Robot recognition device capable of being used for directional navigation

Abstract

The utility model relates to the technical field of directional navigation, and discloses a robot identification device capable of being used for directional navigation. Comprising a rack, a driver, a control case, an interactive display screen, a camera and a laser radar, the driver is fixedly connected to the bottom of the rack, the control case is fixedly connected to the interior of the rack, the interactive display screen and the camera are arranged in the rack, the camera is arranged above the interactive display screen, and the laser radar is arranged above the interactive display screen. And the laser radar is arranged on the side wall of the driver. In the process of going to a target point, the robot can flexibly navigate and avoid obstacles in real time, so that the robot can stably operate in a complex storehouse environment, and the robot not only has a local navigation capability, but also can utilize global path planning to obtain an optimal path when needing to return to a standby area or go to other targets, so that the robot is more convenient to use. The combination of local and global paths enables the navigation of the robot to be more flexible and efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of directional navigation, in particular to a robot identification device which can be used for directional navigation. Background Art

[0002] With the rapid development of science and technology, many advanced technologies have deeply penetrated into our production, life, study and work, and the field of archive management has also undergone profound changes. The traditional archive management method mainly relies on manual placement of archives in archive cabinets in warehouses. Both retrieval and archiving require manual operation. This method is not only inefficient and time-consuming, but also prone to errors in the recording and archiving process, which increases the difficulty of subsequent searches.

[0003] Especially with the growing number of archives, traditional archive management methods are increasingly unable to cope with the situation. In addition, considering the different confidentiality levels of archives, the traditional method is often to set up different warehouses to store them separately, which undoubtedly increases the complexity and cost of management. Since personnel with different authority levels can only access archives of the corresponding confidentiality level, this management method requires the establishment of different warehouses for different confidentiality levels. Even if the number of certain confidential documents is small, they need to occupy a separate warehouse, which leads to a great waste of warehouse resources. At the same time, it is difficult to clean small particles of impurities during the driving process of the robot. If impurities splash and collapse into the interior of the drive during driving, it will affect the use of the drive. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that the traditional file management method in the prior art mainly relies on manually placing files in the file cabinets in the warehouse. Both retrieval and filing require manual operation. This method is not only inefficient and time-consuming, but also prone to errors in the recording and filing process, which increases the difficulty of subsequent searches. At the same time, it is difficult to clean small particles of impurities during the driving of the robot. If impurities splash and collapse into the interior of the drive during driving, it will affect the use of the drive. A robot recognition device that can be used for directional navigation is proposed.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A robot recognition device that can be used for directional navigation includes a frame, a driver, a control chassis, an interactive display screen, a camera and a laser radar, wherein the driver is fixedly connected to the bottom of the frame, the control chassis is fixedly connected to the inside of the frame, the interactive display screen and the camera are arranged inside the frame, the camera is arranged above the interactive display screen, and the laser radar is arranged on the side wall of the driver, a driving wheel is rotatably arranged inside the driver, two baffles are fixedly connected to the side wall of the driver, and protective plates are slidably arranged on the inner walls of the two baffles on the sides corresponding to the two baffles at the same time, and a recess is opened on the inner wall of the driver, and the protective plate extends to the inside of the recess and is fixedly connected to a slider.

[0007] Preferably, a rectangular groove is opened on the inner wall of the recess of the driver, a connecting block is slidably provided on the inner wall of the rectangular groove of the driver, a metal elastic rod is fixedly connected to the side wall of the connecting block, and one end of the metal elastic rod facing away from the connecting block is fixedly connected to the inner wall of the rectangular groove of the driver.

[0008] Preferably, a power supply and an alarm are fixedly connected to the inner wall of the driver, a slide groove is provided on the inner wall of the driver at the top of the rectangular groove, and the wiring terminals of the power supply and the alarm extend to the inner wall of the driver at the slide groove respectively.

[0009] Preferably, a top end of the connection block is fixedly connected to a transfer block, and a transfer line is provided inside the transfer block.

