Autonomous obstacle avoidance warehouse logistics robot and obstacle avoidance method

Abstract

The invention discloses an autonomous obstacle avoidance warehouse logistics robot and an obstacle avoidance method, and relates to the technical field of transportation robots. The lifting mechanism is arranged on the vehicle body, the conveying mechanism is arranged on the lifting platform, the lifting platform is connected with the vehicle body through a telescopic frame, and the telescopic frame can adjust the height of the conveying mechanism. The conveying motor is connected with conveying rollers through conveying belts. The vehicle body rotates the driving device through the rotating mechanism to achieve horizontal movement of the vehicle body so as to achieve left-right obstacle avoidance, and the bottom lifting device can achieve lifting of the upper portion of the vehicle body so that the vehicle body can cross low obstacles. The conveying device achieves horizontal movement of goods through a conveying motor and Mecanum wheels. When the laser radar detects that an obstacle appears in front, the camera calculates the center coordinate of the obstacle by using a yolk algorithm, the driving device rotates by 90 degrees and translates according to the deviation of the center coordinate, and when the laser radar cannot detect an object in front, the driving device returns to the right.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation robots, and relates to an autonomous obstacle avoidance warehousing logistics robot and an obstacle avoidance method. Background Art

[0002] Warehousing logistics robots can obtain their own positions and surrounding environment information in real time by carrying sensors such as lidar, cameras, and IMUs (inertial measurement units), and use the perceived information to make decisions to control the robots to complete autonomous navigation tasks. With the rapid development of industrialization level and artificial intelligence technology, warehousing logistics robots have begun to be widely used in warehousing transportation, replacing humans for long-term repetitive labor.

[0003] However, the current warehousing logistics robots often have the following problems:

[0004] 1. The space required for the warehousing logistics robot to turn is large, and it cannot move flexibly in a narrow space;

[0005] 2. The chassis of the warehousing logistics robot is too low to cross low obstacles;

[0006] 3. The complexity of the dynamic obstacle avoidance algorithm is high and it is difficult to respond in real time;

[0007] 4. The conveying device cannot be docked with the assembly line at 90°. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the present invention provides an autonomous obstacle avoidance warehousing logistics robot, which realizes the horizontal movement and autonomous obstacle avoidance of the warehousing logistics robot through a driving device, so that it can move flexibly in a narrow space.

[0009] The present invention achieves the above technical objectives through the following technical means.

[0010] The present invention discloses an autonomous obstacle-avoiding warehousing and logistics robot, which relates to the technical field of transportation robots and includes a vehicle body, a driving device, a working lifting device, a conveying device, and a bottom lifting device; the driving device is connected to the lower part of the vehicle body through a rotating mechanism; a lifting mechanism is arranged on the vehicle body, a conveying mechanism is arranged on the lifting platform, the lifting platform is connected to the vehicle body through a telescopic frame, and the telescopic frame can adjust the height of the conveying mechanism; the conveying motor is connected to the conveying roller through a conveyor belt, and Mecanum wheels are fixed on the rollers. The vehicle body rotates the driving device through the rotating mechanism to realize the horizontal movement of the vehicle body, thereby realizing left and right obstacle avoidance, and the bottom lifting device can realize the lifting of the upper part of the vehicle body so that the vehicle body can cross low obstacles. The conveying device realizes the horizontal movement of the goods through the conveying motor and the Mecanum wheels. When the lidar detects an obstacle ahead, the camera calculates the center coordinates of the obstacle by using the YOLO algorithm, the driving device rotates 90°, and translates according to the deviation of the center coordinates. When the lidar does not detect an object ahead, the driving device returns to the original position.

[0011] In the above solution, the vehicle body includes a vehicle main body part, universal wheels, a depth camera, and a lidar; four universal wheels are arranged at the lower part of the vehicle main body part, and the depth camera and the lidar are arranged at the front end of the vehicle main body part.

[0012] In the above solution, the driving device includes a driving wheel, a driving motor, and a rotating motor. The rotating motor drives the driving wheel through a belt, and the rotating motor is fixed at the upper ends of the driving wheel and the driving motor.

