Intelligent sensing unmanned stair-climbing distribution system

Abstract

The invention provides an intelligent sensing unmanned stair-climbing distribution system. The system comprises an intelligent mechanical arm module, a distribution vehicle body module, a lifting suspension module, a chassis wheel train module and a multi-mode sensing module. The intelligent mechanical arm module is used for executing goods grabbing and carrying operation; the distribution vehicle body module is used for storing and protecting goods; the chassis wheel train module is used for supporting the weight of the vehicle body and providing movement capacity; the lifting suspension module is used for conveying goods from the interior of the vehicle body to a specified distribution height; the multi-mode sensing module is used for providing environment sensing and navigation functions; according to the invention, the modular design is combined with the multi-mode perception and dynamic obstacle avoidance technology, and the efficient, safe and stable unmanned distribution function in a complex environment is realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent distribution technology, and in particular to an intelligent perception unmanned stair-climbing distribution system. Background Art

[0002] With the rapid development of e-commerce and logistics industries, the demand for unmanned delivery technology is growing; especially when solving the "last mile" delivery problem, unmanned delivery vehicles have become a key tool due to their high efficiency and flexibility; however, existing unmanned delivery vehicles still have limitations in complex environments; for example, in narrow spaces, complex terrain or stair environments, traditional unmanned delivery vehicles have difficulty completing delivery tasks; in addition, obstacles in dynamic environments place higher demands on the obstacle avoidance capabilities of unmanned delivery vehicles. At the same time, there are also high demands for stability and protection of goods during transportation.

[0003] After consulting the relevant disclosed technical solutions, the technology with publication number CN111599101B proposes an unmanned delivery robot, including a locker with a plurality of storage boxes, a drive seat body is arranged at the lower part of the locker, a walking base is arranged at the lower part of the drive seat body, and a lifting mechanism is also arranged between the drive seat body and the locker, and the lifting mechanism drives the locker to lift and lower; the unmanned delivery robot also includes an interactive system arranged on the walking base and / or the locker; this solution can realize interactive delivery and logistics delivery, expand the delivery network and delivery density, and improve the utilization rate of the delivery robot; but this solution is mainly designed for flat ground delivery scenarios, lacks the ability to adapt to complex terrain, and limits its application in diversified delivery environments; at the same time, this solution does not involve the perception of dynamic obstacles and the control of the stability of goods, and it is difficult to ensure the safety and efficiency of the delivery process. Summary of the invention

[0004] The purpose of the present invention is to propose an intelligent perception unmanned stair-climbing delivery system to address the current deficiencies.

[0005] The present invention adopts the following technical solution:

[0006] An intelligent perception unmanned stair-climbing delivery system comprises an intelligent mechanical arm module, a delivery vehicle body module, a lifting suspension module, a chassis wheel system module and a multi-modal perception module.

[0007] The intelligent robotic arm module is used to perform cargo grabbing and handling operations; the delivery vehicle module is used to store and protect cargo; the chassis wheel system module is used to support the weight of the vehicle body and provide mobility; the lifting suspension module is used to deliver cargo from the vehicle body to the specified delivery height; and the multimodal perception module is used to provide environmental perception and navigation functions.

[0008] The intelligent robotic arm module includes a robotic arm installed on the top of a carriage; the robotic arm fixes its rotatable base at the bottom to the carriage through an irregular hexahedral bracket, the bottom of the robotic arm can achieve full rotation in the horizontal plane, and the upper part of the robotic arm can achieve full rotation during the operation of the robotic arm to meet various different operational requirements.

[0009] The distribution vehicle body module includes a carriage; the carriage is used to store and protect goods.

[0010] The lifting suspension module includes a lifting suspension, an extension arm and a lifting arm. The extension arm and the lifting arm can move in two directions of the X axis and the Z axis respectively to send the lifting suspension into and out of the car and to increase the height of the lifting suspension.

[0011] Furthermore, the lifting suspension includes a lifting platform, an intermediate bracket, an intermediate sleeve, a bottom screw, a bottom bracket, a fixed sleeve and a movable sleeve; the lifting suspension is internally driven by a motor to rotate the bottom screw in and out, and the movable sleeve is driven forward and backward with the fixed sleeve as a fulcrum, and the motion is transmitted through the combination of the intermediate bracket and the intermediate sleeve, thereby realizing the rising and falling of the top lifting platform; the bottom bracket is used to support and fix the elements above the bottom bracket; the lifting platform is used to place goods.

