Robot and transport system

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially, relate to a kind of robot and transport system. BACKGROUND

[0002] In airport, railway station, subway station and so on, passenger carries luggage to different places to handle ticket purchase, personal inspection, luggage inspection and so on, security personnel transports suspicious luggage to the area of opening package inspection and carries out inspection. Robot that can help passenger, security personnel transport luggage is widely applied in these places.

[0003] In the related art, the robot has the function of transporting luggage, but does not have the function of associating the luggage with the user. For places with large personnel flow, such as airports, railway stations and subway stations, there may be risks of mistaken taking, loss, etc. of luggage during the process of transporting luggage from one area to another by the robot, affecting the safety of transportation. SUMMARY

[0004] Therefore, the embodiments of the utility model provide a robot and a transport system to solve the problem of the existing robot having a transport risk.

[0005] In a first aspect, the embodiments of the utility model provide a robot, comprising:

[0006] A movable chassis;

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

[0008] An interaction module arranged in the storage box for obtaining destination information of the articles;

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

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

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

[0012] The storage box comprises:

[0013] A box body provided with a placing opening suitable for articles to pass through;

[0014] A box door movably arranged at the placing opening; and

[0015] A driving mechanism in communication connection with the verification module for driving the box door to move to open the placing opening according to an opening instruction sent by the verification module;

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

[0017] According to the embodiment of the present application, the interaction module comprises:

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

[0019] a voice unit configured to generate the destination information based on voice information of the user.

[0020] According to the embodiment of the present application, the collection module comprises:

[0021] a first collection unit configured to collect biological feature information of the user; and / or

[0022] a second collection unit configured to collect certificate information of the user.

[0023] According to the embodiment of the present application, the navigation module comprises:

[0024] a first navigation unit arranged at the periphery of the movable chassis; and

[0025] a second navigation unit arranged at the periphery of the storage box.

[0026] According to the embodiment of the present application, the robot further comprises a monitoring module arranged at the storage box and configured to monitor the delivery state of the robot.

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

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

[0029] a guide rail component arranged at the placing opening and extending to the top wall, the guide rail component being configured with a guide groove, and two sides of the box door being slidably arranged in the guide groove;

[0030] The driving mechanism comprises:

[0031] a driving motor; and

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

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

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

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

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

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

[0038] According to the embodiment of the utility model, the transmission part further includes a tensioning wheel, which is adjustably arranged on one side of the conveying belt and is in rolling contact with the conveying belt, and is used for adjusting the tightness of the conveying belt.

[0039] According to the embodiment of the utility model, the movable chassis includes:

[0040] A chassis body;

[0041] A path planning module is arranged on the chassis body, and is used for generating a conveying path according to the destination information; and

[0042] A walking component is arranged on the bottom of the chassis body, and is used for driving the robot to walk along the conveying path.

[0043] According to the embodiment of the utility model, the movable chassis further includes an indication unit, which is used for indicating the working state of the movable chassis.

[0044] In a second aspect, the embodiment of the utility model provides a conveying system, which includes:

[0045] A voice interaction device is used for acquiring a conveying request of a user;

[0046] A server is in communication connection with the voice interaction device, and is used for sending a conveying instruction based on the conveying request;

[0047] The robot is in communication connection with the server, and is used for conveying articles based on the conveying instruction.

[0048] According to the embodiment of the utility model, the server is used for monitoring the conveying state and the power state of the robot.

[0049] The embodiment of the utility model provides a robot and conveying system, at least can realize following technical effect: the article box is equipped with the mouth, the box door can open or close the mouth, after putting the article into the article box, the destination information of article is obtained through the interactive module, the identity information of user is collected through the collection module, the robot conveys the article to the destination, the verification module verifies the identity information to pass to the opening instruction of drive mechanism is sent, the drive mechanism drives the box door to open the mouth, can take out the article, in the process of conveying the article, can effectively avoid the risk of article loss, be mistaken for taking, ensure the safety of conveying, simultaneously is favorable to the burden of user is alleviated. BRIEF DESCRIPTION OF DRAWINGS

[0050] The above and other objects, features and advantages of the utility model will become more apparent from the following description of the utility model embodiments referring to the drawings, in which:

