Autonomous obstacle avoidance warehouse logistics robot

Abstract

The utility model discloses an autonomous obstacle avoidance warehouse logistics robot, and relates to the technical field of transportation robots. A driving device is connected with the lower part of a vehicle body through a rotating mechanism; 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] This utility model relates to the field of transportation robot technology, and specifically to an autonomous obstacle avoidance warehousing and logistics robot. Background Technology

[0002] Warehouse and logistics robots can acquire their own position and information about their surrounding environment in real time by being equipped with sensors such as LiDAR, cameras, and IMUs (Inertial Measurement Units). They then use this perceived information to make decisions and control the robot to complete autonomous navigation tasks. With the rapid development of industrialization and artificial intelligence technology, warehouse and logistics robots have begun to be widely used in warehousing and transportation, replacing humans in long hours of repetitive labor.

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

[0004] 1. Warehouse and logistics robots require a large amount of space to turn and cannot move flexibly in narrow spaces;

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

[0006] 3. Dynamic obstacle avoidance algorithms are highly complex and difficult to respond in real time;

[0007] 4. The conveyor device cannot be connected to the production line at a 90° angle. Utility Model Content

[0008] To address the shortcomings of existing technologies, this utility model provides an autonomous obstacle avoidance warehousing and logistics robot. Through a drive device, the robot can achieve horizontal movement and autonomous obstacle avoidance, thus enabling it to move flexibly in narrow spaces.

[0009] This utility model achieves the above-mentioned technical objectives through the following technical means.

[0010] This utility model discloses an autonomous obstacle avoidance warehousing and logistics robot, relating to the field of transportation robot technology. It includes a vehicle body, a drive unit, a lifting device, a conveying device, and a bottom lifting device. The drive unit is connected to the lower part of the vehicle body via a rotating mechanism. The lifting mechanism is mounted on the vehicle body, and the conveying mechanism is mounted on a lifting platform. The lifting platform is connected to the vehicle body via a telescopic frame, which can adjust the height of the conveying mechanism. A conveyor motor is connected to conveyor rollers via a conveyor belt, and Mecanum wheels are fixed on the rollers. The vehicle body moves horizontally by rotating the drive unit through the rotating mechanism, thus achieving left and right obstacle avoidance. The bottom lifting device can raise and lower the upper part of the vehicle body, allowing it to overcome low obstacles. The conveying device moves goods horizontally via a conveyor motor and Mecanum wheels. When the lidar detects an obstacle ahead, the camera calculates the center coordinates of the obstacle using the YOLO algorithm. The drive unit rotates 90° and translates according to the deviation of the center coordinates. When the lidar no longer detects an object ahead, the drive unit returns to center.

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

[0012] In the above scheme, the driving device includes a drive wheel, a drive motor, and a rotary motor. The rotary motor drives the drive wheel via a belt, and the rotary motor is fixed to the upper end of the drive wheel and the drive motor.

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

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

[0015] In the above scheme, 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 lifting devices at both ends.

[0016] The obstacle avoidance method for warehouse logistics robots involves a LiDAR system detecting an obstacle ahead, followed by a depth camera using the YOLO algorithm to identify the obstacle and determine its center coordinates, length, width, and height. If the obstacle's height is within a preset range, the bottom lifting device raises the robot too high, allowing it to pass through without significant deflection. If the obstacle's height exceeds the preset range, the drive mechanism rotates 90°, shifting left or right based on the center coordinates' offset from the camera's centerline until the LiDAR no longer detects an obstacle, at which point the drive mechanism returns to center.

[0017] The beneficial effects of this utility model are: 1. The warehousing and logistics robot of this utility model can achieve translation, move flexibly, and is suitable for logistics transportation in small spaces, improving the utilization rate of automated unmanned vehicles in various application scenarios. 2. This device can not only realize the 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 for left and right movement to avoid them. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the warehousing and logistics robot of this utility model;

[0019] Figure 2 for Figure 1 A schematic diagram of the transportation equipment involved;

[0020] Figure 3 for Figure 1 A schematic diagram of the lifting device involved in the process;

[0021] Figure 4 for Figure 1 A schematic diagram of the transportation equipment involved;

[0022] Figure 5 for Figure 1 A schematic diagram of the drive device involved;

[0023] Figure 6 for Figure 1 A schematic diagram of the bottom lifting device involved in the process;

[0024] Figure 7 A schematic diagram illustrating the workflow of an autonomous obstacle avoidance robot in warehouse logistics.

