Robot and transport system

Abstract

The invention provides a robot and a conveying system. The robot comprises a movable chassis; the storage box is arranged on the movable chassis and is used for storing articles; the interaction module is arranged in the storage box and is used for acquiring destination information of articles; the acquisition module is arranged in the storage box and is used for acquiring identity information of a user; the verification module is arranged in the storage box and is used for verifying identity information of a user; the navigation module is arranged on the movable chassis and / or the storage box; the storage box comprises a box body which is provided with a storage opening, and the storage opening is suitable for articles to penetrate through; the box door is movably arranged at the placing opening; the driving mechanism is in communication connection with the verification module and is used for driving the box door to move according to an opening instruction sent by the verification module so as to open the placement opening; the movable chassis is used for driving the robot to travel to a destination. According to the robot, after the identity information is verified by the verification module, the article can be taken out, the risk that the article is lost and taken by mistake is effectively avoided, and the conveying safety is ensured.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot and a transport system. Background Art

[0002] At airports, train stations, subway stations and other places, passengers carry their luggage to different locations to handle ticket purchases, personal inspections, luggage inspections and other matters. Security inspectors will transport suspicious luggage to the baggage inspection area for inspection. Robots that can help passengers and security inspectors transport luggage are widely used in these places.

[0003] In the related art, robots have the function of transporting luggage, but they do not have the function of associating luggage with users. For places with large flow of people, such as airports, railway stations, and subway stations, when robots transport luggage from one area to another, there may be risks of luggage being taken by mistake or lost, which affects the safety of transportation. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a robot and a transportation system, which are used to solve the transportation risk problem of existing robots.

[0005] In a first aspect, an embodiment of the present invention provides a robot, comprising:

[0006] Removable chassis;

[0007] A storage box, arranged on the movable chassis, for placing items;

[0008] An interactive module, provided in the storage box, for obtaining destination information of the item;

[0009] A collection module, provided in the storage box, for collecting the identity information of the user;

[0010] A verification module, provided in the storage box, for verifying the identity information of the user; and

[0011] A navigation module, arranged on the movable chassis and / or the storage box;

[0012] Wherein, the storage box comprises:

[0013] The box body is provided with a placement opening, wherein the placement opening is suitable for items to pass through;

[0014] A box door is movably disposed at the placement opening; and

[0015] A driving mechanism, which is in communication with the verification module and is used to drive the box door to move according to an opening instruction sent by the verification module to open the placement opening;

[0016] The movable chassis is used to drive the robot to a destination.

[0017] According to an embodiment of the present invention, the interaction module includes:

[0018] a touch unit, configured to generate the destination information based on user input information; and / or

[0019] The speech unit is used to generate the destination information based on the user's speech information.

[0020] According to an embodiment of the present invention, the acquisition module includes:

[0021] A first collection unit is used to collect biometric information of the user; and / or

[0022] The second collection unit is used to collect the user's certificate information.

[0023] According to an embodiment of the present invention, the navigation module includes:

[0024] A first navigation unit is disposed on a peripheral side of the movable chassis; and

[0025] The second navigation unit is arranged on the peripheral side of the storage box.

[0026] According to an embodiment of the present invention, the robot further includes a monitoring module, which is disposed in the storage box and is used to monitor the transport status of the robot.

[0027] According to an embodiment of the present invention, the box comprises:

[0028] The box body comprises a top wall, a bottom wall and a plurality of side walls arranged between the top wall and the bottom wall, one of the plurality of side walls being provided with the placement opening; and

[0029] A guide rail component is arranged at the placement opening and extends to the top wall, the guide rail component is configured with a guide groove, and two sides of the box door are slidably arranged in the guide groove;

[0030] The driving mechanism comprises:

[0031] a drive motor; and

[0032] A transmission component is arranged close to the guide rail component and connected to the driving end of the driving motor, and at least a part of the transmission component is connected to the box door;

[0033] The driving motor is used to drive the transmission component to move, so as to drive the box door to slide along the guide groove, so as to open or close the placement opening.

[0034] According to an embodiment of the present invention, the transmission component comprises:

[0035] A driving wheel connected to the driving end of the driving motor;

[0036] A driven wheel is spaced apart from the driving wheel in the vertical direction; and

[0037] The conveyor belt is sleeved on the driving wheel and the driven wheel and connected to the box door, and is used for driving the box door to slide along the guide groove.

[0038] According to an embodiment of the present invention, the transmission component further comprises a tensioning wheel which is adjustably arranged on one side of the conveyor belt and is in rolling contact with the conveyor belt for adjusting the tightness of the conveyor belt.

[0039] According to an embodiment of the present invention, the movable chassis comprises:

[0040] Chassis body;

[0041] a path planning module, disposed on the chassis body, for generating a transport path according to the destination information; and

[0042] The walking component is arranged at the bottom of the chassis body and is used to drive the robot to walk along the conveying path.

[0043] According to an embodiment of the present invention, the movable chassis further comprises an indication unit for indicating a working state of the movable chassis.

[0044] In a second aspect, an embodiment of the present invention provides a transport system, comprising:

[0045] A voice interaction device for obtaining a user's delivery request;

[0046] A server, in communication with the voice interaction device, configured to send a delivery instruction based on the delivery request;

[0047] The robot is connected to the server for communication and is used for transporting items based on the transport instruction.