[0051] Figure 1 One of structure schematic diagram of robot according to the embodiment of the utility model is schematically shown (the box door is in closed state);

[0052] Figure 2 Structure schematic diagram of article box according to the embodiment of the utility model is schematically shown;

[0053] Figure 3 Two of structure schematic diagram of robot according to the embodiment of the utility model is schematically shown (the box door is in open state);

[0054] Figure 4 Structure schematic diagram of movable chassis according to the embodiment of the utility model is schematically shown;

[0055] Figure 5 Assembly schematic diagram of box door and drive mechanism according to the embodiment of the utility model is schematically shown;

[0056] Figure 6 Structure schematic diagram of conveying system according to the embodiment of the utility model is schematically shown;

[0057] REFERENCE NUMERALS:

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

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

[0060] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed explanations will be given below with reference to the embodiments and the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

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

[0062] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", and "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0063] The embodiments of the present application will be described below in combination with Figures 1 to 5 The robot 100 of the embodiments of the present application is described.

[0064] As Figures 1 to 3 The embodiment of the utility model provides a robot 100 including a movable chassis 10 and a storage box 20, the storage box 20 is arranged on the movable chassis 10 and is used for placing articles. An interaction module 30 is arranged on the storage box 20 and is used for obtaining destination information of the articles. A collection module 40 is arranged on the storage box 20 and is used for collecting identity information of a user. A verification module is arranged on the storage box 20 and is used for verifying the identity information of the user. A navigation module is arranged on the movable chassis 10 and / or the storage box 20. The storage box 20 includes a box body 21, a box door 22 and a driving mechanism 23, the box body 21 is provided with a placing opening 210, the placing opening 210 is suitable for the articles to pass through, the box door 22 is movably arranged at the placing opening 210, and the driving mechanism 23 is in communication connection with the verification module and is used for driving the box door 22 to move to open the placing opening 210 according to an opening instruction sent by the verification module. The movable chassis 10 is used for driving the robot 100 to travel to the destination.

[0065] Exemplarily, the robot 100 includes the movable chassis 10 and the storage box 20, the storage box 20 can be installed on the movable chassis 10 through screwing, clamping and the like, and the storage box 20 is used for placing articles. For example, in an airport, a railway station, a subway station and the like, the storage box 20 is used for placing luggage of passengers, and the articles include the luggage. Hereinafter, taking the articles as the luggage as an example for description.

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

[0067] Optionally, the box door 22 can be arranged at the placing opening 210 through a rotary connection mode, the box door 22 can be rolled up or unrolled, the placing opening 210 is opened through a rolling action, and the placing opening 210 is closed through an unrolling action. Optionally, the box door 22 can be arranged at the placing opening 210 through a sliding connection mode, a sliding path suitable for the box door 22 to slide is constructed on the box body 21, the box door 22 slides along the sliding path and can open or close the placing opening 210. Optionally, the box door 22 can be arranged at the placing opening 210 through a hinge connection mode, the box door 22 can rotate around a hinge shaft and can open or close the placing opening 210 through a rotating mode. The box door 22 can also be a double-door structure, a gate structure and the like.

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

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

[0070] It can be understood that the robot 100 further comprises a path planning module, which generates a transport path for the robot 100 to walk according to the current position information and the destination information of the user after obtaining the destination information.

[0071] The collection module 40 is used to collect the identity information of the user, which includes the biological feature information and the certificate information of the user. The biological feature information includes the facial feature information and the fingerprint feature information. The certificate information includes the information of the ID card, the driver's license, the passport and the driving license. The identity information further includes the password information input by the user. The user is bound to the luggage placed in the storage box 20 by collecting the identity information of the user.

[0072] It can be understood that the robot 100 collects the identity information of the user before transporting the luggage, and defines this identity information as the first identity information. The robot 100 collects the identity information of the user again after reaching the destination, and defines this identity information as the second identity information. The verification module compares the collected second identity information with the first identity information to generate a verification result after the robot 100 reaches the destination. If the second identity information is consistent with the first identity information, the verification result is a verification pass. After the verification passes, the verification module sends an opening instruction to the driving mechanism 23, and the driving mechanism 23 drives the box door 22 to move to open the placing opening 210, and the user takes out the luggage.

