Intelligent perception unmanned stair climbing delivery system

Abstract

The application provides a kind of intelligent perception unmanned stair climbing distribution system, the system includes intelligent mechanical arm module, distribution vehicle body module, lifting suspension module, chassis wheel train module and multi-modal perception module;The intelligent mechanical arm module is used to perform the grabbing and carrying operation of goods;The distribution vehicle body module is used for the storage and protection of goods;The chassis wheel train module is used to support the weight of the vehicle body and provide movement ability;The lifting suspension module is used to send goods from the vehicle body to the designated distribution height;The multi-modal perception module is used to provide environmental perception and navigation functions;The modular design of the present application combines multi-modal perception and dynamic obstacle avoidance technology, realizes efficient, safe and stable unmanned distribution function in complex environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent distribution, and in particular to an intelligent perception unmanned stair-climbing distribution system. BACKGROUND

[0002] With the rapid development of e-commerce and logistics industry, the demand for unmanned distribution technology is increasing; especially in solving the "last mile" distribution problem, unmanned distribution vehicles become key tools due to their efficiency and flexibility; however, the existing unmanned distribution vehicles still have limitations in complex environments; for example, in narrow spaces, complex terrains or stair environments, traditional unmanned distribution vehicles are difficult to complete the distribution task; in addition, the obstacles existing in the dynamic environment put higher requirements on the obstacle avoidance ability of the unmanned distribution vehicle, at the same time, the stability and protection of the goods during transportation also have higher demand.

[0003] After checking the related disclosed technical solutions, the technical solution with publication number CN111599101B proposes an unmanned distribution robot, which includes a storage cabinet with a plurality of storage boxes, a drive seat body is arranged at the lower part of the storage cabinet, a walking base is arranged at the lower part of the drive seat body, a lifting mechanism is further arranged between the drive seat body and the storage cabinet, and the lifting mechanism drives the lifting of the storage cabinet; the unmanned distribution robot further includes an interactive system arranged on the walking base or / and the storage cabinet; this scheme can realize interactive distribution and logistics delivery, expand the distribution network and distribution density, and improve the utilization rate of the distribution robot; but this scheme is mainly designed for flat ground distribution scene, and lacks the ability to adapt to complex terrain, which limits its application in diversified distribution environment; at the same time, this scheme does not involve the perception of dynamic obstacles and the control of goods stability, which is difficult to guarantee the safety and efficiency of the distribution process. SUMMARY

[0004] The present application aims to solve the existing problems, and proposes an intelligent perception unmanned stair-climbing distribution system.

[0005] The present application adopts the following technical solutions:

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

[0007] The intelligent mechanical arm module is used to perform the grabbing and carrying operation of the goods; the distribution vehicle body module is used for the storage and protection of the goods; the chassis wheel system module is used to support the weight of the vehicle body and provide the motion ability; the lifting suspension module is used to deliver the goods from the vehicle body to the designated distribution height; the multi-modal perception module is used to provide environmental perception and navigation function.

[0008] The intelligent mechanical arm module comprises a mechanical arm installed on the top of the carriage; the mechanical arm is fixed on the carriage through an irregular hexahedral support, the bottom of the mechanical arm is rotatable in the horizontal plane, and the upper part of the mechanical arm is rotatable in all directions during the operation of the mechanical arm, so as to complete various operation requirements.

[0009] The distribution vehicle body module comprises a carriage; the carriage is used for completing the storage and protection of goods.

[0010] The lifting suspension module comprises a lifting suspension, an extension arm and a lifting arm, the extension arm and the lifting arm can move in the X-axis and Z-axis directions respectively, the lifting suspension is sent into and out of the carriage, and the height of the lifting suspension can be lifted.