[0048] According to an embodiment of the present invention, the server is used to monitor the transportation status and power status of the robot.

[0049] The robot and the transport system provided by the embodiments of the present invention can at least achieve the following technical effects: the storage box is provided with a placement opening, and the box door can open or close the placement opening. After the items are placed in the storage box, the destination information of the items is obtained through the interaction module, and the identity information of the user is collected through the collection module. The robot transports the items to the destination, and the verification module verifies the identity information and sends an opening instruction to the drive mechanism. The drive mechanism drives the box door to open the placement opening before the items can be taken out. In the process of transporting the items, the risk of the items being lost or taken by mistake can be effectively avoided, the safety of transportation is ensured, and it is helpful to reduce the burden on users. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0051] Figure 1 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown (the door is in a closed state);

[0052] Figure 2 A schematic diagram of the structure of a storage box according to an embodiment of the present invention is shown;

[0053] Figure 3 The second structural diagram of the robot according to the embodiment of the present invention is schematically shown (the box door is in an open state);

[0054] Figure 4 A schematic diagram of the structure of a movable chassis according to an embodiment of the present invention is shown;

[0055] Figure 5 The schematic diagram of the assembly of the cabinet door and the driving mechanism according to the embodiment of the present invention is shown schematically;

[0056] Figure 6 A schematic diagram of the structure of a conveying system according to an embodiment of the present invention is shown;

[0057] Reference numerals:

[0058] 100: robot; 10: movable chassis; 11: chassis body; 12: walking part; 121: driving wheel; 122: universal wheel; 13: indicating unit; 20: storage box; 21: box body; 211: box body; 2111: top wall; 2112: front side wall; 2113: left side wall; 210: placement opening; 212: guide rail; 213: mounting frame; 22: box door; 23: driving mechanism; 231: driving motor; 232: transmission part; 2321: driving wheel; 2322: Driven wheel; 2323: conveyor belt; 2324: tension wheel; 241: left protection part; 242: right protection part; 243: bottom protection part; 30: interaction module; 31: touch unit; 32: voice unit; 321: microphone; 322: speaker; 40: acquisition module; 41: first acquisition unit; 42: second acquisition unit; 51: first navigation unit; 511: laser radar; 512: ultrasonic sensor; 52: second navigation unit; 521: depth camera; 522: infrared sensor;

[0059] 200: server; 300: voice interaction device. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0062] In the description of the present invention, it should be noted that, 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 it can be indirectly connected 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.

[0063] Combine the following Figures 1 to 5 A robot 100 according to an embodiment of the present invention will be described.

[0064] like Figures 1 to 3As shown, the robot 100 provided by the embodiment of the present invention includes a movable chassis 10 and a storage box 20, wherein the storage box 20 is arranged on the movable chassis 10 and is used to place items. The interaction module 30 is arranged in the storage box 20 and is used to obtain the destination information of the items. The acquisition module 40 is arranged in the storage box 20 and is used to collect the identity information of the user. The verification module is arranged in the storage box 20 and is used to verify the identity information of the user. The navigation module is arranged in the movable chassis 10 and / or the storage box 20. The storage box 20 includes a box body 21, a box door 22 and a driving mechanism 23. The box body 21 is provided with a placement opening 210, and the placement opening 210 is suitable for items to pass through; the box door 22 is movably arranged at the placement opening 210; the driving mechanism 23 is connected to the verification module in communication, and is used to drive the box door 22 to move according to the opening instruction sent by the verification module to open the placement opening 210. The movable chassis 10 is used to drive the robot 100 to travel to the destination.

[0065] Exemplarily, the robot 100 includes a movable chassis 10 and a storage box 20. The storage box 20 can be installed on the movable chassis 10 by screwing, clamping, etc. The storage box 20 is used to place items. For example, in places such as airports, railway stations, and subway stations, the storage box 20 is used to place passengers' luggage, and the items include luggage. The following description takes the luggage as an example.

[0066] The storage box 20 includes a box body 21, a box door 22, and a driving mechanism 23. The box body 21 may be a hollow square body, and a placement opening 210 is provided at the top or side of the box body 21. The size of the placement opening 210 is set according to actual needs, and the size of the placement opening 210 is suitable for luggage to pass through. The driving mechanism 23 is used to drive the box door 22 to move, so as to open or close the placement opening 210.

[0067] Optionally, the box door 22 can be arranged at the placement opening 210 by a rotational connection mode, and the box door 22 can be rolled up or unrolled, and the placement opening 210 is opened by a rolling action, and the placement opening 210 is closed by an unrolling action. Optionally, the box door 22 can be arranged at the placement opening 210 by a sliding connection mode, and a sliding path suitable for the sliding of the box door 22 is configured on the box body 21, and the box door 22 slides along the sliding path to open or close the placement opening 210. Optionally, the box door 22 can be arranged at the placement opening 210 by a hinged connection mode, and the box door 22 can rotate around the hinge axis, and the placement opening 210 is opened or closed by a rotation mode. The box door 22 can also be a double-door structure, a gate structure, etc.

[0068] The robot 100 further includes an interaction module 30, a collection module 40 and a verification module, which are integrated on the storage box 20. The robot 100 further includes a navigation module, which can be disposed on the movable chassis 10, or on the storage box 20, or both of the movable chassis 10 and the storage box 20.