[0073] It can be understood that the storage box 20 is provided with a switch button. In the case that no article is placed in the storage box 20, the button is pressed, and the driving mechanism 23 drives the box door 22 to move to open the placing opening 210. In the case that an article is placed in the storage box 20, the verification module sends an opening instruction to the driving mechanism after the verification passes, and the placing opening 210 can be opened.

[0074] The working processes of the robot 100 in two scenarios are described below.

[0075] Taking the example of transporting the luggage of a passenger to a security check or boarding gate, the passenger arrives at the location of the robot 100, the driving mechanism 23 drives the box door 22 to open the placement opening 210, and the passenger places the luggage into the box body 21 from the placement opening 210. The destination information is obtained through the interaction module 30, the transport path is generated according to the current position information and the destination information, and the destination can be a security check, a boarding gate, etc. The first identity information of the passenger is collected by the collection module 40, which can be password information input by the passenger, or can be face feature information or fingerprint feature information of the passenger, or can be certificate information of the passenger. After collecting the first identity information of the passenger, the driving mechanism 23 receives a closing instruction, the driving mechanism 23 drives the box door 22 to move, and the placement opening 210 is closed. The robot 100 walks along the transport path under the navigation of the navigation module and goes to the destination. After the robot 100 arrives at the destination, the collection module 40 collects the second identity information of the passenger, the verification module compares the second identity information with the first identity information, and after determining that the second identity information is consistent with the first identity information, the verification module sends an opening instruction to the driving mechanism 23. After the driving mechanism 23 receives the opening instruction, the box door 22 opens the placement opening 210, and the passenger can take away the luggage.

[0076] During the walking process of the robot 100 along the transport path, since the placement opening 210 is always in a closed state, the risk of luggage loss is effectively avoided, and after the robot 100 arrives at the destination, the placement opening 210 can be opened after verification, thereby effectively avoiding the risk of mistaken taking of the luggage. On the way to the security check or on the way to the boarding gate after security check, the luggage is transported by the robot 100, thereby effectively reducing the burden of the passenger, especially for passengers with difficulty in movement, which greatly reduces the burden of the passenger.

[0077] Taking the example of transporting the luggage of the passenger from the security check area to the bag opening inspection area, if the luggage is determined as suspicious luggage after being checked by the security check device, that is, the suspicious luggage contains suspicious articles, such as dangerous articles and prohibited articles. The robot 100 reaches the position of the suspicious luggage in the security check area, the driving mechanism 23 drives the box door 22 to open the placing opening 210, and the security check personnel places the suspicious luggage into the box body 21 through the placing opening 210. The security check personnel can input the destination information through the touch screen, and the destination is the bag opening inspection station. The transportation path is generated according to the current position information and the destination information. The first identity information of the passenger is collected by the collection module 40. The first identity information can be the face feature information or the fingerprint feature information of the passenger, and can also be the certificate information of the passenger. After the first identity information of the passenger is collected, the driving mechanism 23 receives the closing instruction, and the driving mechanism 23 drives the box door 22 to close the placing opening 210. The robot 100 walks along the transportation path under the navigation of the navigation module and goes to the destination. After the robot 100 reaches the bag opening inspection station, the second identity information of the passenger is collected by the collection module 40. The second identity information and the first identity information are compared by the verification module. After it is determined that the second identity information is consistent with the first identity information, the verification is passed, the verification module sends the opening instruction to the driving mechanism 23, the driving mechanism 23 receives the opening instruction, the box door 22 opens the placing opening 210, and the security check personnel takes out the luggage. Then the security check personnel cooperates with the passenger to open the luggage for inspection.

[0078] In the process of walking along the transportation path, since the placing opening 210 is always in the closed state, the risk of luggage loss is effectively avoided. After the robot 100 reaches the destination, the placing opening 210 can be opened only after the verification is passed, so that the risk of mistaken taking of the luggage is effectively avoided. The luggage is transported from the security check area to the bag opening inspection area by the robot 100, so that the working intensity of the security check personnel is effectively reduced.