[0012] Furthermore, the chassis wheel train module includes a chassis, a tension pump and a wheel train; the chassis is used to bear the weight of the upper carriage, and the tension pump is arranged under the chassis to ensure the stability of the carriage and the levelness of the carriage during climbing stairs; the wheel train is used to complete the movement of the entire vehicle body.

[0013] Furthermore, the multimodal perception module includes a human-computer interaction screen, a depth camera, a laser radar, a visual sensor and a GPS positioning sensor; the depth camera is installed at a horizontal position on the chassis below the car, and there are four visual sensors, which are installed at the front, rear, left and right edge positions of the upper part of the car respectively, and the depth camera and the visual sensor jointly complete the accurate perception of road conditions and obstacles; the laser radar is installed at the lower part of the car to generate a high-precision point cloud map; the GPS positioning sensor is installed at the rear position below the car to obtain satellite positioning signals in an open space; the human-computer interaction screen is installed at the upper part of the car, and the direction facing the human-computer interaction screen is the forward direction of the entire vehicle body, so as to complete the interaction between the user and the system.

[0014] An intelligent perception unmanned stair climbing delivery method, the method comprising the following steps:

[0015] S1: The delivery user places the goods to be delivered in the vehicle and sets the delivery route through the human-computer interaction screen;

[0016] S2: The entire vehicle body opens the door of the distribution warehouse through the extension of the robotic arm and drives away from the warehouse;

[0017] S3: The entire vehicle body moves along the delivery route, and during the driving process, the depth camera, lidar, visual sensor and GPS positioning sensor work together to detect the driving environment and correct the driving route of the entire vehicle body to prevent the entire vehicle body from colliding;

[0018] S4: When the entire vehicle body drives to the pickup location, the user who picks up the goods performs authentication through the human-computer interaction screen. After the authentication is completed, the robotic arm grabs the goods in the cargo box and places them on the lifting platform. The extension arm and the lifting arm send the lifting suspension out of the cargo box. The lifting suspension adjusts the lifting of the lifting platform by itself to lift the goods to the height of the human waist to complete the delivery of the goods.

[0019] Furthermore, in the process of the entire vehicle body traveling along the delivery route in step S3, the depth camera, lidar, visual sensor and GPS positioning sensor work together to generate a dynamic point cloud map centered on the vehicle body, so as to perceive the driving environment in real time and detect driving obstacles; the types of driving obstacles are identified by the visual sensor, and the driving obstacles are divided into dynamic obstacles and static obstacles, and the corresponding dynamic danger zone range is set for the dynamic obstacles; thereby correcting the driving route of the entire vehicle body and ensuring the safe and efficient operation of the entire vehicle body.

[0020] Furthermore, the dynamic danger zone range setting method for dynamic obstacles is as follows:

[0021] R d =R0+k·v obs (1+Q);

[0022] Among them, R d is the dynamic safety radius of the dynamic obstacle, and the dynamic danger zone is the area within the dynamic safety radius centered on the dynamic obstacle; R0 is the preset minimum fixed safety distance, and k is the preset movement influence proportional factor, which is used to control the influence of the movement of the dynamic obstacle on the dynamic safety radius; v obs is the current speed of the dynamic obstacle; Q is the movement correction factor of the dynamic obstacle; satisfying:

[0023]

[0024] Where Δv obs is the acceleration of the obstacle, Δθ obsis the angular velocity of the obstacle; ε is the preset smoothing factor, which is used to control the exponential influence of the angular velocity change on the dynamic safety radius; α is the acceleration influence weight, β is the angular velocity influence weight, and both α and β are set through pre-experiments.

[0025] The beneficial effects achieved by the present invention are:

[0026] This solution achieves efficient and safe unmanned delivery functions through modular design; through multimodal perception modules, the system can generate dynamic point cloud maps, perceive the environment in real time and dynamically correct the driving route to ensure accurate navigation and obstacle avoidance capabilities under complex road conditions; by combining the various complex movement conditions of dynamic obstacles to set the dynamic danger zone range of dynamic obstacles, the risk of collision can be effectively avoided, the obstacle avoidance efficiency and operational safety of delivery vehicles in dynamic and complex environments can be improved, and the stability and integrity of goods during the delivery process can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0028] Figure 1 It is a schematic diagram of the overall module of the present invention.