[0069] The user interacts with the robot 100 through the interaction module 30. For example, the interaction module 30 includes a touch screen, and the user can generate the destination information of the luggage by clicking or writing on the touch screen. For example, the interaction module 30 includes a microphone, a speaker, etc., and generates the destination information of the luggage by collecting the user's voice information.

[0070] It is understandable that the robot 100 also includes a path planning module. After obtaining the destination information, the path planning module generates a transportation path for the robot 100 to walk according to the user's current location information and the destination information.

[0071] The collection module 40 is used to collect the user's identity information, which includes the user's biometric information, certificate information, etc. The biometric information includes facial feature information, fingerprint feature information, etc. The certificate information includes information such as an ID card, a driver's license, a passport, and a vehicle registration certificate. The identity information also includes password information entered by the user. By collecting the user's identity information, the user and the luggage placed in the storage box 20 are bound.

[0072] It is understandable that before the robot 100 transports the luggage, the collection module 40 collects the user's identity information and defines this identity information as the first identity information. After the robot 100 arrives at the destination, the collection module 40 collects the user's identity information again and defines this identity information as the second identity information. After the robot 100 arrives at the destination, the verification module compares the collected second identity information with the first identity information and generates a verification result. If the second identity information is consistent with the first identity information, the verification result is verification passed. After the verification passes, the verification module sends an opening instruction to the drive mechanism 23, and the drive mechanism 23 drives the box door 22 to move, open the placement port 210, and the user takes out the luggage.

[0073] It is understandable that a switch button is provided on the storage box 20. When there is nothing in the storage box 20, the button is pressed, and the driving mechanism 23 drives the box door 22 to move, and the placement opening 210 can be opened. When there is something in the storage box 20, after the verification module passes the verification, the verification module sends an opening instruction to the driving mechanism, and the placement opening 210 can be opened.

[0074] The following describes the workflow of the robot 100 in two scenarios.

[0075] Take the example of transporting the passenger's luggage to the security checkpoint or boarding gate. When the passenger arrives at the location of the robot 100, the driving mechanism 23 drives the box door 22 to open the placement port 210, and the passenger puts the luggage into the box body 21 from the placement port 210. The destination information is obtained through the interactive module 30, and a transportation path is generated according to the current location information and the destination information. The destination can be a security checkpoint, a boarding gate, etc. The acquisition module 40 collects the passenger's first identity information. The first identity information can be the password information entered by the passenger, or the passenger's facial feature information or fingerprint feature information, or the passenger's ID information. After collecting the passenger's first identity information, the driving mechanism 23 receives a closing instruction, and the driving mechanism 23 drives the box door 22 to move and close the placement port 210. The robot 100 walks along the transportation path under the navigation of the navigation module to the destination. After the robot 100 arrives at the destination, the collection module 40 collects the second identity information of the passenger, and the verification module compares the second identity information with the first identity information. After determining that the second identity information is consistent with the first identity information, the verification module sends an opening instruction to the drive mechanism 23. After receiving the opening instruction, the drive mechanism 23 drives the box door 22 to open the placement port 210, and the passenger can take away the luggage.

[0076] When the robot 100 is walking along the transport path, the placement opening 210 is always in a closed state, which effectively avoids the risk of luggage being lost. After the robot 100 arrives at the destination, the placement opening 210 can be opened after verification, which effectively avoids the risk of luggage being taken by mistake. When passengers are on the way to the security checkpoint, or on the way to the boarding gate after the security check, the robot 100 transports luggage, which effectively reduces the burden of passengers, especially for passengers with limited mobility, which greatly reduces the burden of passengers.

[0077] Take the example of transporting the passenger's luggage from the security inspection area to the baggage inspection area. If the luggage is determined to be suspicious luggage after the security inspection equipment performs a security inspection, that is, there are suspicious items in the luggage, including dangerous goods, contraband, etc. The robot 100 arrives at the location of the suspicious luggage in the security inspection area, and the driving mechanism 23 drives the box door 22 to open the placement port 210, and the security personnel put the suspicious luggage into the box body 21 from the placement port 210. The security personnel can input the destination information through the touch screen, and the destination is the baggage inspection station, and generate a transportation path according to the current location information and the destination information. The acquisition module 40 collects the first identity information of the passenger, and the first identity information can be the passenger's facial feature information or fingerprint feature information, and can also be the passenger's ID information. After collecting the passenger's first identity information, the driving mechanism 23 receives a closing instruction, and the driving mechanism 23 drives the box door 22 to close the placement port 210. The robot 100 walks along the transportation path under the navigation of the navigation module and goes to the destination. After the robot 100 arrives at the baggage inspection station, the collection module 40 collects the second identity information of the passenger, and the verification module compares the second identity information with the first identity information. After determining that the second identity information is consistent with the first identity information, the verification is passed, and the verification module sends an opening instruction to the drive mechanism 23. After receiving the opening instruction, the drive mechanism 23 drives the box door 22 to open the placement port 210, and the security inspector takes out the luggage. After that, the security inspector performs a baggage inspection with the cooperation of the passenger.

[0078] When the robot 100 is walking along the transport path, the placement opening 210 is always in a closed state, which effectively avoids the risk of luggage being lost. After the robot 100 arrives at the destination, the placement opening 210 can be opened only after verification, which effectively avoids the risk of luggage being taken by mistake. The robot 100 transports luggage from the security inspection area to the baggage inspection area, which effectively reduces the workload of security personnel.