[0079] In the embodiment of the utility model, the storage box 20 is provided with the placing opening 210, the box door 22 can open or close the placing opening 210, after the article is placed into the storage box 20, the destination information of the article is obtained through the interactive module 30, the identity information of the user is collected through the collection module 40, the robot 100 transports the article to the destination, the verification module sends the opening instruction to the driving mechanism 23 after the identity information is verified to pass, the driving mechanism 23 drives the box door 22 to open the placing opening 210, and the article can be taken out, in the process of transporting the article, the risk of article loss and mistaken taking can be effectively avoided, the safety of transportation is ensured, and the burden of the user is reduced.

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

[0081] The interaction module 30 is arranged on the box body 21, the box body 21 can be a hollow square body, the box body 21 comprises a top wall 2111, a bottom wall and a plurality of side walls connecting the top wall 2111 and the bottom wall. In the case that the number of side walls is four, the four side walls are defined as a front side wall 2112, a rear side wall, a left side wall 2113 and a right side wall respectively. The placing opening 210 can be arranged on the front side wall 2112, and the interaction module 30 can be arranged on the left side wall 2113 and / or the top wall 2111.

[0082] Exemplarily, the touch unit 31 comprises a touch screen, which can be arranged on the left side wall 2113, the right side wall or the rear side wall of the box body 21, for example, the touch screen is arranged on the top of the left side wall 2113 of the box body 21. The user can generate the destination information by clicking on the touch screen, and the user can also generate the destination information by writing on the touch screen. The touch screen can be arranged at an inclined angle, which is beneficial to the convenience of the user's clicking or writing operation on the touch screen.

[0083] Exemplarily, the voice unit 32 comprises a microphone 321, which is arranged on the top of the box body 21, and the microphone 321 can be arranged close to the touch screen. The user interacts with the robot 100 through the microphone 321. The destination information is generated by acquiring the voice information of the user. The voice unit 32 further comprises a loudspeaker 322, which can be arranged on the front side wall 2112 of the box body 21. The user can perform corresponding operations according to the voice prompt of the loudspeaker 322. For example, inputting the destination information on the touch screen, inputting the password on the touch screen, etc.

[0084] Further, the voice unit 32 can also perform alarm prompt. During the process of walking along the conveying path, the robot 100 encounters a failure and cannot walk, the voice unit 32 can perform failure alarm to prompt the staff to check and repair the robot 100 to remove the failure.

[0085] In the embodiment of the utility model, the user interacts with the robot 100 through the touch unit 31 and / or the voice unit 32 to acquire the destination information of the article, interacts through multiple interaction modes, meets the multiple interaction needs of the user, and facilitates acquiring the destination information of the article in the fastest way.

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

[0087] Exemplarily, the first collection unit 41 comprises a camera configured to collect the biometric information of the user, for example, the camera is configured to collect the facial image, the fingerprint image, etc. of the user. The camera can be arranged close to the touch screen.

[0088] Optionally, after the user puts the luggage into the box 21, the camera collects the facial image of the user for the first time to establish the binding information of the user and the luggage. After the camera collects the facial image of the user for the first time to generate the first facial feature information, the driving mechanism 23 receives the closing instruction to drive the box door 22 to close the placing opening 210. Then the robot 100 moves along the conveying path to the destination. After the robot 100 reaches the destination, the camera collects the facial image of the user for the second time to generate the second facial feature information. The verification module compares the second facial feature information with the first facial feature information, and determines that the verification is passed. After that, the driving mechanism 23 receives the opening instruction sent by the verification module to drive the box door 22 to move to open the placing opening 210, and the user can take out the luggage.

[0089] Optionally, after the user puts the luggage into the box 21, the camera collects the fingerprint image of the user for the first time to generate the first fingerprint feature information. After the robot 100 reaches the destination, the camera collects the fingerprint image of the user for the second time to generate the second fingerprint feature information. The verification module compares the second fingerprint feature information with the first fingerprint feature information, and determines that the verification is passed. After that, the driving mechanism 23 receives the opening instruction sent by the verification module to drive the box door 22 to move to open the placing opening 210, and the user can take out the luggage.

[0090] Exemplarily, the second collection unit 42 comprises a scanner configured to scan the identity card, the driver's license, the passport, the driving license, etc. of the user to collect the certificate information of the user.