[0010] Preferably, a receiving groove is provided on the inner wall of the driver located above the metal elastic rod, and the inner wall of the driver located in the receiving groove is configured as an arc surface.

[0011] Preferably, a stabilizing block is fixedly connected to the side wall of the sliding block, a stabilizing strip groove is provided inside the recess of the driver, and the stabilizing block is slidably arranged in the stabilizing strip groove.

[0012] Preferably, a sealing rubber strip is fixedly connected to the side wall of the protective plate, and the side wall of the sealing rubber strip is fitted on the side wall of the baffle.

[0013] Preferably, the cross-sections of the protective plate and the baffle are respectively set to be triangular, and the outer side of the baffle is set to be arc-shaped.

[0014] Preferably, a placement groove is provided on the inner wall at the top end of the control chassis, and a file box is placed on the inner wall of the control chassis located at the placement groove.

[0015] A robot recognition device that can be used for directional navigation includes the following steps during operation:

[0016] Step 1: The robot obtains the user's instruction. If it is a navigation instruction to go to the target filing cabinet, it enters the step.

[0017] Step 2: The robot obtains the location information of the target filing cabinet, calculates an optimal collision-free path based on the known environmental information, and enters the step.

[0018] Step 3: The robot splits the path nodes in the optimal path as the target points for local planning and navigation. In the process of heading to the target point, the robot detects the distance and direction of surrounding objects through the laser radar to perform real-time navigation and obstacle avoidance. The robot's motion trajectory and speed are adjusted to ensure that the robot reaches the destination.

[0019] Step 4: After the robot reaches the destination, it enters the standby state and waits for file access operations.

[0020] Step 5: After the file access operation is completed, update the file to store relevant data and wait for user instructions.

[0021] Step 6: If the robot receives a navigation instruction to go to the next target filing cabinet at this time, it re-enters step 6; if it receives a command to return to the standby area, it enters step 6.

[0022] Step 7: The robot uses global path planning to obtain an optimal path from the current position to the waiting area, and moves to the target point through real-time navigation and obstacle avoidance.

[0023] Step 8: After the robot arrives at the standby area, it determines the system power level. If the robot system power level is lower than the set threshold, it will autonomously navigate to the charging area for charging. After charging is complete, it will enter the standby state and wait for the next task instruction.

[0024] Compared with the prior art, the utility model provides a robot identification device that can be used for directional navigation, which has the following beneficial effects:

[0025] 1. The robot recognition device that can be used for directional navigation can flexibly navigate and avoid obstacles in real time while heading to the target point, so that the robot can operate stably in a complex warehouse environment. The robot not only has the ability of local navigation, but also can use global path planning to obtain the optimal path when it needs to return to the standby area or go to other targets. The combination of local and global paths makes the robot's navigation more flexible and efficient.

[0026] 2. The robot identification device that can be used for directional navigation can detect the power level autonomously through the robot, and autonomously navigate to the charging area for charging when the power level is lower than the set threshold. This function ensures the robot's continuous working ability, reduces the need for manual intervention, and improves the automation level of the system;

[0027] 3. The robot recognition device that can be used for directional navigation enhances the robustness of the robot system through algorithm optimization, reduces the requirements for hardware precision, improves the fault tolerance of the system, and the algorithm is concise and efficient, which improves the implementation speed of the system.

[0028] 4. The robot identification device that can be used for directional navigation can press the protective plate to move when the small particles with a shorter height are too heavy to be shoveled away in time. The protective plate pushes the slider to slide along the inner wall of the notch through the stabilizing block, and can press the connecting block to move, so that the metal elastic rod is compressed. The compression of the metal elastic rod generates a rebound force, which can increase the kinetic energy of the protective plate to remove particles, thereby ensuring the removal and cleaning effect of the particles. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural stereogram of a robot recognition device that can be used for directional navigation proposed by the utility model;

[0030] Figure 2 This is a structural side view of a robot recognition device that can be used for directional navigation proposed by the utility model;

[0031] Figure 3 for Figure 2 A schematic diagram of the structure of the local A part;

[0032] Figure 4 This is the workflow during the operation of the utility model.