[0079] In an embodiment of the present invention, the storage box 20 is provided with a placement opening 210, and the box door 22 can open or close the placement opening 210. After the items are placed in the storage box 20, the destination information of the items is obtained through the interaction module 30, and the user's identity information is collected through the collection module 40. The robot 100 transports the items to the destination. After the verification module verifies the identity information, it sends an opening instruction to the drive mechanism 23. The drive mechanism 23 drives the box door 22 to open the placement opening 210 before the items can be taken out. In the process of transporting items, the risk of items being lost or taken by mistake can be effectively avoided, the safety of transportation is ensured, and it is helpful to reduce the burden on users.

[0080] like Figures 1 to 3As shown, in an optional embodiment, the interaction module 30 includes a touch unit 31 and / or a voice unit 32, the touch unit 31 is used to generate destination information based on user input information; the voice unit 32 is used to generate destination information based on user voice information.

[0081] The interactive module 30 is disposed on the box body 21. The box body 21 may be a hollow square body. The box body 21 includes a top wall 2111, a bottom wall, and a plurality of side walls connecting the top wall 2111 and the bottom wall. When there are four side walls, the four side walls are defined as a front side wall 2112, a rear side wall, a left side wall 2113, and a right side wall. The placement port 210 may be disposed on the front side wall 2112, and the interactive module 30 may be disposed on the left side wall 2113 and / or the top wall 2111.

[0082] Exemplarily, the touch unit 31 includes a touch screen, which can be disposed on the left side wall 2113, the right side wall or the rear side wall of the box 21. For example, the touch screen is disposed on the top of the left side wall 2113 of the box 21. The user can generate the destination information by clicking on the touch screen, or the user can generate the destination information by writing on the touch screen. The touch screen can be arranged at an inclined angle, which is conducive to the convenience of the user clicking or writing on the touch screen.

[0083] Exemplarily, the voice unit 32 includes a microphone 321, which is disposed on the top of the box 21. The microphone 321 can be disposed close to the touch screen, and the user interacts with the robot 100 through the microphone 321. The destination information is generated by acquiring the user's voice information. The voice unit 32 also includes a speaker 322, which can be disposed on the front side wall 2112 of the box 21. The user can perform corresponding operations according to the voice prompt issued by the speaker 322. For example, according to the voice prompt, the destination information is input on the touch screen, and the password is input on the touch screen.

[0084] Furthermore, the voice unit 32 can also issue an alarm prompt. When the robot 100 is walking along the transport path, if the robot 100 encounters a fault and cannot walk, the voice unit 32 can issue a fault alarm to prompt the staff to check and repair the robot 100 to resolve the fault.

[0085] In an embodiment of the present invention, the user interacts with the robot 100 through the touch unit 31 and / or the voice unit 32 to obtain the destination information of the item. The user interacts through a variety of interactive methods to meet the user's various interactive needs, making it convenient to obtain the destination information of the item in the quickest way.

[0086] like Figures 1 to 3As shown, in an optional embodiment, the collection module 40 includes a first collection unit 41 and / or a second collection unit 42. The first collection unit 41 is used to collect the user's biometric information, and the second collection unit 42 is used to collect the user's certificate information.

[0087] Exemplarily, the first acquisition unit 41 includes a camera, which is used to acquire biometric information of the user, for example, the camera is used to acquire a face image, a fingerprint image, etc. of the user. The camera may be disposed close to the touch screen.

[0088] Optionally, after the user puts the luggage into the box 21, the camera collects the user's facial image for the first time to establish binding information between the user and the luggage. After the camera collects the user's facial image for the first time and generates the first facial feature information, the drive mechanism 23 receives a closing instruction and drives the box door 22 to close the placement opening 210. After that, the robot 100 goes to the destination along the transportation path. After the robot 100 arrives at the destination, the camera collects the user's facial image for the second time and generates the second facial feature information. The verification module compares the second facial feature information with the first facial feature information. After determining that the verification is passed, the drive mechanism 23 receives an opening instruction sent by the verification module, drives the box door 22 to move to open the placement opening 210, and the user can take out the luggage.

[0089] Optionally, after the user puts the luggage into the box 21, the camera collects the user's fingerprint image for the first time and generates the first fingerprint feature information. After the robot 100 arrives at the destination, the camera collects the user's fingerprint image for the second time and generates the second fingerprint feature information. The verification module compares the second fingerprint feature information with the first fingerprint feature information, and after determining that the verification is passed, the drive mechanism 23 receives the opening instruction sent by the verification module, drives the box door 22 to move to open the placement port 210, and the user can take out the luggage.

[0090] Exemplarily, the second acquisition unit 42 includes a scanner, and the scanner is configured to scan the user's identity card, driver's license, passport, vehicle registration, and other documents to acquire the user's document information.

[0091] Optionally, after the user puts the luggage into the box 21, the scanner collects the user's ID card image for the first time to establish the binding information between the user and the luggage. After the scanner collects the user's ID card image for the first time and generates the first ID card information, the drive mechanism 23 receives the closing instruction and drives the box door 22 to close the placement opening 210. Then the robot 100 goes to the destination along the transportation path. After the robot 100 arrives at the destination, the scanner collects the user's ID card image for the second time and generates the second ID card information. The verification module compares the second ID card information with the first ID card information. After determining that the verification is passed, the drive mechanism 23 receives the opening instruction sent by the verification module, drives the box door 22 to move and open the placement opening 210, and the user can take out the luggage.