[0091] Optionally, after the user puts the luggage into the box 21, the scanner first acquires the image of the user's ID card to establish the binding information of the user and the luggage. After the scanner first acquires the image of the user's ID card to generate the first ID card information, the driving mechanism 23 receives the closing instruction to drive the box door 22 to close the placement opening 210. Then the robot 100 travels along the conveying path to the destination. After the robot 100 arrives at the destination, the scanner second acquires the image of the user's ID card to generate the second ID card information. The verification module compares the second ID card information with the first ID card information to determine whether the verification is passed. After the verification module determines that the verification is passed, the driving mechanism 23 receives the opening instruction sent by the verification module to drive the box door 22 to move to open the placement opening 210, and the user can take out the luggage.

[0092] Optionally, after the user puts the luggage into the box 21, the camera first acquires the image of the user's face to generate the first face feature information, and the scanner first acquires the image of the user's ID card to generate the first ID card information. After the first face feature information and the first ID card information are generated, the driving mechanism 23 receives the closing instruction to drive the box door 22 to close the placement opening 210. Then the robot 100 travels along the conveying path to the destination. After the robot 100 arrives at the destination, the camera second acquires the image of the user's face to generate the second face feature information, and the scanner second acquires the image of the user's ID card to generate the second ID card information. The verification module compares the second face feature information with the first face feature information to generate the first comparison result, and compares the second ID card information with the first ID card information to generate the second comparison result. After the verification module determines that the verification is passed according to the first comparison result and the second comparison result, the driving mechanism 23 receives the opening instruction sent by the verification module to drive the box door 22 to move to open the placement opening 210, and the user can take out the luggage.

[0093] In the embodiment of the utility model, the first acquisition unit 41 is used for acquiring the face feature information and the fingerprint feature information of the user, the second acquisition unit 42 is used for acquiring the information of the ID card, driving license, passport and driving license of the user, and the verification module compares at least one of the biological feature information and the information of the certificate. The first acquisition unit 41 and the second acquisition unit 42 can provide multiple verification modes to meet the diversified verification requirements.

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

[0095] Exemplarily, the first navigation unit 51 comprises a laser radar 511, an ultrasonic sensor 512, etc., and the laser radar 511 and the ultrasonic sensor 512 are installed on the movable chassis 10. The number of the laser radar 511 and the ultrasonic sensor 512 is set according to actual needs, for example, one laser radar 511 is installed at the front end and the rear end of the movable chassis 10 respectively, and two ultrasonic sensors 512 are installed at the front end of the movable chassis 10. The laser radar 511 and the ultrasonic sensor 512 are used for autonomous navigation and obstacle avoidance of the robot 100, have the ability of 360-degree omnidirectional intelligent detection and identification of obstacles, and can realize flexible avoidance of various obstacles such as pedestrians in a complex environment.

[0096] Exemplarily, the second navigation unit 52 comprises an infrared sensor 522 and a depth camera 521, etc., and the infrared sensor 522 and the depth camera 521 can be installed on the front side wall 2112 of the box body 21. The infrared sensor 522 is installed at the bottom of the front side wall 2112, the depth camera 521 can be installed at the top of the front side wall 2112, and the depth camera 521 can be installed at a position close to the touch screen. The infrared sensor 522 and the depth camera 521 are used for autonomous navigation and obstacle avoidance of the robot 100, have the ability of 360-degree omnidirectional intelligent detection and identification of obstacles, and can realize flexible avoidance of various obstacles such as pedestrians in a complex environment.

[0097] The laser radar 511 determines the distance and position of objects in the environment by emitting laser and measuring the reflection time, has the ability of high precision and long distance detection. The depth camera 521 can capture detailed visual information in the environment, including the color, shape, texture, etc. of the object. The infrared sensor 522 detects the distance of obstacles by measuring the reflection intensity of infrared signals, and the ultrasonic sensor 512 calculates the distance of obstacles by emitting sound waves and measuring the time of their reflection.

[0098] In the embodiment of the utility model, the laser radar 511, the depth camera 521, the infrared sensor 522 and the ultrasonic sensor 512 are combined, the data of the four kinds of sensors are fused, the surrounding environment can be perceived more accurately, the navigation precision of the robot 100 is effectively improved, and the safety of the robot 100 walking is ensured.