[0011] Further, the lifting suspension comprises a lifting platform, an intermediate support, an intermediate sleeve, a bottom screw rod, a bottom support, a fixed sleeve and a movable sleeve; the bottom screw rod is driven to rotate in and out by a motor inside the lifting suspension, the movable sleeve is driven to move forward and backward with the fixed sleeve as a fulcrum, the movement is transmitted through the combination of the intermediate support and the intermediate sleeve, so as to realize the lifting and lowering of the top lifting platform; the bottom support is used for supporting and fixing the elements above the bottom support; the lifting platform is used for placing goods.

[0012] Further, the chassis wheel system module comprises a chassis, a stretching pump and a wheel system; the chassis is used for bearing the weight of the carriage above; the stretching pump is arranged below the chassis and is used for ensuring the stability of the carriage and the level of the carriage during the process of climbing stairs; the wheel system is used for completing the movement of the whole vehicle body.

[0013] Further, the multi-modal perception module comprises 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 the horizontal position of the chassis below the carriage; the visual sensor is 4, which is installed at the front, rear, left and right edge positions of the upper part of the carriage; the depth camera and the visual sensor together complete the accurate perception of the road conditions and obstacles; the laser radar is installed at the lower position of the carriage and is used for generating a high-precision point cloud map; the GPS positioning sensor is installed at the rear position below the carriage and is used for acquiring satellite positioning signals in an open space; the human-computer interaction screen is installed at the upper position of the carriage, and the forward direction of the human-computer interaction screen is the forward direction of the whole vehicle body, which is used for completing the interaction between the user and the system.

[0014] An intelligent perception unmanned stair climbing distribution method, the method comprises the following steps:

[0015] S1: The delivery user places the goods to be distributed in the carriage, and sets the delivery and pickup route of the goods through the human-computer interaction screen;

[0016] S2: the entire vehicle body is opened by the mechanical arm to stretch the delivery warehouse door, and drives away from the warehouse;

[0017] S3: the entire vehicle body drives along the pick-up route, and in the driving process, the depth camera, laser radar, visual sensor and GPS positioning sensor jointly act 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 pick-up position, the pick-up user performs authentication through the human-computer interaction screen, after the authentication is completed, the mechanical arm grabs the goods in the box and places them on the lifting platform, the extension arm and the lifting arm send the lifting suspension out of the box, and the lifting suspension adjusts the lifting of the lifting platform to lift the goods to the height of the human waist position to complete the delivery of the goods.

[0019] Further, in the driving process of the entire vehicle body along the pick-up route in step S3, the depth camera, laser radar, visual sensor and GPS positioning sensor jointly generate a dynamic point cloud map centered on the vehicle body, so as to perceive the driving environment in real time and detect the driving obstacles; the visual sensor identifies the category of the driving obstacle, divides the driving obstacle into dynamic obstacles and static obstacles, and sets a corresponding dynamic danger area range for the dynamic obstacle; so as to correct the driving route of the entire vehicle body, and ensure the safe and efficient operation of the entire vehicle body.

[0020] Further, the dynamic danger area range setting mode for the dynamic obstacle is as follows:

[0021] R d = R0 + k·v obs ·(1 + Q);

[0022] Wherein, R d is the dynamic safety radius of the dynamic obstacle, and the dynamic danger area range is the area within the dynamic safety radius centered on the dynamic obstacle; R0 is a pre-set minimum fixed safety distance, k is a pre-set movement influence proportion factor for controlling the influence degree of the movement of the dynamic obstacle on the dynamic safety radius; v obs is the current speed of the dynamic obstacle; Q is a movement correction factor of the dynamic obstacle; and satisfies:

[0023]

[0024] Wherein, Δv obs is the acceleration of the obstacle, and Δθ obsis the angular velocity of the obstacle; epsilon is a preset smoothing factor for controlling the exponential influence of the angular velocity change on the dynamic safety radius; alpha is an acceleration influence weight, and beta is an angular velocity influence weight, both of which are set through pre-experiments.