[0092] Optionally, after the luggage is placed in the box 21, the camera collects the user's facial image for the first time to generate the first facial feature information, and the scanner collects the user's ID card image for the first time to generate the first ID card information. After the first facial feature information and the first ID card information are generated, the drive mechanism 23 receives a closing instruction and drives the box door 22 to close the placement opening 210. Then the robot 100 goes to the destination along the transportation path. After the robot 100 arrives at the destination, the camera collects the user's facial image for the second time to generate the second facial feature information, and the scanner collects the user's ID card image for the second time to generate the second ID card information. The verification module compares the second facial feature information with the first facial feature information to generate a first comparison result, and the verification module compares the second ID card information with the first ID card information to generate a second comparison result. After the verification is determined to be passed by the first comparison result and the second comparison result, the drive mechanism 23 receives an opening instruction sent by the verification module, drives the box door 22 to move to open the placement opening 210, and the user can take out the luggage.

[0093] In an embodiment of the present invention, the first acquisition unit 41 is used to collect the user's facial feature information and fingerprint feature information, and the second acquisition unit 42 is used to collect the user's identity card, driver's license, passport, vehicle registration and other document information. The verification module compares at least one of the biometric information and the document information. The first acquisition unit 41 and the second acquisition unit 42 can provide a variety of verification methods to meet diverse verification needs.

[0094] like Figure 1 , Figure 2 and Figure 4 As shown, in an optional embodiment, the navigation module includes a first navigation unit 51 and a second navigation unit 52. The first navigation unit 51 is disposed on the peripheral side of the movable chassis 10, and the second navigation unit 52 is disposed on the peripheral side of the storage box 20.

[0095] Exemplarily, the first navigation unit 51 includes a laser radar 511, an ultrasonic sensor 512, etc., and the laser radar 511 and the ultrasonic sensor 512 are installed on the movable chassis 10. The number of laser radars 511 and ultrasonic sensors 512 is set according to actual needs. For example, a laser radar 511 is installed at the front and rear ends of the movable chassis 10, and two ultrasonic sensors 512 are installed at the front end of the movable chassis 10. The laser radar 511 and the ultrasonic sensor 512 are used for autonomous navigation and obstacle avoidance of the robot 100, and have 360-degree all-round intelligent obstacle detection and recognition capabilities, and can achieve flexible avoidance of pedestrians and other obstacles in complex environments.

[0096] Exemplarily, the second navigation unit 52 includes an infrared sensor 522, a depth camera 521, etc. The infrared sensor 522 and the depth camera 521 can be installed on the front side wall 2112 of the box 21. The infrared sensor 522 is installed at the bottom of the front side wall 2112, the depth camera 521 can be installed at the top of the front side wall 2112, and the depth camera 521 can be installed near the touch screen. The infrared sensor 522 and the depth camera 521 are used for autonomous navigation and obstacle avoidance of the robot 100, and have 360-degree all-round intelligent detection and recognition of obstacles, and can achieve flexible avoidance of pedestrians and other obstacles in complex environments.

[0097] The laser radar 511 determines the distance and position of objects in the environment by emitting lasers and measuring the reflection time, and has the ability to detect objects with high accuracy and over long distances. The depth camera 521 can capture detailed visual information in the environment, including the color, shape, texture, etc. of objects. The infrared sensor 522 detects the distance of obstacles by measuring the reflection intensity of infrared signals, and the ultrasonic sensor 512 calculates the distance of obstacles by emitting sound waves and measuring the time it takes for them to reflect back.

[0098] In an embodiment of the present invention, the laser radar 511, the depth camera 521, the infrared sensor 522 and the ultrasonic sensor 512 are combined, and the data of the four sensors are integrated, which can more accurately perceive the surrounding environment, effectively improve the navigation accuracy of the robot 100, and ensure the safety of the robot 100 walking.

[0099] In an optional embodiment, the robot 100 further includes a monitoring module, which is disposed in the storage box 20 and is used to monitor the transport status of the robot 100 .

[0100] Exemplarily, the monitoring module includes a camera, which is installed on the top of the box 21. During the transportation process of the robot 100, the camera monitors the conditions in the storage box 20 in real time. By replaying the video recorded by the camera, unexpected conditions in the transportation process can be discovered, and by monitoring the entire transportation process through video, unexpected conditions can be effectively handled.

[0101] Furthermore, the robot 100 also includes a power module, which ensures that the robot 100 has a suitable endurance.

[0102] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, in an optional embodiment, the box body 21 includes a box body 211 and a guide rail component. The box body 211 includes a top wall 2111, a bottom wall, and a plurality of side walls arranged between the top wall 2111 and the bottom wall, and one of the plurality of side walls is provided with a placement opening 210. The guide rail component is arranged at the placement opening 210 and extends to the top wall 2111. The guide rail component is configured with a guide groove, and both sides of the box door 22 are slidably arranged in the guide groove. The driving mechanism 23 includes a driving motor 231 and a transmission component 232. The transmission component 232 is arranged near the guide rail component, connected to the driving end of the driving motor 231, and at least a portion of the transmission component 232 is connected to the box door 22. The driving motor 231 is used to drive the transmission component 232 to move, so as to drive the box door 22 to slide along the guide groove to open or close the placement opening 210.