[0099] In the optional embodiment, the robot 100 further comprises a monitoring module arranged in the storage box 20 and used for monitoring the conveying state of the robot 100.

[0100] Exemplarily, the monitoring module comprises a camera, and the camera is installed at the top in the box body 21. During the conveying process of the robot 100, the camera monitors the condition in the storage box 20 in real time. By playing back the video recorded by the camera, unexpected conditions in the conveying process can be found, and the entire conveying process can be monitored through video, so that the unexpected conditions can be effectively handled.

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

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

[0103] The box 21 comprises a box body 211 and a guide rail component, and the box body 211 can be a hollow square body, which comprises a top wall 2111, a bottom wall and a plurality of side walls. In the case where the number of side walls is four, the four side walls are defined as a front side wall 2112, a rear side wall, a left side wall 2113 and a right side wall respectively. The placing opening 210 is located on the front side wall 2112, and the size of the placing opening 210 is suitable for the luggage to pass through.

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

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

[0106] The driving mechanism 23 comprises a driving motor 231 and a transmission component 232, the driving motor 231 comprises a bidirectional motor, the transmission component 232 comprises two transmission assemblies arranged at intervals, and the two transmission assemblies are arranged in one-to-one correspondence with the two guide rails 212. The transmission assembly is close to the rear side wall, the transmission assembly comprises a driving wheel 2321, a driven wheel 2322 and a conveyor belt 2323, the driving wheel 2321 and the driven wheel 2322 are arranged at intervals in the vertical direction, and the conveyor belt 2323 is sleeved on the driving wheel 2321 and the driven wheel 2322. The conveyor belt 2323 is connected to one end of the box door 22 away from the front side wall 2112 through a connecting piece. The driving shaft of the bidirectional motor is connected with the driving wheel 2321, the bidirectional motor drives the driving wheel 2321 to rotate, the driving wheel 2321 drives the driven wheel 2322 and the conveyor belt 2323 to rotate, and the conveyor belt 2323 drives the box door 22 to slide along the guide groove. For example, the bidirectional motor drives the driving wheel 2321 to rotate in the clockwise direction, the box door 22 slides along the extension direction of the guide groove towards the direction close to the rear side wall, and the placing opening 210 can be opened; the bidirectional motor drives the driving wheel 2321 to rotate in the counterclockwise direction, the box door 22 slides along the extension direction of the guide groove towards the direction close to the front side wall 2112, and the placing opening 210 can be closed. The box door 22 is driven to slide by the conveyor belt 2323, the overall structure is compact, and the sliding smoothness of the box door 22 is facilitated.

[0107] The guide rail 212 is in a U-shaped form, part of the guide rail 212 is arranged close to the front side wall 2112 and the rear side wall of the box body 21, and part of the guide rail 212 is arranged close to the top wall 2111 of the box body 21, so that the box door 22 has a sufficient sliding path and can slide to a state of completely opening the placing opening 210. The placing opening 210 on the front side wall 2112 is large enough, and the area of the placing opening 210 is maximized, so that luggage can be smoothly placed into the storage box 20. The luggage of various specifications can be placed, and the miniaturization of the storage box is facilitated.

[0108] The box door 22 is slidably arranged on the guide rail 212, and slides along the guide rail 212 to open or close the placing opening 210. In the opened state, part of the box door 22 is arranged in the storage box 20, and does not occupy external space, so that the overall storage box 20 occupies a small space. During opening or closing, the box door 22 does not collide with external objects, and the safety of use is ensured.

[0109] In the embodiment of the utility model, the box door 22 slides along the sliding path formed by the guide rail component, the placing opening 210 is opened or closed through the sliding of the box door 22, the overall structure is simple, the box door 22 can be conveniently switched between the opened state and the closed state, the maximization of the placing volume is facilitated, and the miniaturization of the overall storage box 20 is facilitated.

[0110] AsFigure 5 As shown, in an optional embodiment, the transmission component 232 further includes a tensioning wheel 2324, which is adjustablely disposed on one side of the conveyor belt 2323 and rolls in contact with the conveyor belt 2323 to adjust the tension of the conveyor belt 2323.