[0029] Figure 2 It is a side schematic diagram of the overall vehicle body structure of the present invention.

[0030] Figure 3 It is a rear back schematic diagram of the overall vehicle body structure of the present invention.

[0031] Figure 4 It is a schematic diagram of the internal structure of the lifting suspension of the present invention.

[0032] Figure 5 It is a front schematic diagram of the overall vehicle body structure of the present invention.

[0033] Figure 6 It is a side schematic diagram of the overall vehicle body structure when the stretching pump of the present invention has not been reset.

[0034] Figure 7 This is a schematic diagram of the workflow of the intelligent perception unmanned stair-climbing delivery method of the present invention.

[0035] The meaning of the numbers in the figure: 1-mechanical arm, 2-lifting suspension, 3-extension arm, 4-wheel train, 5-carriage, 6-visual sensor, 7-human-computer interaction screen, 8-original car logo, 9-depth camera, 10-lidar, 11-chassis, 12-lifting arm, 13-GPS positioning sensor, 14-stretching pump, 15-lifting platform, 16-middle bracket, 17-middle sleeve, 18-bottom screw, 19-bottom bracket, 20-fixed sleeve, 21-movable sleeve. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention; for those skilled in the art, other systems, methods and / or features of the present embodiment will become apparent after reviewing the following detailed description; it is intended that all such additional systems, methods, features and advantages are included in this specification; included within the scope of the present invention and protected by the appended claims; additional features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0037] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] Embodiment 1:

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment provides an intelligent perception unmanned stair climbing delivery system, the system comprising an intelligent mechanical arm module, a delivery vehicle module, a lifting suspension module, a chassis wheel system module and a multi-modal perception module;

[0040] The intelligent mechanical arm module is used to perform cargo grabbing and handling operations; the delivery vehicle module is used to store and protect cargo; the chassis wheel system module is used to support the weight of the vehicle body and provide movement capability; the lifting suspension module is used to deliver cargo from the vehicle body to the specified delivery height; the multimodal perception module is used to provide environmental perception and navigation functions;

[0041] The intelligent robotic arm module includes a robotic arm mounted on the top of the carriage; the robotic arm is fixed to the carriage by a rotatable base at the bottom through an irregular hexahedral bracket, the bottom of the robotic arm can achieve full rotation in the horizontal plane, and the upper part of the robotic arm can achieve full rotation during the operation of the robotic arm to meet various different operation requirements;

[0042] Specifically, a USB camera is also installed on the top of the robotic arm, and the USB camera is used to locate and identify the goods;

[0043] The delivery vehicle body module includes a carriage; the carriage is used to store and protect the goods;

[0044] The lifting suspension module includes a lifting suspension, an extension arm and a lifting arm. The extension arm and the lifting arm can move in two directions of the X axis and the Z axis respectively to send the lifting suspension into and out of the carriage and to increase the height of the lifting suspension.

[0045] The lifting suspension comprises a lifting platform, an intermediate bracket, an intermediate sleeve, a bottom screw, a bottom bracket, a fixed sleeve and a movable sleeve; the lifting suspension is driven by a motor to rotate the bottom screw forward and backward, and the movable sleeve is driven forward and backward with the fixed sleeve as a fulcrum, and the movement is transmitted through the combination of the intermediate bracket and the intermediate sleeve, so as to realize the rise and fall of the top lifting platform; the bottom bracket is used to support and fix the components above the bottom bracket; the lifting platform is used to place goods;

[0046] The chassis wheel train module includes a chassis, a tension pump and a wheel train; the chassis is used to bear the weight of the upper carriage, and the tension pump is arranged under the chassis to ensure the stability of the carriage and the level of the carriage during the stair climbing process; the wheel train is used to complete the movement of the entire vehicle body;

[0047] The multimodal perception module includes a human-computer interaction screen, a depth camera, a laser radar, a visual sensor and a GPS positioning sensor; the depth camera is installed at a horizontal position of the chassis below the car, and there are four visual sensors, which are installed at the front, rear, left and right edges of the upper part of the car respectively. The depth camera and the visual sensor jointly complete the accurate perception of road conditions and obstacles; the laser radar is installed at the lower part of the car to generate a high-precision point cloud map; the GPS positioning sensor is installed at the rear position below the car to obtain satellite positioning signals in an open space; the human-computer interaction screen is installed at the upper part of the car, and the human-computer interaction screen faces the forward direction of the entire car body, so as to complete the interaction between the user and the system;