[0103] The box body 21 includes a box body 211 and a guide rail component. The box body 211 may be a hollow square body. The box body 211 includes a top wall 2111, a bottom wall and a plurality of side walls. When there are four side walls, the four side walls are defined as a front side wall 2112, a rear side wall, a left side wall 2113 and a right side wall. The placement opening 210 is located on the front side wall 2112, and the size of the placement opening 210 is suitable for luggage to pass through.

[0104] In some embodiments, a guide rail component is provided at the placement opening 210 of the box body 211, and the guide rail component is located inside the box body 211. The guide rail component includes two guide rails 212 arranged at intervals, and a guide groove is provided on the guide rail 212. The placement opening 210 has a first direction and a second direction, the first direction and the second direction are perpendicular to each other, the first direction is consistent with the horizontal direction, and the second direction is consistent with the height direction. The two guide rails 212 are arranged at intervals along the first direction, and the guide rails 212 extend from the front side wall 2112 to the top wall 2111, and can further extend to the rear side wall. The guide groove on the guide rail 212 forms a sliding path suitable for the sliding of the box door 22, and the guide rail 212 can be L-shaped or U-shaped.

[0105] It is understandable that the box door 22 has a suitable degree of flexibility, and the curved shape of the box door 22 is adapted to the curved shape of the guide rail 212. The box door 22 has a length direction and a width direction, and along the width direction of the box door 22, both sides of the box door 22 are slidably installed in the guide groove, and the box door 22 can slide along the sliding path formed by the guide groove.

[0106] The driving mechanism 23 includes a driving motor 231 and a transmission component 232. The driving motor 231 includes a bidirectional motor. The transmission component 232 includes two transmission components arranged at intervals. The two transmission components are arranged one by one with the two guide rails 212. The transmission component is close to the rear side wall. The transmission component includes a driving wheel 2321, a driven wheel 2322 and a conveyor belt 2323. The driving wheel 2321 and the driven wheel 2322 are arranged at intervals in the vertical direction. The conveyor belt 2323 is sleeved on the driving wheel 2321 and the driven wheel 2322. The conveyor belt 2323 is connected to one end of the box door 22 away from the front side wall 2112 through a connecting piece. The driving shaft of the bidirectional motor is connected to the driving wheel 2321. The bidirectional motor drives the driving wheel 2321 to rotate. The driving wheel 2321 rotates to drive the driven wheel 2322 and the conveyor belt 2323 to rotate. The conveyor belt 2323 rotates to drive the box door 22 to slide along the guide groove. For example, the bidirectional motor drives the driving wheel 2321 to rotate in the clockwise direction, and the box door 22 slides along the extension direction of the guide groove toward the direction close to the rear side wall, so as to open the placement opening 210; the bidirectional motor drives the driving wheel 2321 to rotate in the counterclockwise direction, and the box door 22 slides along the extension direction of the guide groove toward the direction close to the front side wall 2112, so as to close the placement opening 210. The conveyor belt 2323 drives the box door 22 to slide, and the overall structure is compact, which is conducive to the smooth sliding of the box door 22.

[0107] The guide rail 212 is U-shaped, and some sections of the guide rail 212 are arranged near the front side wall 2112 and the rear side wall of the box body 21, and some sections of the guide rail 212 are arranged near the top wall 2111 of the box body 21, so that the box door 22 has a sufficient sliding path, and the box door 22 can slide to a state where the placement opening 210 is fully opened. The placement opening 210 on the front side wall 2112 is opened large enough to ensure that the area of ​​the placement opening 210 is maximized, so that the luggage can be smoothly placed in the storage box 20. It can not only meet the requirements of placing luggage of various specifications and sizes, but also facilitate the miniaturization of the storage box.

[0108] The box door 22 is slidably mounted on the guide rail 212, and the box door 22 slides along the guide rail 212 to open or close the placement opening 210. When the placement opening 210 is open, a portion of the box door 22 is stored in the storage box 20, and does not occupy external space, so that the storage box 20 occupies a small space as a whole. When the box door 22 is opened or closed, it will not collide with external objects, ensuring safety in use.

[0109] In an embodiment of the present invention, the box door 22 slides along the sliding path formed by the guide rail component, and the placement opening 210 is opened or closed by sliding the box door 22. The overall structure is simple, and the box door 22 can be easily switched between the open state and the closed state, which is beneficial to maximizing the placement volume and at the same time beneficial to the overall miniaturization of the storage box 20.

[0110] like Figure 5 As shown, in an optional embodiment, the transmission component 232 also includes a tensioning wheel 2324, which is adjustably arranged on one side of the conveyor belt 2323 and is in rolling contact with the conveyor belt 2323 for adjusting the tightness of the conveyor belt 2323.

[0111] Exemplarily, the transmission assembly further includes a tensioning wheel 2324, and a mounting frame 213 is provided on the side wall of the box body 211, and the mounting frame 213 is located near the conveyor belt 2323. The tensioning wheel 2324 is rotatably mounted on the mounting frame 213, and the mounting frame 213 is adjustably mounted on the side wall of the box body 211. For example, a mounting hole is provided on the mounting frame 213, and the mounting hole is a long hole, and the length direction of the mounting hole is perpendicular to the rotation direction of the conveyor belt 2323. The mounting frame 213 is moved in the horizontal direction to adjust the installation position of the mounting frame 213 and the side wall. Since the tensioning wheel 2324 is in rolling contact with the outer surface of the conveyor belt 2323, the mounting frame 213 is moved, and the tensioning wheel 2324 makes one section of the transmission belt approach or move away from another section, thereby adjusting the tightness of the conveyor belt 2323. By adjusting the tightness of the conveyor belt 2323 , the smooth rotation of the conveyor belt 2323 is ensured, thereby ensuring the smooth sliding of the door 22 .