[0111] Exemplarily, the transmission assembly also includes a tensioning pulley 2324, and a mounting bracket 213 is provided on the side wall of the housing body 211, located near the conveyor belt 2323. The tensioning pulley 2324 is rotatably mounted on the mounting bracket 213, and the mounting bracket 213 is adjustablely mounted on the side wall of the housing body 211. For example, the mounting bracket 213 is provided with a mounting hole, which is an elongated hole with its length direction perpendicular to the rotation direction of the conveyor belt 2323. Moving the mounting bracket 213 horizontally adjusts the mounting position of the mounting bracket 213 relative to the side wall. Because the tensioning pulley 2324 rolls in contact with the outer surface of the conveyor belt 2323, moving the mounting bracket 213 causes the tensioning pulley 2324 to move one section of the transmission belt closer to or further away from another section, thereby adjusting the tension of the conveyor belt 2323. By adjusting the tension of the conveyor belt 2323, the smoothness of the conveyor belt 2323 rotation is ensured, thereby ensuring the smoothness of the sliding of the box door 22.

[0112] Optionally, a protective part is provided at the placement opening 210 on the main body 211 of the suitcase. For example, a left protective part 241 is provided at the left edge of the placement opening 210, a right protective part 242 is provided at the right edge of the placement opening 210, and a bottom protective part 243 is provided at the bottom edge of the placement opening 210. The cross-section of the protective part can be approximately semi-circular, etc. Providing a protective part at the edge of the placement opening 210 effectively prevents scratches on the luggage during the placement or retrieval of luggage.

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

[0114] For example, the movable chassis 10 includes a chassis body 11 and a traveling component 12, which is mounted on the bottom of the chassis body 11. The traveling component 12 can be a six-wheel drive structure, including a servo motor, two drive wheels 121, and four omnidirectional wheels 122. Two omnidirectional wheels 122 are arranged in front of and behind the two drive wheels 121. The two drive wheels 121 adopt a two-wheel differential drive design, and high-precision motion control can be achieved by independently controlling the speed and direction of each drive wheel 121. The four omnidirectional wheels 122 help improve steering flexibility.

[0115] The path planning module generates a delivery path according to the current location information of the user and the destination information of the article, and the movable chassis 10 walks along the delivery path.

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

[0117] Exemplarily, the indication unit 13 comprises an indication lamp, a lamp strip, etc., and the indication lamp can display different colors to indicate the current working state of the movable chassis 10. For example, the indication lamp displays green to indicate that the movable chassis 10 is in a normal walking state, and the indication lamp displays red to indicate that the movable chassis 10 is in a fault state.

[0118] As shown in Figure 6 The embodiment of the utility model further provides a delivery system, the delivery system includes voice interactive equipment 300, server 200 and robot 100. Voice interactive equipment 300 is used to obtain the delivery request of user. Server 200 is connected with voice interactive equipment 300, and is used to send delivery instruction based on delivery request. Robot 100 is connected with server 200, and is used to deliver article based on delivery instruction.

[0119] The delivery system is used in places such as airports, stations and subway stations, and the delivery system delivers luggage according to the needs of users. The structure and function of the robot 100 are as described above. The voice interactive equipment 300 comprises a call bell, and the server 200, the robot 100 and the call bell are connected in communication by a wireless communication mode. The user sends a delivery request for delivering luggage through the call bell, and the user includes passengers, security personnel, etc. The server 200 receives the delivery request, obtains the current location information of the user, and sends a delivery task request to the robot 100. The robot 100 receives the delivery task request, reaches the user's location according to the current location information of the user.

[0120] After the robot 100 reaches the user's location, the driving mechanism 23 drives the box door 22 to slide along the guide rail 212, opens the placing opening 210, and the user places the luggage into the storage box 20. The user interacts with the robot 100 through the interaction module 30 to generate destination information. The user can generate destination information by clicking the touch screen, and the robot 100 can generate destination information by collecting the voice information of the user. The path planning module generates a delivery path according to the current location information and the destination information.