[0048] An intelligent perception unmanned stair climbing delivery method, such as Figure 7 As shown, the method comprises the following steps:

[0049] S1: The delivery user places the goods to be delivered in the vehicle and sets the delivery route through the human-computer interaction screen;

[0050] S2: The entire vehicle body opens the door of the distribution warehouse through the extension of the robotic arm and drives away from the warehouse;

[0051] S3: The entire vehicle body moves along the delivery route, and during the driving process, the depth camera, lidar, visual sensor and GPS positioning sensor work together to detect the driving environment and correct the driving route of the entire vehicle body to prevent the entire vehicle body from colliding;

[0052] S4: When the vehicle body drives to the pickup location, the user who picks up the goods performs authentication through the human-machine interactive screen. After the authentication is completed, the robotic arm grabs the goods in the cargo box and places them on the lifting platform. The extension arm and the lifting arm send the lifting suspension out of the cargo box. The lifting suspension adjusts the lifting of the lifting platform by itself to lift the goods to the height of the human waist to complete the delivery of the goods.

[0053] Furthermore, during the entire vehicle body's driving along the delivery route, the depth camera, laser radar, visual sensor and GPS positioning sensor work together to generate a dynamic point cloud map centered on the vehicle body, so as to perceive the driving environment in real time and detect driving obstacles; the visual sensor identifies the category of driving obstacles, divides the driving obstacles into dynamic obstacles and static obstacles, and sets the corresponding dynamic danger zone range for dynamic obstacles; thereby correcting the driving route of the entire vehicle body and ensuring the safety and efficient operation of the entire vehicle body;

[0054] Furthermore, the dynamic danger zone range setting method for dynamic obstacles is as follows:

[0055] R d=R0+k·v obs (1+Q);

[0056] Among them, R d is the dynamic safety radius of the dynamic obstacle, and the dynamic danger zone is the area within the dynamic safety radius centered on the dynamic obstacle; R0 is the preset minimum fixed safety distance, and k is the preset movement influence proportional factor, which is used to control the influence of the movement of the dynamic obstacle on the dynamic safety radius; v obs is the current speed of the dynamic obstacle; Q is the movement correction factor of the dynamic obstacle; satisfying:

[0057]

[0058] Where Δv obs is the acceleration of the obstacle, Δθ obs is the angular velocity of the obstacle; ε is the preset smoothing factor, which is used to control the exponential influence of the angular velocity change on the dynamic safety radius; α is the acceleration influence weight, β is the angular velocity influence weight, and both α and β are set by pre-experiments;

[0059] Furthermore, after obtaining a dynamic point cloud map containing driving obstacles, the system corrects the driving route of the entire vehicle through a path planning algorithm in the prior art; specifically, the system uses a local path planning method to generate an optimal path to avoid obstacles based on the distribution and category of obstacles and the range of dynamic dangerous areas in the dynamic point cloud map, and dynamically adjusts the driving direction and speed of the vehicle in combination with the global path planning results; when it is detected that a driving obstacle enters the dangerous area, the system immediately recalculates the safe driving path and controls the vehicle to avoid the obstacle in real time, thereby ensuring the safety of the vehicle driving and the efficiency of the delivery process;

[0060] Furthermore, the delivery vehicle body module also includes an original vehicle logo designed by itself; and the original vehicle logo is provided with a reflective coating, which can effectively attract the attention of pedestrians and vehicles.