[0025] The present application has the following beneficial effects:

[0026] The present application realizes efficient and safe unmanned delivery function through modular design; through the multi-modal perception module, the system can generate a dynamic point cloud map, real-time perceive the environment and dynamically correct the driving route, ensuring accurate navigation and obstacle avoidance ability in complex road conditions; by setting the dynamic danger area range of the dynamic obstacle in combination with various complex movement conditions of the dynamic obstacle, collision risk is effectively avoided, the obstacle avoidance efficiency and operation safety of the delivery vehicle in the dynamic complex environment are improved, and the stability and integrity of the goods in the delivery process are ensured. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0030] Figure 3 is a schematic diagram of the overall vehicle body structure of the present application.

[0031] Figure 4 is a schematic diagram of the overall vehicle body structure of the present application.

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

[0033] Figure 6 is a schematic diagram of the overall vehicle body structure of the present application.

[0034] Figure 7 is a schematic diagram of the overall vehicle body structure of the present application.

[0035] Meaning of figure label: 1-mechanical arm, 2-lifting suspension, 3-extended arm, 4-wheel system, 5-carriage, 6-vision sensor, 7-human-computer interaction screen, 8-original car logo, 9-depth camera, 10-laser radar, 11-chassis, 12-lifting arm, 13-GPS positioning sensor, 14-stretching pump, 15-lifting platform, 16-intermediate support, 17-intermediate sleeve, 18-bottom lead screw, 19-bottom support, 20-fixed sleeve, 21-movable sleeve. DETAILED DESCRIPTION

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

[0037] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation of the present patent, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0038] Embodiment one:

[0039] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the present embodiment provides an intelligent perception unmanned stair climbing distribution system, which comprises an intelligent mechanical arm module, a distribution vehicle body 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 the grabbing and carrying operation of the goods; the delivery vehicle body module is used to store and protect the goods; the chassis wheel train module is used to support the weight of the vehicle body and provide the motion capability; the lifting suspension module is used to deliver the goods from the vehicle body to the designated delivery height; and the multi-modal perception module is used to provide the environmental perception and navigation functions.

[0041] The intelligent mechanical arm module comprises a mechanical arm installed on the top of the vehicle cabin; the mechanical arm is fixed on the vehicle cabin through an irregular hexahedral support, the bottom of the mechanical arm is rotatable in the horizontal plane, and the upper part of the mechanical arm is rotatable in all directions during the operation of the mechanical arm to complete various operation requirements.

[0042] Specifically, the top of the mechanical arm is further provided with a USB camera, which is used to locate and identify the goods.

[0043] The delivery vehicle body module comprises a vehicle cabin; the vehicle cabin is used to complete the storage and protection of the goods.

[0044] The lifting suspension module comprises a lifting suspension, an extension arm and a lifting arm, the extension arm and the lifting arm can move in the X-axis and Z-axis directions respectively, the lifting suspension is delivered into and out of the vehicle cabin, and the height of the lifting suspension can be lifted.

[0045] The lifting suspension comprises a lifting platform, an intermediate support, an intermediate sleeve, a bottom lead screw, a bottom support, a fixed sleeve and a movable sleeve; the bottom lead screw is driven to rotate in and out by a motor inside the lifting suspension, the movable sleeve is driven to move forward and backward with the fixed sleeve as a fulcrum, the movement is transmitted through the combination of the intermediate support and the intermediate sleeve, so as to realize the lifting and lowering of the top lifting platform; the bottom support is used to support and fix the elements above the bottom support; and the lifting platform is used to place the goods.

[0046] The chassis wheel train module comprises a chassis, a stretching pump and a wheel train; the chassis is used to bear the weight of the vehicle cabin above; the stretching pump is arranged below the chassis and is used to ensure the stability of the vehicle cabin and the level of the vehicle cabin during the process of climbing stairs; and the wheel train is used to complete the motion of the entire vehicle body.

