the delivery sensor is used to detect whether the cargo has been delivered to the delivery port, and when it detects that the cargo has arrived at the delivery port, it sends a stop command to the vending machine motor controller, so that the vending machine motor controller controls the vending machine motor to stop delivering the cargo.

[0011] Furthermore, the unmanned vehicle also includes a battery module, and the battery module is used to supply power to the robot.

[0012] Furthermore, the human-computer interaction module includes a button and / or a touch screen; the human-computer interaction module is also used to output a third control instruction to the control module, wherein the third control instruction is obtained through the button or the touch screen; the control module is also used to send a second stop instruction to the base motor controller based on the third control instruction, and send a delivery instruction to the vending machine base motor controller, so that the base motor controller controls the unmanned vehicle to stop driving based on the second stop instruction, and the vending machine motor controller controls the vending machine motor to deliver the goods based on the delivery instruction.

[0013] Furthermore, the vending machine also includes an LED display screen; the LED display screen is electrically connected to the control module and the human-computer interaction module; the LED display screen is arranged on the outer surface of the robot; the human-computer interaction module is also used to output a fourth control instruction; the control module is also used to output a display instruction to the LED display screen based on the fourth control instruction; the LED display screen displays preset text and / or preset image based on the display instruction.

[0014] Furthermore, the unmanned vehicle also includes at least one automatic cleaning module; the automatic cleaning module is arranged at the bottom of the robot; the robot cleans along a preset path through the automatic cleaning module.

[0015] The present invention discloses a movable automatic vending robot, including an unmanned vehicle and an automatic vending machine; the unmanned vehicle includes a base motor controller, and the base motor controller is used to control the movement of the unmanned vehicle; the automatic vending machine includes a control module, an image acquisition module and a human-computer interaction module; the image acquisition module collects images around the robot in real time and transmits them to the control module; the control module determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first stop instruction to the base motor controller and a voice instruction to the human-computer interaction module when the user is detected; the base motor controller controls the unmanned vehicle to stop driving based on the received first stop instruction; the human-computer interaction module sends a purchase invitation to the user based on the received voice instruction. By using the unmanned vehicle as a base to carry the automatic vending machine to move, the technical problem that the current unmanned vehicle technology in the prior art cannot be popularized on a large scale is solved, not only realizing the large-scale popularization of the unmanned vehicle technology, but also realizing the function that the automatic vending machine can "actively" find consumers for vending services. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural diagram of a mobile automatic vending robot provided by an embodiment of the present invention;

[0017] Figure 2 is a structural block diagram of a mobile automatic vending robot provided by an embodiment of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of another movable automatic vending robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0020] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish different objects, rather than to limit a specific order. The following embodiments of the present invention can be implemented separately, or in combination with each other, and the embodiments of the present invention do not impose specific limitations on this.

[0021] Figure 1 is a structural diagram of a mobile automatic vending robot provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a movable automatic vending robot provided by an embodiment of the present invention.

[0022] Combination Figure 1 and Figure 2 The mobile vending robot includes an unmanned vehicle 10 and a vending machine 20; the unmanned vehicle 10 is used as a base to carry the vending machine 20 for movement.

[0023] Specifically, the unmanned vehicle 10 includes a base motor controller 11, which is used to control the movement of the unmanned vehicle 10; the vending machine 20 includes a control module 21, an image acquisition module 22 and a human-computer interaction module 23; the image acquisition module 22 acquires images around the robot in real time and transmits them to the control module 21; the control module 21 determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first parking instruction to the base motor controller 11 and a voice instruction to the human-computer interaction module 23 when the presence of a user is detected.

[0024] The base motor controller 11 controls the driverless vehicle 10 to stop driving based on the received first parking instruction; the human-computer interaction module 23 sends a purchase invitation to the user based on the received voice instruction.

[0025] Specifically, the driverless vehicle 10 is provided with a base motor controller 11, which is used to control the motor in the driverless vehicle 10, so as to control the driving and stopping of the driverless vehicle 10. The vending machine 20 is mounted on the driverless vehicle 10 and moves with the movement of the driverless vehicle 10. At the same time, the image acquisition module 22 provided on the vending machine 20 can collect images around the movable vending robot in real time, and transmit the collected images to the control module 21, so that the control module 21 can identify whether there are users, i.e., potential consumers, around the movable vending robot through these images, wherein the image acquisition module 22 can be a camera or other device capable of collecting images. When the control module 21 recognizes that there is a user within a first preset distance range from the movable vending robot, it will send a first stop signal to the unmanned vehicle 10 and send a voice command to the human-computer interaction module 23. After receiving the first stop signal, the base motor controller 11 in the unmanned vehicle 10 controls the unmanned vehicle 10 to stop. After receiving the voice command, the human-computer interaction module 23 sends a voice purchase invitation to the user within the first preset distance range of the movable vending robot, asking whether the user needs to purchase the product. The first preset distance can be set as needed, for example, it can be set to a safe distance of 2 meters, 3 meters, etc. that can attract the attention of consumers and enable timely parking.