[0112] Optionally, a protective part is provided at the position of the placement opening 210 on the box body 211, for example, a left protective part 241 is provided at the left edge of the placement opening 210, a right protective part 242 is provided at the right edge of the placement opening 210, and a bottom protective part 243 is provided at the bottom edge of the placement opening 210. The cross section of the protective part may be approximately semicircular, etc. The protective part is provided at the edge of the placement opening 210 to effectively prevent the luggage from being scratched during the process of placing or taking out the luggage.

[0113] like Figure 1 and Figure 4 As shown, in an optional embodiment, the movable chassis 10 includes a chassis body 11, a path planning module and a walking component 12. The path planning module is provided on the chassis body 11, and is used to generate a transportation path according to the destination information. The walking component 12 is provided at the bottom of the chassis body 11, and is used to drive the robot 100 to walk along the transportation path.

[0114] Exemplarily, the movable chassis 10 includes a chassis body 11 and a traveling component 12, and the traveling component 12 is installed at the bottom of the chassis body 11. The traveling component 12 can be a six-wheel drive structure, and the traveling component 12 includes a servo motor, two drive wheels 121 and four universal wheels 122, and two universal wheels 122 are respectively arranged in front and behind the two drive wheels 121. The two drive wheels 121 adopt a two-wheel differential drive design, and high-precision motion control can be achieved by independently controlling the speed and direction of each drive wheel 121. The four universal wheels 122 are conducive to improving the flexibility of steering.

[0115] The path planning module generates a transport path according to the user's current location information and the destination information of the item, and the movable chassis 10 moves along the transport path.

[0116] like Figure 4 As shown, in an optional embodiment, the movable chassis 10 further includes an indication unit 13 for indicating the working state of the movable chassis 10 .

[0117] Exemplarily, the indicating unit 13 includes an indicator light, a light strip, etc. The indicator light can display different colors to indicate the current working state of the movable chassis 10. For example, the indicator light displays green, indicating that the movable chassis 10 is in a normal walking state; the indicator light displays red, indicating that the movable chassis 10 is in a fault state.

[0118] like Figure 6 As shown, an embodiment of the present invention further provides a transportation system, which includes a voice interaction device 300, a server 200 and a robot 100. The voice interaction device 300 is used to obtain a user's transportation request. The server 200 is connected in communication with the voice interaction device 300 to send a transportation instruction based on the transportation request. The robot 100 is connected in communication with the server 200 to transport items based on the transportation instruction.

[0119] The transportation system is used in places such as airports, stations, and subway stations. The transportation system transports luggage according to the needs of users. The structure and functions of the robot 100 are as described above. The voice interaction device 300 includes a pager, and the server 200, the robot 100 and the pager are connected in communication via wireless communication. The user sends a transportation request for luggage transportation through the pager, and the user includes passengers, security personnel, etc. The server 200 receives the transportation request, obtains the user's current location information, and sends a transportation task request to the robot 100. The robot 100 receives the transportation task request and arrives at the user's location based on the user's current location information.

[0120] After the robot 100 arrives at the user's location, the driving mechanism 23 drives the box door 22 to slide along the guide rail 212, opens the placement port 210, and the user puts the luggage into the storage box 20. The user interacts with the robot 100 through the interaction module 30 to generate destination information. The user can generate destination information by clicking on the touch screen, and the robot 100 can generate destination information by collecting the user's voice information. The path planning module generates a transportation path based on the current location information and the destination information.

[0121] The first identity information can be generated by collecting the user's face image through the first collection unit 41, or by collecting the user's ID image through the second collection unit 42. After obtaining the first identity information, the driving mechanism 23 receives a closing instruction and drives the box door 22 to close the placement opening 210. Then the robot 100 goes to the destination along the transport path.

[0122] The robot 100 walks along the transport path, and the laser radar 511, the depth camera 521, the ultrasonic sensor 512 and the infrared sensor 522 all-roundly detect obstacles on the transport path to ensure the safety of the robot 100 walking.

[0123] After the robot 100 arrives at the destination, the robot 100 collects the user's identity information again, and the opening instruction can be triggered only after the verification is passed. For example, the first collection unit 41 collects the user's face image again to generate the second identity information, and the verification module compares the second identity information with the first identity information. After determining that the verification is passed, the driving mechanism 23 receives the opening instruction sent by the verification module, drives the box door 22 to move to open the placement port 210, and the user can take out the luggage.

[0124] Optionally, the verification module compares the second facial feature information with the first facial feature information, and sends an opening instruction after the verification is passed. Optionally, the verification module compares the second fingerprint feature information with the first fingerprint feature information, and sends an opening instruction after the verification is passed. Optionally, the verification module compares the second password with the first password, and sends an opening instruction after the verification is passed. Optionally, the verification module compares the second ID card information with the first ID card information, and sends an opening instruction after the verification is passed.