[0047] The multi-modal 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 chassis level position below the vehicle compartment, the visual sensor is four, and is installed at the front, rear, left, and right four edge directions of the upper part of the vehicle compartment; the depth camera and the visual sensor jointly complete accurate perception of road conditions and obstacles; the laser radar is installed at a lower position of the vehicle compartment, and is used to generate a high-precision point cloud map; the GPS positioning sensor is installed at a rear position below the vehicle compartment, and is used to obtain a satellite positioning signal in an open space; the human-computer interaction screen is installed at an upper position of the vehicle compartment, and a facing direction of the human-computer interaction screen is a forward direction of the entire vehicle body, and is used to complete interaction between a user and the system;

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

[0049] S1: A delivery user places goods to be delivered in a vehicle compartment, and sets a delivery and pickup route of the goods through a human-computer interaction screen;

[0050] S2: The entire vehicle body opens a delivery warehouse door through mechanical arm extension and contraction, and drives away from the warehouse;

[0051] S3: The entire vehicle body drives along the delivery and pickup route, and in the driving process, a depth camera, a laser radar, a visual sensor, and a GPS positioning sensor jointly act to detect a driving environment and correct a driving route of the entire vehicle body, to prevent collision of the entire vehicle body;

[0052] S4: When the entire vehicle body drives to a pickup location, a pickup user performs authentication through the human-computer interaction screen, after completion of the authentication, a mechanical arm grabs goods in a goods box and places the goods on a lifting platform, an extension arm and a lifting arm send the lifting suspension out of the goods box, and the lifting suspension adjusts the lifting platform through itself to lift the goods to a height of a human waist position to complete delivery of the goods;

[0053] Further, in the driving process of the entire vehicle body along the delivery and pickup route, the depth camera, the laser radar, the visual sensor, and the GPS positioning sensor jointly generate a dynamic point cloud map with the vehicle body as the center, to perceive a driving environment and detect a driving obstacle in real time; the visual sensor identifies a category of the driving obstacle, divides the driving obstacle into a dynamic obstacle and a static obstacle, and sets a dynamic danger area range corresponding to the dynamic obstacle; thereby, the driving route of the entire vehicle body is corrected, to ensure safe and efficient operation of the entire vehicle body;

[0054] Further, the dynamic danger area range setting mode of the dynamic obstacle is as follows:

[0055] R d= R0+ k · v obs · (1 + Q) ;

[0056] wherein, R d is a dynamic safety radius of the dynamic obstacle, and the dynamic dangerous area range is an area within the dynamic safety radius centered on the dynamic obstacle; R0is a pre-set minimum fixed safety distance, k is a pre-set movement influence proportion factor for controlling the influence degree of the movement of the dynamic obstacle on the dynamic safety radius; v obs is a current speed of the dynamic obstacle; Q is a movement correction factor of the dynamic obstacle; and satisfies:

[0057]

[0058] wherein, Δv obs is an acceleration of the obstacle, Δθ obs is an angular velocity of the obstacle; ε is a pre-set smoothing factor for controlling the exponential influence of the angular velocity change on the dynamic safety radius; α is an acceleration influence weight, and β is an angular velocity influence weight, both of which are pre-set through pre-experiment;

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

[0060] Further, the delivery vehicle body module further comprises a self-designed original vehicle logo; and the original vehicle logo is provided with a reflective coating, which can effectively attract the attention of pedestrians and vehicles.

[0061] Embodiment Two:

[0062] This embodiment should be understood as at least containing all the features of any one of the preceding embodiments, and further improving on the basis thereof;

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

[0064] The intelligent mechanical arm module is used for performing the grabbing and carrying operations of the goods; the delivery vehicle body module is used for storing and protecting the goods; the chassis wheel train module is used for supporting the weight of the vehicle body and providing the movement ability; the lifting suspension module is used for sending the goods from the vehicle body to the designated delivery height; and the multi-modal perception module is used for providing the environmental perception and navigation functions.