[0013] In the above solution, the working lifting device includes a telescopic frame, a lifting hydraulic rod, a lower support platform, and a lifting workbench; the lifting workbench is connected to the bottom of the lifting through a telescopic frame, and the bottom of the telescopic frame is connected to the hydraulic rod.

[0014] In the above solution, the conveying device includes a conveying motor, Mecanum wheels, a conveying frame, conveying rollers, and a conveyor belt; Mecanum wheels are fixed on the conveying rollers, the conveying rollers are installed on the conveying frame, and the conveying motor is connected to the conveying rollers through a conveyor belt.

[0015] In the above solution, the bottom lifting device includes a lifting motor, a chain, a lifting slider, a lifting bracket, and a connecting rod; the lifting slider is embedded in the lifting bracket, the chain connects the lifting slider and the lifting motor, and the connecting rod connects the two ends of the lifting device.

[0016] Obstacle avoidance method for warehousing logistics robots. When the lidar detects an obstacle ahead, the depth camera uses the YOLO algorithm to identify the obstacle and determine the center coordinates, length, width, and height of the target obstacle. If the height of the obstacle does not exceed the preset range, the bottom lifting device works to raise the upper part of the warehousing logistics robot, and it can pass the obstacle without much deflection. If the height of the obstacle exceeds the preset range, the driving part rotates 90°. According to the deviation of the center coordinates from the camera center line, it selects to move left or right. When the lidar no longer detects an obstacle ahead, the driving part returns to the original position.

[0017] The beneficial effects of the present invention are as follows: 1. The warehousing logistics robot in the present invention can achieve translation, is flexible in movement, is suitable for logistics transportation in a relatively small space, and improves the utilization rate of the application scenarios of automatic unmanned vehicles. 2. This device can not only achieve automatic transportation of goods, but also select the obstacle avoidance method according to the type of obstacle. 3. Low obstacles can be directly crossed without the need to move left and right to avoid obstacles. Brief Description of the Drawings

[0018] Figure 1 Schematic diagram of the structure of the warehousing logistics robot of the present invention;

[0019] Figure 2 is Figure 1 Schematic diagram of the transportation device involved in

[0020] Figure 3 is Figure 1 Schematic diagram of the working lifting device involved in

[0021] Figure 4 is Figure 1 Schematic diagram of the transportation device involved in

[0022] Figure 5 is Figure 1 Schematic diagram of the driving device involved in

[0023] Figure 6 is Figure 1 Schematic diagram of the bottom lifting device involved in

[0024] Figure 7 Schematic diagram of the working process of the warehousing logistics robot for autonomous obstacle avoidance.

[0025] Reference Signs:

[0026] 1-Vehicle body; 101-Depth camera; 102-Lidar; 2-Conveyor device; 201-Conveyor roller; 202-Mecanum wheel; 203-Goods; 204-Conveyor belt; 205-Conveyor drive motor; 206-Conveyor line; 207-Conveyor device bracket; 3-Drive device; 3-2-Bottom lifting device; 301-Rotation mechanism; 302-Right drive motor; 303-Right drive wheel; 304-Left drive wheel; 305-Belt; 306-Drive gear; 307-Left drive motor; 308-Left lifting motor; 309-Right lifting motor; 310-Lifting bracket; 311-Chain; 312-Lifting slider; 313-Connecting rod; 4-Working lifting device; 401-Lifting workbench; 402-Support rod; 403-Lifting hydraulic rod; 404-Lower support platform. Detailed implementation mode

[0027] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Combined with the attachedFigures 1 to 7 , An autonomous obstacle-avoiding warehousing and logistics robot according to an invention example, comprising a vehicle body 1, a driving device 3, a working lifting device 4, a conveying device 2 and a bottom lifting device; the driving device 3-1 is used to drive the vehicle body 1 to move, the bottom lifting device is used to raise or lower the vehicle body 1, and the working lifting device 4 is used to raise or lower the conveying device 2; the conveying device 2 is used to convey materials; a depth camera 101 is installed at the center of the front end of the vehicle body 1, and a lidar 102 is installed below the depth camera 101. The bottom lifting device is installed inside the vehicle body 1, the driving device 3 is connected to the bottom lifting device through a rotating mechanism 301, the working lifting device 4 is installed outside the vehicle body 1, and the conveying device 2 is fixed to the upper end of the working lifting device 4.