[0025] Figure label:

[0026] 1-Vehicle body; 101-Depth camera; 102-LiDAR; 2-Conveying device; 201-Conveying roller; 202-Mecanum wheel; 203-Cargo; 204-Conveyor belt; 205-Conveyor drive motor; 206-Conveyor line; 207-Conveyor device bracket; 3-Drive device; 3-2-Bottom lifting device; 301-Rotating 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-Work lifting device; 401-Lifting worktable; 402-Support rod; 403-Lifting hydraulic rod; 404-Lower support platform. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] Combined with appendix Figures 1 to 7 An autonomous obstacle avoidance warehousing and logistics robot according to a utility model embodiment includes a vehicle body 1, a drive unit 3, a working lifting device 4, a conveying device 2, and a bottom lifting device; the drive unit 3 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 transport 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 on the inner side of the vehicle body 1, the drive unit 3 is connected to the bottom lifting device through a rotating mechanism 301, the working lifting device 4 is installed on the outer side of the vehicle body 1, and the conveying device 2 is fixed to the upper end of the working lifting device 4.

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

[0032] The rotating mechanism 301 is mounted on a support frame, which also supports the right drive motor 302 and the left drive motor 307.

[0033] Combined with appendix Figure 1 and attached Figure 3 As shown, the lifting device 4 includes a lifting work platform 401, a support rod 402, a lifting hydraulic rod 403, and a lower support platform 404. The lifting work platform 401 is connected to the lower support platform 404 via the support rod 402, and the lower end of the support rod 402 is equipped with the lifting hydraulic rod 403.

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

[0035] Combined with appendix Figure 1 and 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 mounted on the lifting bracket 310. The two lifting brackets 310 are located 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 drive the chain 311 to move the lifting slider 312 up and down. 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 and drives the vehicle body 1 to rise, thereby enabling it to overcome low obstacles.

[0036] The two sides of the vehicle body 1 are connected to the lifting slider 312.

[0037] A vertical groove is provided on the lifting bracket 310, which guides and positions the lifting slider 312.

[0038] Combined with appendix Figure 1 and attached Figure 7 As shown, during its journey, the autonomous obstacle avoidance robot detects an obstacle ahead using its lidar. The camera then uses the YOLO algorithm to calculate the obstacle's length, width, and height, marking the object's center coordinates. It then determines if the object's height exceeds a preset limit. If it doesn't, the chassis lifting device raises the robot's chassis, allowing it to directly pass over the obstacle. If the height exceeds the preset limit, the drive mechanism rotates 90° and determines the object's center coordinates' deviation from the camera's centerline. If it's to the left of the camera's centerline, it moves a certain distance to the right until the lidar no longer detects the obstacle, at which point the drive mechanism returns to center. If it's to the right of the camera's centerline, it moves a certain distance to the left until the lidar no longer detects the obstacle, at which point the drive mechanism returns to center.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0040] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An autonomous obstacle-avoiding warehouse logistics robot, characterized in that, It includes a vehicle body (1), a drive unit (3), a working lifting device (4), a conveying device (2), and a bottom lifting device; the drive unit (3) 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 transport materials; a depth camera (101) is installed at the center of the front end of the vehicle body (1), and a laser radar (102) is installed below the depth camera (101). The bottom lifting device is installed inside the vehicle body (1), the drive unit (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, characterized in that, The drive device (3) includes a right drive motor (302), a left drive motor (307), a right drive wheel (303), a left drive wheel (304), a belt (305), and a drive gear (306); the rotating mechanism (301) changes the direction of the drive device (3) by rotation; the output ends of the left drive motor (307) and the right drive motor (302) are both connected to the drive gear (306), and the two drive gears (306) are connected to the right drive wheel (303) and the left drive wheel (304) respectively through the belt (305). When the rotating mechanism (301) rotates, the right drive wheel (303) and the left drive wheel (304) rotate at different speeds.

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

4. The autonomous obstacle avoidance warehousing and logistics robot according to claim 1, characterized in that, The conveying device (2) includes a conveying roller (201), a Mecanum wheel (202), cargo (203), a conveyor belt (204), a transmission 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 on the conveying roller (201), and the transmission drive motor (205) is connected to the conveying roller (201) through the conveyor belt (204). The transmission drive motor (205) rotates and drives the conveying roller (201). By changing the speed of the conveying roller (201), the rotation speed of the Mecanum wheel (202) is changed, thereby realizing the transverse transport of cargo.

5. The autonomous obstacle avoidance warehousing and logistics robot according to claim 1, characterized in that, 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 set 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) drive the chain (311) to move the lifting slider (312) up and down. 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 and drives the vehicle body (1) to rise, thereby enabling it to pass over low obstacles.

6. The autonomous obstacle avoidance warehousing and logistics robot according to claim 5, characterized in that, The vehicle body (1) is connected to the lifting slider (312) on both sides.

7. The autonomous obstacle avoidance warehousing and logistics robot according to claim 5, characterized in that, The lifting bracket (310) has a vertical groove, which guides and positions the lifting slider (312).

8. The autonomous obstacle avoidance warehousing and logistics robot according to claim 1, characterized in that, The vehicle body (1) is provided with four universal wheels (103) at its lower end, which can support the vehicle body.

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