[0065] The chassis wheel train module comprises a chassis, a stretch pump and a wheel train; the chassis is used for bearing the weight of the upper carriage, the stretch pump is arranged below the chassis and is used for ensuring the stability of the carriage and the level of the carriage during the process of climbing stairs; and the wheel train is used for completing the movement of the whole vehicle body.

[0066] Further, the wheel train comprises two front wheels, four rear wheels, a front wheel fixing support and a rear wheel fixing support; the wheel train adopts a suspension design of main and auxiliary rocker arms plus a differential mechanism, two front wheel fixing supports are connected with one front wheel through two motors respectively and are fixedly distributed on both sides of the vehicle frame, the rear wheel fixing support is fixed on the front wheel fixing support, and one rear wheel fixing support is connected with two rear wheels.

[0067] Further, during the process of driving and climbing stairs of the whole vehicle body, the inside of the wheel train is first compressed and deformed by the front wheels, the motor controls the driving of the front wheels, the rear wheels are controlled to be static, and the vehicle body front wheels climb the steps through the support force of the soft wheel structure, then the front wheels are controlled to be static, the rear wheels are driven to climb the steps, and finally the climbing function is realized; and during the process of climbing stairs of the vehicle body, the stretch pump controls the stretching degree according to the different angles of the carriage to keep the level of the carriage and prevent the collision of the goods in the carriage;

[0068] Further, the inside of the carriage is also embedded with a posture sensor, and the posture sensor is used for acquiring the pitch angle of the carriage.

[0069] Further, during the process of climbing stairs or driving on the concave-convex road surface of the vehicle body, in order to ensure the stability of the whole vehicle body, the stretching amount adjustment of the stretch pump is completed through the following ways:

[0070]

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

[0072] e p = θ pitch - θ pitch,target ;

[0073] wherein θ pitch is the real-time acquired pitch angle, θ pitch,target is the pre-set target horizontal state pitch angle, which can be set as 0;

[0074] By comprehensively considering the real-time pitch angle error, the stretching amount of the stretching pump can be dynamically adjusted, so as to ensure the horizontal state of the carriage in various terrains, such as climbing stairs or uneven road surfaces; and the influence of the historical stretching amount on the current stretching amount adjustment is introduced in the adjustment process of the stretching amount, so as to smooth the adjustment process of the stretching pump, prevent vibration or system instability caused by excessive adjustment amount change, and further ensure the smooth driving of the entire vehicle body.

[0075] The above disclosed content is only the preferred feasible embodiment of the present application, and does not limit the protection scope of the present application, so any equivalent technical changes made by applying the content of the present application specification and drawings are included in the protection scope of the present application, and furthermore, the elements can be updated as the technology develops.