[0033] In the figure: 1 rack, 2 drive, 3 control chassis, 4 interactive display screen, 5 camera, 6 file box, 7 driving wheel, 8 protective plate, 9 baffle, 10 slider, 11 connecting block, 12 metal elastic rod, 13 power supply, 14 adapter block, 15 alarm, 16 stabilizing block, 17 sealing rubber strip, 18 laser radar. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0035] Embodiment 1

[0036] Reference Figure 1-4A robot recognition device that can be used for directional navigation includes a frame 1, a driver 2, a control chassis 3, an interactive display screen 4, a camera 5 and a laser radar 18. The driver 2 is fixedly connected to the bottom of the frame 1, the control chassis 3 is fixedly connected to the inside of the frame 1, the interactive display screen 4 and the camera 5 are arranged inside the frame 1, the camera 5 is arranged above the interactive display screen 4, the laser radar 18 is arranged on the side wall of the driver 2, a driving wheel 7 is provided for rotation inside the driver 2, two baffles 9 are fixedly connected to the side wall of the driver 2, and the inner walls of the corresponding sides of the two baffles 9 are simultaneously slidably provided with protective plates 8, and the inner wall of the driver 2 is provided with a recess, and the protective plate 8 extends to the inside of the recess and is fixedly connected with a slider 10.

[0037] A rectangular groove is provided on the inner wall of the recess of the driver 2, and a connecting block 11 is slidably provided on the inner wall of the rectangular groove of the driver 2. A metal elastic rod 12 is fixedly connected to the side wall of the connecting block 11, and one end of the metal elastic rod 12 facing away from the connecting block 11 is fixedly connected to the inner wall of the rectangular groove of the driver 2. A power supply 13 and an alarm 15 are fixedly connected to the inner wall of the driver 2. A sliding groove is provided on the inner wall of the driver 2 at the top of the rectangular groove, and the wiring terminals of the power supply 13 and the alarm 15 extend to the inner wall of the driver 2 at the sliding groove respectively. A transfer block 14 is fixedly connected to the top of the connecting block 11, and a transfer wire is provided inside the transfer block 14.

[0038] A storage groove is provided on the inner wall of the driver 2 located above the metal elastic rod 12, and the inner wall of the driver 2 located in the storage groove is set to an arc surface. A stabilizing block 16 is fixedly connected to the side wall of the slider 10, and a stabilizing strip groove is provided on the inside of the recess of the driver 2. The stabilizing block 16 is slidably set in the stabilizing strip groove. A sealing rubber strip 17 is fixedly connected to the side wall of the protective plate 8, and the side wall of the sealing rubber strip 17 is fitted on the side wall of the baffle 9. The cross-sections of the protective plate 8 and the baffle 9 are respectively set to a triangle, and the outer side of the baffle 9 is set to an arc. A placement groove is provided on the inner wall of the top end of the control chassis 3, and a file box 6 is placed on the inner wall of the control chassis 3 located at the placement groove.

[0039] When in use, the driver 2 is provided with a driving wheel 7 inside to drive the robot with the frame 1, the control chassis 3 and the interactive display screen 4 to move flexibly, the file box 6 can be placed on the top inner wall of the control chassis 3, and the control chassis 3 can control the robot according to the use requirements, the camera 5 can perform face recognition to improve safety, and during the driving of the driver 2, the protective plate 8 and the baffle 9 can clean up fine particles to prevent the fine particles from extending to the inside of the driver 2 and affecting the normal driving of the driver 2, and the laser radar 18 is used for environmental modeling and obstacle perception.

[0040] When the small particles with shorter height are too heavy to be shoveled away in time, the protective plate 8 will be pressed to move. The protective plate 8 pushes the slider 10 to slide along the inner wall of the recess through the stabilizing block 10, and the connecting block 11 can be pressed to move, so that the metal elastic rod 12 is compressed. The compression of the metal elastic rod 12 produces a rebound force, which can increase the kinetic energy of the protective plate 8 to shovel the particles and ensure the shoveling and cleaning effect of the particles. If the rebound force is not enough for the protective plate 8 to clean the particles, the connecting block 11 continues to move to drive the adapter block 14 to move to contact the wiring terminals of the power supply 13 and the alarm 15 respectively, so that the power supply 13 can energize the alarm 15 through the adapter block 14, and an alarm can be sounded, which is convenient for subsequent adjustments.