[0031] Combined with the attached Figure 1 , the attached Figure 5 As shown, the driving device 3 includes a right driving motor 302, a left driving motor 307, a right driving wheel 303, a left driving wheel 304, a belt 305 and a driving gear 306; the rotating mechanism 301 changes the direction of the driving device 3-1 through rotation; the output ends of the left driving motor 307 and the right driving motor 302 are both connected to the driving gear 306, and the two driving gears 306 are respectively connected to the right driving wheel 303 and the left driving wheel 304 through the belt 305. When the rotating mechanism 301 rotates, the right driving wheel 303 and the left driving wheel 304 rotate differentially.

[0032] The rotating mechanism 301 is arranged on the support frame, and the support frame is also used to support the right driving motor 302 and the left driving motor 307.

[0033] Combined with the attached Figure 1 and the attached Figure 4 As shown, the working lifting device 4 includes a lifting workbench 401, a support rod 402, a lifting hydraulic rod 403 and a lower support platform 404. The lifting workbench 401 is connected to the lower support platform 404 through the support rod 402, and the lifting hydraulic rod 403 is installed at the lower end of the support rod 402.

[0034] Combined with the attached Figure 1 , the attached Figure 2 and the attached Figure 4 As shown, the conveying device 2 includes a conveying roller 201, a Mecanum wheel 202, goods 203, a conveyor belt 204, a conveying drive motor 205 and a conveying device support 207. The conveying roller 201 is installed on the conveying device support 207, the Mecanum wheel 202 is fixed to the conveying roller 201, and the conveying drive motor 205 is connected to the conveying roller 201 through the conveyor belt 204.

[0035] Combined with the attached Figure 1 and the attached Figure 6As shown, the bottom lifting device includes a left lifting motor 308, a right lifting motor 309, a lifting bracket 310, a chain 311, a lifting slider 312 and a connecting rod 313; the left lifting motor 308 and the right lifting motor 309 are symmetrically installed on the lifting bracket 310, and the two lifting brackets 310 are set at both ends of the connecting rod 313. The lifting slider 312 is slidably connected to the lifting bracket 310, and the left lifting motor 308 and the right lifting motor 309 respectively move the lifting slider 312 up and down by driving the chain 311, and the connecting rod 313 is connected to the rotating mechanism 301; the left lifting motor 308 and the right lifting motor 309 rotate, and the lifting slider 312 slides to lift the vehicle body 1, thereby achieving the goal of crossing low obstacles.

[0036] Both sides of the vehicle body 1 are connected to the lifting sliders 312 .

[0037] A vertical slot is formed on the lifting bracket 310 to guide and position the lifting slider 312 .

[0038] Combined with attachment Figure 1 and attached Figure 7 As shown in the figure, an autonomous obstacle-avoiding robot is traveling along its path. A LiDAR detects an obstacle ahead. The camera uses the Yolo algorithm to calculate the obstacle's length, width, and height, marking the object's center coordinates. The robot then determines whether the object's height exceeds the set height. If it does, the chassis lift activates, raising the robot chassis to allow it to pass over the obstacle. If it exceeds the set height, the driver rotates 90° and determines the direction of the object's center coordinate relative to the camera's centerline. If it is to the left of the camera's centerline, the robot moves right a certain distance until the LiDAR no longer detects the obstacle, and the driver returns to its original position. If it is to the right of the camera's centerline, the robot moves left a certain distance until the LiDAR no longer detects the obstacle, and the driver returns to its original position.

[0039] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0040] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. An autonomous obstacle-avoiding warehousing and logistics robot, characterized in that, It includes a vehicle body (1), a driving device (3), a working lifting device (4), a conveying device (2), and a bottom lifting device; the driving device (3-1) is used to drive the vehicle body (1) to move, the bottom lifting device is used to raise or lower the vehicle body (1), and the working lifting device (4) is used to raise or lower the conveying device (2); the conveying device (2) is used to convey materials; a depth camera (101) is installed at the center of the front end of the vehicle body (1), and a lidar (102) is installed below the depth camera (101). The bottom lifting device is installed inside the vehicle body (1), the driving device (3) is connected to the bottom lifting device through a rotating mechanism (301), the working lifting device (4) is installed outside the vehicle body (1), and the conveying device (2) is fixed to the upper end of the working lifting device (4).