Claims

1. A smart sensing unmanned stair climbing delivery system, characterized in that, The 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; The intelligent mechanical arm module is used to perform the grabbing and carrying operations of goods; the delivery vehicle body module is used to store and protect the goods; the chassis wheel system module is used to support the weight of the vehicle body and provide the motion capability; the lifting suspension module is used to deliver the goods from the vehicle body to a designated delivery height; and the multi-modal perception module is used to provide the environmental perception and navigation functions; The intelligent mechanical arm module comprises a mechanical arm installed on the top of the vehicle cabin; the mechanical arm is fixed on the vehicle cabin through an irregular hexahedral support, the bottom of the mechanical arm can rotate in all directions in the horizontal plane, and the upper part of the mechanical arm can rotate in all directions during the operation of the mechanical arm to complete various operation requirements; The delivery vehicle body module comprises a vehicle cabin; the vehicle cabin is used to complete the storage and protection of the goods; The lifting suspension module comprises a lifting suspension, an extension arm and a lifting arm; the extension arm and the lifting arm can move in the X-axis and Z-axis directions respectively, deliver the lifting suspension into and out of the vehicle cabin, and can also lift the height of the lifting suspension; The chassis wheel system module comprises a chassis, a stretching pump and a wheel system; the chassis is used to bear the weight of the vehicle cabin above; the stretching pump is arranged below the chassis and is used to ensure the stability of the vehicle cabin and the level of the vehicle cabin during the process of climbing stairs; and the wheel system is used to complete the motion of the entire vehicle body; The multi-modal perception module comprises 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 the horizontal position of the chassis below the vehicle cabin; the visual sensor is 4 in number and is installed at the front, rear, left and right edge positions of the upper part of the vehicle cabin; the depth camera and the visual sensor jointly complete the accurate perception of the road conditions and obstacles; the laser radar is installed at the lower position of the vehicle cabin and is used to generate a high-precision point cloud map; the GPS positioning sensor is installed at the rear position below the vehicle cabin and is used to obtain the satellite positioning signal in an open space; and the human-computer interaction screen is installed at the upper position of the vehicle cabin, and the facing direction of the human-computer interaction screen is the forward direction of the entire vehicle body, which is used to complete the interaction between the user and the system; The delivery method of the intelligent perception unmanned stair-climbing delivery system comprises the following steps: S1: The delivery user places the goods to be delivered in the vehicle cabin, and sets the delivery route of the goods through the human-computer interaction screen; S2: The entire vehicle body opens the delivery warehouse door through the mechanical arm extension and drives away from the warehouse; S3: The entire vehicle body drives along the delivery route, and in the driving process, the depth camera, the laser radar, the visual sensor and the GPS positioning sensor jointly act to detect the driving environment and correct the driving route of the entire vehicle body to prevent the collision of the entire vehicle body. S4: When the whole vehicle travels to the pickup location, the pickup user performs authentication through the human-computer interaction screen, after the authentication is completed, the mechanical arm picks up the goods in the box and places them on the lifting platform, the extension arm and the lifting arm send the lifting suspension out of the box, the lifting suspension adjusts the lifting of the lifting platform by itself to lift the goods to the waist height of the human body to complete the delivery of the goods; Wherein, during the whole vehicle traveling along the delivery and pickup route in step S3, the depth camera, laser radar, visual sensor and GPS positioning sensor jointly generate a dynamic point cloud map centered on the vehicle body, thereby realizing real-time perception of the driving environment and detecting driving obstacles; the visual sensor identifies the category of the driving obstacle, divides the driving obstacle into dynamic and static obstacles, and sets the corresponding dynamic danger area range for the dynamic obstacle; thereby correcting the driving route of the whole vehicle, ensuring the safe and efficient operation of the whole vehicle; The dynamic danger area range setting method for the dynamic obstacle is specifically as follows: ； wherein, is a dynamic safety radius of the dynamic obstacle, and the dynamic danger zone range is a region within the dynamic safety radius centered on the dynamic obstacle; is a pre-set minimum fixed safety distance, is a pre-set moving influence proportion factor, used to control the influence degree of the moving condition of the dynamic obstacle on the dynamic safety radius; is a current speed of the dynamic obstacle; is a moving correction factor of the dynamic obstacle; satisfies: ； wherein, is an acceleration of the obstacle, is an angular velocity of the obstacle; is a preset smoothing factor for controlling the exponential influence of the angular velocity change on the dynamic safety radius; is an acceleration influence weight, is an angular velocity influence weight, and are all set by pre-experiment.

2. The intelligent perception unmanned stair climbing delivery system according to claim 1, characterized in that, The lifting suspension includes a lifting platform, an intermediate support, an intermediate sleeve, a bottom screw, a bottom support, a fixed sleeve and a movable sleeve; the inside of the lifting suspension drives the bottom screw to rotate in and out by the motor, takes the fixed sleeve as the fulcrum, drives the movable sleeve to move forward and backward, and transmits the movement through the combination of the intermediate support and the intermediate sleeve, so as to realize the lifting and lowering of the top lifting platform; the bottom support is used to support and fix the elements above the bottom support; the lifting platform is used to place goods.

Images