[0041] If the robot is deployed in an unknown warehouse, it is necessary to model the map environment. The specific steps are as follows:

[0042] Step 1: The robot chassis is equipped with a laser radar and uses a drive device to traverse the warehouse to collect environmental data.

[0043] Step 2: Preprocess the collected data, such as denoising and filtering, to improve data quality.

[0044] Step 3: Use the SLAM algorithm to process the processed data, estimate the robot's position and posture in real time, and build a map of the warehouse environment.

[0045] Step 4: Further decompose the constructed map into basic grids. Each grid is defined as a binary state of occupied or idle. By setting a threshold, it can be determined whether the grid is occupied by an obstacle, and finally a gridded warehouse environment map is obtained.

[0046] After the robot receives the command to go to the target filing cabinet, the steps to go to the target location are as follows:

[0047] Step 1: The robot obtains the location information of the target filing cabinet and uses the improved Bi-Directional RRT algorithm to calculate an optimal path without collision based on the known environmental information. The process is as follows:

[0048] Step 1.1: Take the robot's current point and target point as the root nodes of the expansion tree, and expand the leaf nodes to each other at the same time.

[0049] Step 1.2: Each time a leaf node is grown, a random number rand between 0 and l is randomly generated, with a probability p th When rand≤p th When rand>p thWhen the sampling point selects a random point, the expansion tree expands in the random direction of the state space; when the sampling point selects a target point, the expansion tree expands in the direction of the target point.

[0050] Step 1.3: When encountering obstacles while growing towards the target direction, you can increase p th The value is used to increase the randomness of the expansion tree so that the expansion tree can bypass obstacles. When there are no obstacles in the process of growing towards the target direction, reduce p th The value increases the directionality of the expansion tree and grows quickly toward the target point.

[0051] Step 1.4: After obtaining the sampling point, traverse the expansion tree to find the node closest to the sampling point, and use the node as the starting point to expand the distance s to the sampling point. Traverse all points on s to check whether they are in the obstacle area. If they are in the obstacle area, reselect the sampling point; otherwise, the expansion tree grows a valid leaf node.

[0052] Step 1.5: Then traverse all points on the other expansion tree and calculate whether the distance to the new leaf node is less than the connection distance threshold. If it is less than, the two expansion trees converge to form a feasible path.

[0053] Step 1.6: After obtaining a feasible path from the starting point to the target point, based on the idea of ​​the path contraction algorithm, take the starting point as the search starting point, traverse backward to the target point in sequence, and execute in a loop until the target point becomes the maximum index without collision, and remove redundant points on the path.

[0054] Step 2: After the robot calculates an optimal path without collision, it splits the path nodes in the optimal path as the target points for the robot's local planning navigation, and calls the TEB algorithm to go to the target point. The process is as follows:

[0055] Step 2.1: Call a global path to obtain the initial trajectory, the robot's posture state, and the time interval of each iteration;

[0056] Step 2.2: Initialize the path planning route based on this section, insert / delete TEB status, and associate TEB status with path points and obstacle points.

[0057] Step 2.3: The robot finds the optimal trajectory and determines whether the current trajectory is in the safe area. If it is in the safe area, it continues to move forward. If it is not in the safe area, it determines the feasibility of the safe area. If the safe area is not feasible, it finds the shortest trajectory route in the relative collision area, and adds constraints on the robot's speed and obstacles.

[0058] Step 2.4: Calculate the robot's control variables such as travel speed and steering angle based on adjacent navigation points.

[0059] Step 2.5: Update the position information of the robot and obstacles in the environment map. The robot determines whether it has reached the target point. If it reaches the target point, the algorithm ends. If it does not reach the target point, it returns to step 2.1.