[0061] Embodiment 2:

[0062] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0063] This embodiment provides an intelligent perception unmanned stair climbing delivery system, which includes an intelligent mechanical arm module, a delivery vehicle module, a lifting suspension module, a chassis wheel system module and a multi-modal perception module;

[0064] The intelligent mechanical arm module is used to perform cargo grabbing and handling operations; the delivery vehicle module is used to store and protect cargo; the chassis wheel system module is used to support the weight of the vehicle body and provide movement capability; the lifting suspension module is used to deliver cargo from the vehicle body to the specified delivery height; the multimodal perception module is used to provide environmental perception and navigation functions;

[0065] The chassis wheel train module includes a chassis, a tension pump and a wheel train; the chassis is used to bear the weight of the upper carriage, and the tension pump is arranged under the chassis to ensure the stability of the carriage and the level of the carriage during the stair climbing process; the wheel train is used to complete the movement of the entire vehicle body;

[0066] Furthermore, the wheel system includes two front wheels, four rear wheels, a front wheel fixing bracket and a rear wheel fixing bracket; the wheel system adopts a suspension design of a primary and secondary rocker arm plus a differential mechanism, two front wheel fixing brackets are respectively connected to a front wheel through two motors and are fixedly distributed on both sides of the frame, the rear wheel fixing bracket is fixed on the front wheel fixing bracket, and a rear wheel fixing bracket is connected to two rear wheels;

[0067] Furthermore, during the whole vehicle body's climbing process, the front wheel is first squeezed and deformed inside the wheel system, and the motor controls the front wheel to drive. By controlling the rear wheel to be stationary, and at the same time, under the effect of the structural support force of the soft wheel itself, the front wheel of the vehicle body climbs up the steps, and then the front wheel is controlled to be stationary, and the rear wheel is driven to climb up the steps, and finally the climbing function is realized; and during the climbing process of the vehicle body, the stretching pump controls the degree of stretching according to the different elevation angles of the carriage to keep the carriage level and prevent the cargo inside the carriage from colliding;

[0068] Furthermore, a posture sensor is embedded in the carriage, and the posture sensor is used to obtain the pitch angle of the carriage;

[0069] Furthermore, when the vehicle body is climbing stairs or driving on uneven roads, in order to ensure the smooth driving of the entire vehicle body, the stretching amount of the stretching pump is adjusted by the following methods:

[0070]

[0071] Where ΔL is the stretch adjustment of the stretch pump at the current time; K p is the proportional gain coefficient, K i is the integral gain coefficient, K d is the differential gain coefficient, K r is the forward adjustment gain coefficient, e p is the pitch angle error value, ΔL(t-1) is the stretch adjustment amount of the stretch pump at the moment before the current time, and ΔL(t-2) is the stretch adjustment amount of the stretch pump at the moment before ΔL(t-1); for e p satisfy:

[0072] e p =θ pitch -θ pitch,target ;

[0073] Among them, θ pitch is the pitch angle obtained in real time, θ pitch,target It is the preset target horizontal state pitch angle, which can be set to 0;

[0074] By integrating the real-time pitch angle error, the stretching amount of the stretching pump can be dynamically adjusted to ensure the levelness of the car body in various terrains, such as climbing stairs or uneven roads; and in the process of adjusting the stretching amount, the influence of the historical stretching amount on the current stretching amount adjustment is introduced, so as to smooth the adjustment process of the stretching pump and prevent vibration or system instability caused by excessive changes in the adjustment amount, thereby ensuring the smooth driving of the entire vehicle body.

[0075] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An intelligent sensing unmanned stair climbing delivery system, characterized in that: The system includes an intelligent mechanical arm module, a delivery vehicle body module, a lifting suspension module, a chassis wheel system module and a multi-modal perception module; The intelligent mechanical arm module is used to perform cargo grabbing and handling operations; the delivery vehicle module is used to store and protect cargo; the chassis wheel system module is used to support the weight of the vehicle body and provide movement capability; the lifting suspension module is used to deliver cargo from the vehicle body to the specified delivery height; the multimodal perception module is used to provide environmental perception and navigation functions; The intelligent robotic arm module includes a robotic arm mounted on the top of the carriage; the robotic arm is fixed to the carriage by a rotatable base at the bottom through an irregular hexahedral bracket, the bottom of the robotic arm can achieve full rotation in the horizontal plane, and the upper part of the robotic arm can achieve full rotation during the operation of the robotic arm to meet various different operation requirements; The delivery vehicle body module includes a carriage; the carriage is used to store and protect the goods; The lifting suspension module includes a lifting suspension, an extension arm and a lifting arm. The extension arm and the lifting arm can move in two directions of the X axis and the Z axis respectively to send the lifting suspension into and out of the car and to increase the height of the lifting suspension.