[0026] It should be noted that the image acquisition module 22 can also integrate a face recognition function, that is, it can be set to directly identify whether there is a potential consumer within a first preset distance of the mobile vending robot through the face recognition function as needed, and transmit the recognition result to the control module 21 in the form of an electrical signal, so that the control module 21 controls the mobile vending robot to perform the next action based on the recognition result.

[0027] In an embodiment of the present invention, the movable vending robot uses an unmanned vehicle 10 as a base, on which a vending machine 20 is mounted. The driving speed of the unmanned vehicle 10 can be pre-set. In the present application, the driving speed of the unmanned vehicle 10 is set to a relatively low speed, for example, 10 km / h. The low speed not only ensures the driving safety, but also does not require ultra-high unmanned driving technology, which is conducive to the popularization of unmanned driving technology. In addition, the use scope of the movable vending robot is limited to closed or semi-closed scenes such as factory areas and parks. On the one hand, the difficulty of environmental recognition of the unmanned vehicle 10 is reduced, thereby making unmanned driving technology popularized on a large scale. On the other hand, the unmanned vehicle 10 is equipped with a vending machine 20 to move, thereby realizing the function of goods "finding" people.

[0028] The present invention discloses a movable automatic vending robot, including an unmanned vehicle and an automatic vending machine; the unmanned vehicle includes a base motor controller, and the base motor controller is used to control the movement of the unmanned vehicle; the automatic vending machine includes a control module, an image acquisition module and a human-computer interaction module; the image acquisition module collects images around the robot in real time and transmits them to the control module; the control module determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first stop instruction to the base motor controller and a voice instruction to the human-computer interaction module when the user is detected; the base motor controller controls the unmanned vehicle to stop driving based on the received first stop instruction; the human-computer interaction module sends a purchase invitation to the user based on the received voice instruction. By using the unmanned vehicle as a base to carry the automatic vending machine to move, the technical problem that the current unmanned vehicle technology in the prior art cannot be popularized on a large scale is solved, not only realizing the large-scale popularization of the unmanned vehicle technology, but also realizing the function that the automatic vending machine can "actively" find consumers for vending services.

[0029] Figure 3 It is a schematic diagram of the structure of another movable automatic vending robot provided by an embodiment of the present invention.

[0030] Alternatively, if Figure 3As shown, the driverless car 10 also includes a base controller 12, a 3D laser radar 13, a 3D camera 14 and multiple ultrasonic sensors 15; the 3D laser radar 13, the 3D camera 14 and the multiple ultrasonic sensors 15 are all electrically connected to the base controller 12.

[0031] Specifically, the 3D laser radar 13 is arranged on the top of the vending machine 20, and is used to collect environmental information around the robot and transmit it to the base controller 12; the 3D camera 14 is arranged at the front end of the unmanned vehicle 10, and is used to collect real-time environmental information of the blind spot area of ​​the 3D laser radar 13 at the front end of the unmanned vehicle 10 and transmit it to the base controller 12; the base controller 12 is also used to generate a path map based on the environmental information transmitted by the 3D laser radar 13, and supplement the path map based on the environmental information of the blind spot area transmitted by the 3D camera 14; the ultrasonic sensor 15 is arranged on the unmanned vehicle 10, and is used to detect in real time whether there are obstacles around the unmanned vehicle 10, and send an alarm signal to the base controller 12 when it is at a second preset distance from the obstacle.

[0032] Specifically, see Figure 1 The spherical structure on the top of the mobile vending robot is the 3D laser radar 13. The mobile vending robot collects the surrounding environmental information through the 3D laser radar 13 and transmits the environmental information to the base controller 12. The base controller 12 generates a path map for the driverless car 10 to travel based on the environmental information. As the 3D laser radar 13 is set on the top of the vending machine 20, it can be seen that the 3D laser radar 13 has a blind spot around the bottom of the mobile vending robot. Therefore, a 3D camera 14 is set at the front end of the driverless car 10 to supplement the collection of environmental information of the blind spot area of ​​the front end of the driverless car 10 that cannot be collected by the 3D laser radar 13, and transmit the environmental information of the blind spot area to the base controller 12, so as to supplement and generate a complete path map for the driverless car 10 to travel.