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

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

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

[0124] Optionally, the verification module compares the second face feature information with the first face feature information, and sends the opening instruction after verification. Optionally, the verification module compares the second fingerprint feature information with the first fingerprint feature information, and sends the opening instruction after verification. Optionally, the verification module compares the second password with the first password, and sends the opening instruction after verification. Optionally, the verification module compares the second identity card information with the first identity card information, and sends the opening instruction after verification.

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

[0126] It can be understood that during the process of the robot 100 walking along the transport path, if the verification information of the user is not received, the placement opening 210 is always in a closed state. After reaching the destination, the robot 100 collects the identity information of the user, and after verification, the opening instruction is triggered, and the box door 22 is in an open state, so that the user can take out the luggage, thereby fully ensuring the safety of the transport process.

[0127] The server 200 sends a transport task instruction to the robot 100 based on the transport request of the user, the robot 100 receives the transport task instruction and goes to the location of the user. The robot 100 generates a transport path according to the current position information and the destination information, and after reaching the destination, the box door 22 is opened after determining that the verification is passed according to the identity information of the user. After the user takes out the luggage, the robot 100 returns to the departure place, thereby effectively improving the safety and efficiency of the transport.

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

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

[0130] The server 200 receives a delivery request from a user, sends a delivery task instruction to a robot 100 in an idle state, and the robot 100 receives the delivery task instruction and goes to the user's location to perform the delivery task. The server 200 assigns a delivery task or a charging task to the robot 100 by monitoring the delivery status and the power status of the plurality of robots 100 in real time, which is conducive to the efficient and reliable operation of the delivery system.

[0131] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions made within the spirit and principles of the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot, characterized in that, The robot comprises: a movable chassis; a storage box arranged on the movable chassis and used for placing articles; an interaction module arranged on the storage box and used for obtaining destination information of the articles; a collection module arranged on the storage box and used for collecting identity information of a user; a verification module arranged on the storage box and used for verifying the identity information of the user; and a navigation module arranged on the movable chassis and / or the storage box; wherein the storage box comprises: a box body provided with a placing opening suitable for the articles to pass through; a box door movably arranged at the placing opening; and a driving mechanism in communication connection with the verification module and used for driving the box door to move to open the placing opening according to an opening instruction sent by the verification module; the movable chassis is used for driving the robot to travel to the destination.

2. The robot according to claim 1, wherein the interaction module comprises: a touch unit used for generating the destination information based on input information of the user; and / or a voice unit used for generating the destination information based on voice information of the user.

3. The robot according to claim 1, wherein the collection module comprises: a first collection unit used for collecting biological feature information of the user; and / or a second collection unit used for collecting certificate information of the user.

4. The robot according to claim 1, wherein the navigation module comprises: a first navigation unit arranged on a periphery of the movable chassis; and a second navigation unit arranged on a periphery of the storage box.

5. The robot according to claim 1, wherein the robot further comprises a monitoring module arranged on the storage box and used for monitoring a delivery state of the robot.

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

7. The robot according to claim 6, wherein the transmission component comprises: a driving wheel connected with the driving end of the driving motor; a driven wheel arranged in a vertical direction and spaced apart from the driving wheel; and a transmission belt sleeved on the driving wheel and the driven wheel and connected with the box door and used for driving the box door to slide along the guide groove.

8. The robot according to claim 7, wherein the transmission component further comprises a tensioning wheel adjustably arranged on one side of the transmission belt and in rolling contact with the transmission belt and used for adjusting tightness of the transmission belt.

9. The robot according to any one of claims 1-5, wherein ​ The movable chassis comprises: a chassis body; a path planning module arranged on the chassis body and configured to generate a delivery path according to the destination information; and a walking component arranged at the bottom of the chassis body and configured to drive the robot to walk along the delivery path.

10. The robot of claim 9, wherein the movable chassis further comprises an indication unit configured to indicate a working state of the movable chassis.

11. A transport system characterized in that, comprises: a voice interaction device configured to obtain a delivery request of a user; a server communicatively connected with the voice interaction device and configured to send a delivery instruction based on the delivery request; and the robot of any one of claims 1-10, which is communicatively connected with the server and configured to deliver an article based on the delivery instruction.

12. The delivery system of claim 11, wherein the server is configured to monitor a delivery state and a power state of the robot. ​

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