2. According to claim 1, an intelligent sensing unmanned stair climbing delivery system is characterized in that: The lifting suspension includes a lifting platform, an intermediate bracket, an intermediate sleeve, a bottom screw, a bottom bracket, a fixed sleeve and a movable sleeve; the lifting suspension is internally driven by a motor to rotate the bottom screw in and out, and the movable sleeve is driven forward and backward with the fixed sleeve as a fulcrum, and the motion is transmitted through the combination of the intermediate bracket and the intermediate sleeve, thereby realizing the rising and falling of the top lifting platform; the bottom bracket is used to support and fix the components above the bottom bracket; the lifting platform is used to place goods.

3. According to claim 1, the intelligent perception unmanned stair climbing delivery system is characterized in that: The chassis wheel train module includes a chassis, a tension pump and a wheel train; the chassis is used to bear the weight of the upper carriage, and the tension pump is arranged under the chassis to ensure the stability of the carriage and the levelness of the carriage during climbing stairs; the wheel train is used to complete the movement of the entire vehicle body.

4. The intelligent sensing unmanned stair climbing delivery system according to claim 1 is characterized in that: The multimodal perception module includes a human-computer interaction screen, a depth camera, a laser radar, a visual sensor and a GPS positioning sensor; the depth camera is installed at a horizontal position on the chassis below the car, and there are four visual sensors, which are installed at the front, rear, left and right edge positions of the upper part of the car respectively. The depth camera and the visual sensor jointly complete the accurate perception of road conditions and obstacles; the laser radar is installed at the lower part of the car to generate a high-precision point cloud map; the GPS positioning sensor is installed at the rear position below the car to obtain satellite positioning signals in an open space; the human-computer interaction screen is installed at the upper part of the car, and the direction facing the human-computer interaction screen is the forward direction of the entire vehicle body, so as to complete the interaction between the user and the system.

5. An intelligent perception unmanned stair climbing delivery method, characterized in that: The method comprises the following steps: S1: The delivery user places the goods to be delivered in the vehicle and sets the delivery route through the human-computer interaction screen; S2: The entire vehicle body opens the door of the distribution warehouse through the extension of the robotic arm and drives away from the warehouse; S3: The entire vehicle body moves along the delivery route, and during the driving process, the depth camera, lidar, visual sensor and GPS positioning sensor work together to detect the driving environment and correct the driving route of the entire vehicle body to prevent the entire vehicle body from colliding; S4: When the entire vehicle body drives to the pickup location, the user who picks up the goods performs authentication through the human-computer interaction screen. After the authentication is completed, the robotic arm grabs the goods in the cargo box and places them on the lifting platform. The extension arm and the lifting arm send the lifting suspension out of the cargo box. The lifting suspension adjusts the lifting of the lifting platform by itself to lift the goods to the height of the human waist to complete the delivery of the goods.

6. The intelligent perception unmanned stair climbing delivery method according to claim 5 is characterized in that: During the driving of the entire vehicle along the delivery route in step S3, the depth camera, lidar, visual sensor and GPS positioning sensor work together to generate a dynamic point cloud map centered on the vehicle, so as to perceive the driving environment and detect driving obstacles in real time; the types of driving obstacles are identified by visual sensors, and the driving obstacles are divided into dynamic obstacles and static obstacles, and the corresponding dynamic danger zone range is set for the dynamic obstacles; thereby correcting the driving route of the entire vehicle to ensure the safe and efficient operation of the entire vehicle.

7. The intelligent perception unmanned stair climbing delivery method according to claim 5 is characterized in that: The method for setting the dynamic danger zone range for dynamic obstacles is as follows: R d =R0+k·v obs ·(1+Q); Among them, R d is the dynamic safety radius of the dynamic obstacle, and the dynamic danger zone is the area within the dynamic safety radius centered on the dynamic obstacle; R0 is the preset minimum fixed safety distance, and k is the preset movement influence proportional factor, which is used to control the influence of the movement of the dynamic obstacle on the dynamic safety radius; v obs is the current speed of the dynamic obstacle; Q is the movement correction factor of the dynamic obstacle; satisfying: Where Δv obs is the acceleration of the obstacle, Δθ obs is the angular velocity of the obstacle; ε is the preset smoothing factor, which is used to control the exponential influence of the angular velocity change on the dynamic safety radius; α is the acceleration influence weight, β is the angular velocity influence weight, and both α and β are set through pre-experiments.

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