[0033] A plurality of ultrasonic sensors 15 can be provided as needed, and are usually provided on the unmanned vehicle 10. When the unmanned vehicle 10 moves, including moving in multiple directions such as forward, turning, and backward, it can detect in real time whether there are obstacles around the unmanned vehicle 10. For example, when the unmanned vehicle 10 is reversing and an obstacle such as a trash can is detected at a second preset distance behind the unmanned vehicle 10, such as 50 cm, the ultrasonic sensor 15 will send an alarm signal to the base controller 12. After receiving the alarm signal, the base controller 12 sends a signal to the base motor controller 11, so that the base motor controller 11 controls the unmanned vehicle 10 to stop moving to prevent collision with the obstacle.

[0034] Alternatively, if Figure 3 As shown, the driverless vehicle 10 also includes a brightness sensor 16, a wheel speed sensor 17, at least four base cliff sensors 18 and at least five base infrared sensors 19; the brightness sensor 16, the wheel speed sensor 17, the base cliff sensor 18 and the base infrared sensor 19 are all electrically connected to the base controller 12.

[0035] Specifically, the brightness sensor 16 is used to detect the brightness information of the robot's environment and transmit it to the base controller 12; the base controller 12 is also used to control the headlights to turn on or off based on the brightness information; the wheel speed sensor 17 is used to detect the robot's walking speed and turning distance, and transmit them to the base controller 12; the base cliff sensor 18 is used to detect whether there are steps in front and behind the robot, and transmit the detection results to the base controller 12; the base infrared sensor 19 is used to obtain the position information of the charger when the robot is charging, and transmit the position information to the base controller 12, so that the base controller 12 controls the robot to charge based on the position information.

[0036] Specifically, there are at least four base cliff sensors 18, which can be set at the front, rear, left and right positions of the unmanned vehicle 10 to sense whether there are steps around the movable vending robot; there are at least five base infrared sensors 19, which can be set at one at the rear of the unmanned vehicle 10, two on the left and two on the right to identify the position of the charger when the movable vending robot is automatically charging.

[0037] Alternatively, if Figure 3 As shown, the vending machine 20 also includes a communication module 24, which is electrically connected to the control module 21; the control module 21 receives a first control instruction through the communication module 24, and sends a first movement instruction to the base motor controller 11 based on the first control instruction, so that the base motor controller 11 controls the robot to reach a first preset position based on the first movement instruction.

[0038] Specifically, the mobile vending robot can be bound to a preset APP (Application). When the user wants to buy goods, if there is no mobile vending robot passing by nearby, the user can log in to the APP through the mobile terminal of the mobile phone or tablet, and then send a first control instruction to the nearest mobile vending robot through the APP. The first control instruction includes the location information that the user specifies that the mobile vending robot needs to reach, that is, the above-mentioned first preset location information, and can also include time information to facilitate the user to purchase goods. The communication module 24 uses wireless communication to receive the first control instruction sent by the user through the APP, and then sends the first movement instruction to the base motor controller 11, so that the base motor controller 11 controls the mobile vending robot to reach the first preset location specified by the user at the time desired by the user. This function greatly facilitates the user's purchasing needs and also saves the user's travel purchase time.

[0039] Alternatively, if Figure 3 As shown, the vending machine 20 further includes a delivery information acquisition module 25; the delivery information acquisition module 25 sends a second movement instruction to the base motor controller 11 based on the acquired second control instruction, so that the base motor controller 11 controls the robot to move to the second preset position based on the second movement instruction.

[0040] Specifically, the mobile vending robot can also have a delivery function as needed. When a user at position A wants to deliver an item to position B through the mobile vending robot, the user can send a second control instruction to the mobile vending robot through the APP, or the user can send a second control instruction to the mobile vending robot through the human-computer interaction module 23 on the vending machine 20, wherein the second control instruction includes the delivery address and delivery time input by the user. The user at position A places the delivered item at the item placement location of the mobile vending robot, which can be set somewhere on the body of the mobile vending robot as needed, and sends a second control instruction to the mobile vending robot at the same time. The mobile vending robot will send a second movement instruction to the base motor controller based on the instruction, so that the base motor controller 11 controls the mobile vending robot to move to the delivery address, i.e., the above-mentioned second preset position, at the delivery time based on the second movement instruction.