[0125] After the user takes out the luggage, the user can click the touch screen to confirm that the delivery task is completed. The door 22 is closed, and the robot 100 returns to the departure point.

[0126] It is understandable that if the robot 100 does not receive the user's verification information while walking along the transportation path, the placement port 210 is always in a closed state. After arriving at the destination, the robot 100 collects the user's identity information, and after the verification is passed, the opening command is triggered, the box door 22 is in an open state, and the user takes out the luggage, fully ensuring the safety of the transportation process.

[0127] Based on the user's transportation request, the server 200 sends a transportation task instruction to the robot 100. The robot 100 receives the transportation task instruction and goes to the user's location. The robot 100 generates a transportation path based on the current location information and the destination information. After arriving at the destination, the robot 100 determines that the verification is passed based on the user's identity information and opens the box door 22. After the user takes out the luggage, the robot 100 returns to the departure point, effectively improving the safety and efficiency of transportation.

[0128] In an optional embodiment, the server 200 is used to monitor the transportation status and power status of the robot 100 .

[0129] Specifically, the transport system includes a plurality of robots 100, which are in communication connection with a server 200. The server 200 can monitor the transport status of each robot 100, determine whether each robot 100 is in an idle state or a transport state, and assign transport tasks to the plurality of robots 100. The server 200 can also monitor the power status of each robot 100, and assign a charging task to the robot 100 when the power is lower than a preset power value.

[0130] The server 200 receives the user's transport request and sends a transport task instruction to the idle robot 100. The robot 100 receives the transport task instruction and goes to the user's location to perform the transport task. The server 200 monitors the transport status and power status of multiple robots 100 in real time and assigns transport tasks or charging tasks to the robot 100, which is conducive to the efficient and reliable operation of the transport system.

[0131] The above is only a specific embodiment of the present invention, but the protection scope of this application is not limited thereto. Any changes or substitutions made within the spirit and principle of the present invention should be included in the protection scope of this application. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. A robot, characterized in that: include: Removable chassis; A storage box, arranged on the movable chassis, for placing items; An interactive module, provided in the storage box, for obtaining destination information of the item; A collection module, provided in the storage box, for collecting the identity information of the user; A verification module, provided in the storage box, for verifying the identity information of the user; as well as A navigation module, arranged on the movable chassis and / or the storage box; Wherein, the storage box comprises: The box body is provided with a placement opening, wherein the placement opening is suitable for items to pass through; A box door is movably disposed at the placement opening; and A driving mechanism, which is in communication with the verification module and is used to drive the box door to move according to an opening instruction sent by the verification module to open the placement opening; The movable chassis is used to drive the robot to a destination.

2. The robot according to claim 1, wherein: The interaction module includes: a touch unit, configured to generate the destination information based on user input information; and / or The speech unit is used to generate the destination information based on the user's speech information.

3. The robot according to claim 1, wherein: The acquisition module comprises: A first collection unit is used to collect biometric information of the user; and / or The second collection unit is used to collect the user's certificate information.

4. The robot according to claim 1, wherein: The navigation module includes: A first navigation unit is disposed on a peripheral side of the movable chassis; and The second navigation unit is arranged on the peripheral side of the storage box.

5. The robot according to claim 1, wherein: The robot further comprises a monitoring module, which is arranged in the storage box and is used for monitoring the transport status of the robot.

6. The robot according to any one of claims 1 to 5, wherein: The box body comprises: The box body comprises a top wall, a bottom wall and a plurality of side walls arranged between the top wall and the bottom wall, one of the plurality of side walls being provided with the placement opening; and A guide rail component is arranged at the placement opening and extends to the top wall, the guide rail component is configured with a guide groove, and two sides of the box door are slidably arranged in the guide groove; The driving mechanism comprises: a drive motor; and A transmission component is arranged close to the guide rail component and connected to the driving end of the driving motor, and at least a part of the transmission component is connected to the box door; The driving motor is used to drive the transmission component to move, so as to drive the box door to slide along the guide groove, so as to open or close the placement opening.

7. The robot according to claim 6, wherein: The transmission components include: A driving wheel connected to the driving end of the driving motor; A driven wheel is spaced apart from the driving wheel in the vertical direction; and The conveyor belt is sleeved on the driving wheel and the driven wheel and connected to the box door, and is used for driving the box door to slide along the guide groove.

8. The robot according to claim 7, wherein: The transmission component also includes a tensioning wheel, which is adjustably arranged on one side of the conveyor belt and is in rolling contact with the conveyor belt for adjusting the tightness of the conveyor belt.

9. The robot according to any one of claims 1 to 5, wherein: The movable chassis comprises: Chassis body; a path planning module, disposed on the chassis body, for generating a transport path according to the destination information; and The walking component is arranged at the bottom of the chassis body and is used to drive the robot to walk along the conveying path.

10. The robot according to claim 9, wherein: The movable chassis further comprises an indicating unit for indicating a working state of the movable chassis.

11. A conveying system, characterized in that: include: A voice interaction device for obtaining a user's delivery request; A server, in communication with the voice interaction device, configured to send a delivery instruction based on the delivery request; as well as The robot according to any one of claims 1 to 10, being communicatively connected to the server, and configured to transport items based on the transport instruction.

12. The conveying system according to claim 11, wherein: The server is used to monitor the transportation status and power status of the robot.

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