CN109986574A - Autonomous device - Google Patents
Autonomous device Download PDFInfo
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- CN109986574A CN109986574A CN201910267994.6A CN201910267994A CN109986574A CN 109986574 A CN109986574 A CN 109986574A CN 201910267994 A CN201910267994 A CN 201910267994A CN 109986574 A CN109986574 A CN 109986574A
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- 230000003028 elevating effect Effects 0.000 claims abstract description 34
- 238000003384 imaging method Methods 0.000 claims abstract description 23
- 230000001133 acceleration Effects 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 16
- 238000004891 communication Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 238000012937 correction Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 238000012790 confirmation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000531116 Blitum bonus-henricus Species 0.000 description 1
- 235000008645 Chenopodium bonus henricus Nutrition 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of autonomous device includes scissor type elevating structure, imaging sensor, slide unit structure and processor.The scissor type elevating structure is for moving the platform for being set to the scissor type elevating structure top in first direction；Described image sensor is set on the platform, for capturing the image of target object；The slide unit structure setting is on the platform, including slide unit component and sliding rail, wherein the slide unit component connects the scissor type elevating structure through sliding rail, and in moving on the sliding rail towards second direction, wherein the second direction is perpendicular to the first direction；The processor is used to receive image from described image sensor to judge the position of the target object, and the scissor type elevating structure is controlled according to the position of the target object, move the platform in the first direction, and it is mobile in the second direction to control the slide unit component.
Description
Technical field
The application relates to a kind of autonomous device, espespecially a kind of autonomous with autonomous elevator functions up and down
Device.
Background technique
If existing autonomous device has autonomous elevator functions up and down, it is necessary to carry out considerable degree of design to elevator
Transformation will thus will increase dramatically cost so that elevator has the wireless communication function to match with autonomous device.
Summary of the invention
The first purpose of the application is to provide a kind of autonomous device to improve the problems in background technique.
According to embodiments herein, a kind of autonomous device is disclosed, includes scissor type elevating structure, image sensing
Device, slide unit structure and processor.The scissor type elevating structure is used to make to be set to the flat of the scissor type elevating structure top
Platform is moved in first direction；Described image sensor is set on the platform, and wherein described image sensor is for picking
Take the image of target object；The slide unit structure setting includes slide unit component and sliding rail on the platform, wherein the cunning
Platform component connects the scissor type elevating structure through sliding rail, and in mobile towards second direction on the sliding rail, wherein described the
Two directions are perpendicular to the first direction；The processor is used to receive the image from described image sensor described to judge
The position of target object, and control the scissor type elevating structure according to the position of the target object, make the platform in
The first direction is moved, and controls the slide unit component in mobile towards the second direction on the sliding rail.
Detailed description of the invention
Fig. 1 is the schematic diagram of the autonomous device according to the embodiment of the present application.
Fig. 2A, 2B and 2C are the schematic diagrames according to the judgement mechanical shaft of the embodiment of the present application and the error of target object.
Fig. 2 is the whether successful flow chart touched of confirmation target object according to the embodiment of the present application.
Fig. 3 is the flow chart for judging the current place floor of autonomous device according to the embodiment of the present application.
Fig. 4 is the schematic diagram of the different angle of the autonomous device according to the embodiment of the present application.
Fig. 5 is that the autonomous device of foundation the embodiment of the present application is independently grasped in the carriage for vertically moving elevator
The diagrammatic illustration of work
Fig. 6 is autonomous device and teleprocessing unit and personal terminal the electronic device communication according to the embodiment of the present application
Schematic diagram.
Fig. 7 is the schematic diagram of the display goods information according to the embodiment of the present application.
Fig. 8 is the schematic diagram of 10 delivery of autonomous device to consignee of the embodiment of the present application.
Fig. 9 is the flow chart of consignee's picking object according to the embodiment of the present application.
Figure 10 is the system schematic of the autonomous device according to the embodiment of the present application.