[0060] After the robot receives the command to return to the standby area, the steps to the standby area are the same as those to the target filing cabinet. After arriving at the standby area, the robot enters the standby state. In the standby state, the system power is checked at regular intervals. If the robot system power is lower than the set threshold, it will autonomously navigate to the charging area for charging. After charging is completed, it returns to the standby area and waits for the next task instruction.

[0061] The camera on the robot can help complete the face recognition task and improve the security of file management. The interactive interface includes the archive warehouse model display area, the archive cabinet location information display area, the robot power status display area, and other function buttons and prompt information. The temporary archive storage warehouse can store the archive files required for transportation. The robot transports the archive files to the designated location according to the user's needs, which improves the efficiency of archive management and reduces the error rate of manual operation.

[0062] The control device can be implemented by any software or hardware with data processing capabilities, and can be set according to actual needs, and the embodiments of the present application are not specifically limited. For example, the control device can be a central processing unit (CPU), or a processor and a memory, wherein the memory can be used to store laser radar data and path nodes.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot recognition device that can be used for directional navigation, comprising a frame (1), a driver (2), a control chassis (3), an interactive display screen (4), a camera (5) and a laser radar (18), characterized in that: The driver (2) is fixedly connected to the bottom of the frame (1), the control box (3) is fixedly connected to the inside of the frame (1), the interactive display screen (4) and the camera (5) are arranged inside the frame (1), the camera (5) is arranged above the interactive display screen (4), the laser radar (18) is arranged on the side wall of the driver (2), a driving wheel (7) is rotatably provided inside the driver (2), two baffles (9) are fixedly connected to the side wall of the driver (2), and the inner walls of the two baffles (9) corresponding to one side are simultaneously slidably provided with protective plates (8), and the inner wall of the driver (2) is provided with a recess, and the protective plate (8) extends to the inside of the recess and is fixedly connected to a slider (10).

2. A robot recognition device for directional navigation according to claim 1, characterized in that: The inner wall of the driver (2) located in the recess is provided with a rectangular groove, the inner wall of the driver (2) located in the rectangular groove is slidably provided with a connecting block (11), a metal elastic rod (12) is fixedly connected to the side wall of the connecting block (11), and one end of the metal elastic rod (12) facing away from the connecting block (11) is fixedly connected to the inner wall of the driver (2) located in the rectangular groove.

3. A robot recognition device for directional navigation according to claim 1, characterized in that: The inner wall of the driver (2) is fixedly connected with a power source (13) and an alarm (15); a slide groove is provided on the inner wall of the driver (2) at the top of the rectangular groove; the connection terminals of the power source (13) and the alarm (15) respectively extend to the inner wall of the driver (2) at the slide groove.

4. A robot recognition device for directional navigation according to claim 2, characterized in that: The top end of the connection block (11) is fixedly connected to an adapter block (14), and an adapter wire is provided inside the adapter block (14).

5. A robot recognition device for directional navigation according to claim 1, characterized in that: The inner wall of the driver (2) located above the metal elastic rod (12) is provided with a receiving groove, and the inner wall of the driver (2) located in the receiving groove is arranged as a curved surface.

6. A robot recognition device for directional navigation according to claim 1, characterized in that: A stabilizing block (16) is fixedly connected to the side wall of the sliding block (10); a stabilizing strip groove is provided inside the recess of the driver (2); and the stabilizing block (16) is slidably arranged in the stabilizing strip groove.

7. A robot recognition device for directional navigation according to claim 1, characterized in that: A sealing rubber strip (17) is fixedly connected to the side wall of the protective plate (8), and the side wall of the sealing rubber strip (17) is fitted on the side wall of the baffle (9).

8. A robot recognition device for directional navigation according to claim 1, characterized in that: The cross sections of the protection plate (8) and the baffle plate (9) are respectively arranged to be triangular, and the outer side of the baffle plate (9) is arranged to be arc-shaped.

9. A robot recognition device for directional navigation according to claim 1, characterized in that: The top inner wall of the control case (3) is provided with a placement groove, and a file box (6) is placed on the inner wall of the placement groove of the control case (3).

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