[0041] It should be noted that the items that can be delivered may also be commodities to be sold in the vending machine 20, and no excessive restrictions are imposed herein.

[0042] Alternatively, if Figure 3 As shown, the vending machine 20 further includes a vending machine motor controller 26 , a product drop sensor 27 , and a product delivery sensor 28 .

[0043] Specifically, the cargo drop sensor 27 is used to detect whether the cargo has fallen; the delivery sensor 28 is used to detect whether the cargo has been delivered to the delivery port, and when it detects that the cargo has arrived at the delivery port, it sends a stop command to the vending machine motor controller 26 so that the vending machine motor controller 26 controls the vending machine motor to stop delivery.

[0044] Alternatively, if Figure 3 As shown, the unmanned vehicle 10 further includes a battery module 31, and the battery module 31 is used to supply power to the robot.

[0045] Optionally, the human-computer interaction module 23 includes buttons and / or touch screens; the human-computer interaction module 23 is also used to output a third control instruction to the control module 21, wherein the third control instruction is obtained through the buttons or the touch screen; the control module 21 is also used to send a second stop instruction to the base motor controller 11 based on the third control instruction, and to send a delivery instruction to the vending machine base motor controller 26, so that the base motor controller 11 controls the unmanned vehicle 10 to stop driving based on the second stop instruction, and the vending machine motor controller 26 controls the vending machine motor to deliver the goods based on the delivery instruction.

[0046] Specifically, the human-computer interaction module 23 can be a button, a touch screen, or a combination of a button and a touch screen. Since the mobile vending robot moves at a low speed, when the user wants to buy a commodity, the mobile vending robot can be stopped by pressing a button and / or a touch screen, and the commodity to be purchased can be selected by pressing a button and / or a touch screen, that is, the user can send a third control instruction to the control module 21 by pressing a button and / or a touch screen.

[0047] It should be noted that the mobile vending robot in the present application can also be integrated with a payment module, for example, it can be integrated with one or more of the payment devices such as a banknote recognition port, a UnionPay card recognition port, and a mobile payment terminal recognition port, so that users can pay through various payment methods such as banknotes, card swiping, and mobile terminal payment, which will not be repeated here.

[0048] Alternatively, if Figure 3 As shown, the vending machine 20 also includes an LED display screen 29; the LED display screen 29 is electrically connected to the control module 21 and the human-computer interaction module 23; the LED display screen 29 is arranged on the outer surface of the robot; the human-computer interaction module 23 is also used to output a fourth control instruction; the control module 21 is also used to output a display instruction to the LED display screen 29 based on the fourth control instruction; the LED display screen 29 displays preset text and / or preset image based on the display instruction.

[0049] Specifically, the vending machine 20 may be provided with an LED display screen 29 as required, which may be used to display text, images and other contents for promotional purposes, or to play advertisements, notices, news and other contents that need to be disseminated. The user may set the contents that need to be promoted and played through the human-computer interaction module 23, or may set the contents through the mobile terminal APP.

[0050] Alternatively, if Figure 3 As shown, the unmanned vehicle 10 further includes at least one automatic cleaning module 32; the automatic cleaning module 32 is disposed at the bottom of the robot; the robot cleans along a preset path through the automatic cleaning module.

[0051] Specifically, the mobile vending robot can also be provided with one or more automatic cleaning modules 32 as needed, so that the mobile vending robot can clean the moving path while moving, which saves both labor costs and the cost of purchasing a special automatic cleaning vehicle.

[0052] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Finally, it should be noted that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A mobile vending robot, characterized in that: It includes an unmanned vehicle and an automatic vending machine; the unmanned vehicle acts as a base to carry the automatic vending machine for movement; The unmanned vehicle comprises a base motor controller, and the base motor controller is used to control the movement of the unmanned vehicle; The automatic vending machine includes a control module, an image acquisition module and a human-computer interaction module; The image acquisition module acquires images around the robot in real time and transmits them to the control module; The control module determines whether there is a user within a first preset distance range of the robot based on the received image, and sends a first parking instruction to the base motor controller and a voice instruction to the human-computer interaction module when the user is detected; The base motor controller controls the driverless vehicle to stop driving based on the received first parking instruction; The human-computer interaction module sends a purchase invitation to the user based on the received voice instruction; The vending machine further includes a delivery information acquisition module; the delivery information acquisition module sends a second movement instruction to the base motor controller based on the acquired second control instruction, so that the base motor controller controls the robot to move to a second preset position based on the second movement instruction; Among them, the second control instruction includes the delivery address and delivery time input by the user; the user places the delivered items at the item placement area of ​​the movable vending robot at position A, and sends a second control instruction to the movable vending robot at the same time, and the movable vending robot sends a second movement instruction to the base motor controller based on the second control instruction, so that the base motor controller controls the movable vending robot to move to the delivery address at the delivery time based on the second movement instruction.