2. The autonomous obstacle avoidance warehousing and logistics robot according to claim 1, wherein The driving device (3) includes a right driving motor (302), a left driving motor (307), a right driving wheel (303), a left driving wheel (304), a belt (305), and a driving gear (306); the rotating mechanism (301) changes the direction of the driving device (3-1) through rotation; the output ends of the left driving motor (307) and the right driving motor (302) are both connected to the driving gear (306), and the two driving gears (306) are respectively connected to the right driving wheel (303) and the left driving wheel (304) through the belt (305). When the rotating mechanism (301) rotates, the right driving wheel (303) and the left driving wheel (304) rotate differentially.

3. The autonomous obstacle avoidance warehousing and logistics robot according to claim 1, characterized in that, The rotating mechanism (301) is arranged on the support frame, and the support frame is also used to support the right driving motor (302) and the left driving motor (307).

4. The autonomous obstacle-avoiding warehousing and logistics robot according to claim 1, wherein The conveying device (2) includes a conveying roller (201), a Mecanum wheel (202), goods (203), a conveyor belt (204), a conveying driving motor (205), and a conveying device support (207); the conveying roller (201) is installed on the conveying device support (207), the Mecanum wheel (202) is fixed to the conveying roller (201), the conveying driving motor (205) is connected to the conveying roller (201) through the conveyor belt (204), and the rotation of the conveying driving motor (205) drives the conveying roller (201). By changing the speed of the conveying roller (201), the rotation speed of the Mecanum wheel (202) is changed, so as to realize the lateral transportation of goods.

5. The autonomous obstacle-avoiding warehousing and logistics robot according to claim 1, wherein, The bottom lifting device includes a left lifting motor (308), a right lifting motor (309), a lifting bracket (310), a chain (311), a lifting slider (312) and a connecting rod (313); the left lifting motor (308) and the right lifting motor (309) are symmetrically installed on the lifting bracket (310), the two lifting brackets (310) are arranged at both ends of the connecting rod (313), the lifting slider (312) is slidably connected to the lifting bracket (310), the left lifting motor (308) and the right lifting motor (309) respectively drive the chain (311) to move the lifting slider (312) up and down, and the connecting rod (313) is connected to the rotating mechanism (301); when the left lifting motor (308) and the right lifting motor (309) rotate, the lifting slider (312) slides to drive the vehicle body (1) to lift, so as to cross over low obstacles.

6. The autonomous obstacle avoidance warehousing and logistics robot according to claim 5, wherein, Both sides of the vehicle body (1) are connected to the lifting slider (312).

7. The autonomous obstacle avoidance warehousing and logistics robot according to claim 5, characterized in that, Vertical grooves are formed on the lifting bracket (310), and the vertical grooves guide and position the lifting slider (312).

8. The autonomous obstacle-avoiding warehousing and logistics robot according to claim 1, characterized in that, Four universal wheels (103) are arranged at the lower end of the vehicle body (1), and the universal wheels (103) can support the vehicle body.

9. The obstacle avoidance method of the autonomous obstacle avoidance warehousing and logistics robot according to any one of claims 1 to 8, characterized in that, During the driving process of the autonomous obstacle avoidance robot, when the lidar (102) detects an obstacle ahead, the depth camera (101) works to calculate the length, width and height of the obstacle through the yolo algorithm and mark the center coordinates of the object, and determines whether the height of the object exceeds the set height. If it does not exceed the set height, the bottom lifting device works to directly cross over the obstacle by raising the robot chassis; if it exceeds the set height, after the driving device (3) rotates 90°, it judges the deviation of the center coordinates of the object from the center line of the camera (101). If it is on the left side of the center line of the camera (101), it moves a certain distance to the right and stops when the lidar (102) does not detect an obstacle ahead, and the driving device (3) returns to the original position; if it is on the right side of the center line of the camera (101), it moves a certain distance to the left and stops when the lidar (102) does not detect an obstacle ahead, and the driving device (3) returns to the original position.

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