2. The robot according to claim 1, characterized in that: The driverless car also includes a base controller, a 3D laser radar, a 3D camera and a plurality of ultrasonic sensors; the 3D laser radar, the 3D camera and the plurality of ultrasonic sensors are all electrically connected to the base controller; The 3D laser radar is arranged on the top of the vending machine, and is used to collect environmental information around the robot and transmit it to the base controller; The 3D camera is arranged at the front end of the driverless vehicle, and is used to collect the environmental information of the blind spot area of ​​the 3D laser radar at the front end of the driverless vehicle in real time and transmit it to the base controller; The base controller is also used to generate a path map based on the environmental information transmitted by the 3D laser radar, and to supplement the path map with the environmental information of the blind spot area transmitted by the 3D camera; The ultrasonic sensor is arranged on the driverless vehicle, and is used for detecting in real time whether there are obstacles around the driverless vehicle, and sending an alarm signal to the base controller when the vehicle is at a second preset distance from the obstacle.

3. The robot according to claim 2, characterized in that: The driverless vehicle further comprises a brightness sensor, a wheel speed sensor, at least four base cliff sensors and at least five base infrared sensors; the brightness sensor, the wheel speed sensor, the base cliff sensor and the base infrared sensor are all electrically connected to the base controller; The brightness sensor is used to detect the brightness information of the environment in which the robot is located and transmit it to the base controller; The base controller is also used to control the vehicle lights to turn on or off based on the brightness information; The wheel speed sensor is used to detect the walking speed and turning distance of the robot and transmit them to the base controller; The base cliff sensor is used to detect whether there are steps in front of or behind the robot, and transmit the detection result to the base controller; The base infrared sensor is used to obtain the position information of the charger when the robot is charging, and transmit the position information to the base controller, so that the base controller controls the robot to charge based on the position information.

4. The robot according to claim 1, characterized in that: The vending machine also includes a communication module, which is electrically connected to the control module; the control module receives a first control instruction through the communication module, and sends a first movement instruction to the base motor controller based on the first control instruction, so that the base motor controller controls the robot to reach a first preset position based on the first movement instruction.

5. The robot according to claim 1, characterized in that: The vending machine also includes a vending machine motor controller, a drop sensor, and a delivery sensor; The cargo drop sensor is used to detect whether cargo has fallen; The delivery sensor is used to detect whether the goods are delivered to the delivery port, and when detecting that the goods have arrived at the delivery port, sends a stop instruction to the vending machine motor controller, so that the vending machine motor controller controls the vending machine motor to stop delivering goods.

6. The robot according to claim 1, characterized in that: The unmanned vehicle also includes a battery module, which is used to supply power to the robot.

7. The robot according to claim 1, characterized in that: The human-computer interaction module includes buttons and / or a touch screen; The human-computer interaction module is further used to output a third control instruction to the control module, wherein the third control instruction is obtained through the button or the touch screen; The control module is also used to send a second stop instruction to the base motor controller based on the third control instruction, and to send a delivery instruction to the base motor controller of the vending machine, so that the base motor controller controls the unmanned vehicle to stop driving based on the second stop instruction, and the vending machine motor controller controls the vending machine motor to deliver the goods based on the delivery instruction.

8. The robot according to claim 1, characterized in that: The vending machine further comprises an LED display screen; the LED display screen is electrically connected to the control module and the human-computer interaction module; the LED display screen is arranged on the outer surface of the robot; The human-computer interaction module is also used to output a fourth control instruction; The control module is also used to output a display instruction to the LED display screen based on the fourth control instruction; The LED display screen displays preset text and / or preset image based on the display instruction.

9. The robot according to claim 1, characterized in that: The driverless vehicle further comprises at least one automatic cleaning module; The automatic cleaning module is arranged at the bottom of the robot; The robot cleans along a preset path through the automatic cleaning module.

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