Specific embodiment
Content disclosed below provides numerous embodiments or illustration, can be special to realize the difference of this disclosure
Sign.The concrete example subsystem of component and configuration described below is to simplify this disclosure.When it is contemplated that for these narrations only
Show, is not intended for limiting this disclosure.For example, in the following description, a fisrt feature is formed in one
In second feature or on, may include some embodiments, wherein described first and second feature is in direct contact with one another；And
May include some embodiments to be wherein formed between first and second above-mentioned feature there are also additional component, and make first with
Second feature may not contacted directly.In addition, this disclosure may reuse component symbol in various embodiments
And/or label.Such reuse is based on succinctly with clear purpose, and itself not representing discussed different implement
Relationship between example and/or configuration.
Furthermore vocabulary opposite in use space here, for example " under ", " lower section ", " being lower than ", " on ", " on
Side " and person similar to its, it may be possible to which a component depicted in figure or feature are relative to one or more another groups for convenience of explanation
Relationship between part or feature.Spatially opposite its original idea of vocabulary also covers other than orientation depicted in figure for these
Device locating a variety of different directions in use or operation.The equipment may be placed in other orientation and (e.g., rotate 90
Degree is in other orientation), and these spatially opposite description vocabulary should just do corresponding explanation.
Although the numberical range and parameter to define the application wider range are all rough numerical value, herein as far as possible
The correlation values in specific embodiment are accurately presented.However, any numerical value is substantially inevitably containing because of individual tests
Standard deviation caused by method.Here, " about " usually mean actual numerical value a certain number value or range positive and negative 10%,
5%, within 1% or 0.5%.Either, " about " word represents actual numerical value and falls within the acceptable standard error of average value,
Depending on depending on the application those of ordinary skill in the art the considerations of.When it is understood that other than experimental example, or unless
It separately expressly states otherwise, all ranges used herein, quantity, numerical value and percentage are (such as to describe material utilization amount, time
Length, temperature, operating condition, quantitative proportion and other similar persons) by the modification of " about ".Therefore, unless otherwise opposite
Illustrate, this specification and the revealed numerical parameter of subsidiary claim are all rough numerical value, and visual demand and more
It is dynamic.These numerical parameters should be at least interpreted as to pointed number of significant digit and apply the obtained numerical value of general transfer method.?
Herein, numberical range is expressed as by end point to another endpoint or between two endpoints；Unless otherwise indicated, described herein
Numberical range all include endpoint.
Fig. 1 is the schematic diagram of the autonomous device 10 according to the embodiment of the present application.Autonomous device 10 includes body
101, scissor type elevating structure 102, platform 103, imaging sensor 104 and processor 108, wherein platform 103 is set to scissor
The top of formula lifting structure 102, processor 108 are set among body 101.Scissor type elevating structure 102 is for making platform 103
It is moved in first direction.Such as Fig. 1 depicted, scissor type elevating structure 102 moves platform 103 along the z-axis direction.Scissor-type liter
Drop structure 102 moves platform 103 along the z-axis direction through hydraulic bar (not drawing).In one embodiment, scissors type elevating knot
The hydraulic oil of structure 102 is formed certain pressure by vane pump, through flame-proof type solenoid directional control valve, throttle valve, hydraulic control one-way valve, balance
Valve enters fluid cylinder lower end, makes the piston upwards of fluid cylinder, promotes platform 103.Imaging sensor 104 is arranged on platform 103,
Wherein imaging sensor 104 is used to capture the image of target object.Imaging sensor 104 include three photographic means, wherein it
One is autochromy device, and to capture the image of the target object, other two photographic means is depth photographic means, is used
In judging the target object at a distance from autonomous device 10.
In one embodiment, autonomous device 10 can pass through arbitrary delivery means and go to different destinations.For example,
Autonomous device 10 can pass through conveyer belt, horizontal or vertical moving elevator, various automotives etc. through autonomous
Coordinate operation between each component of device 10 goes to the place wanted under unattended or transmission people moderately auxiliary.This case
Disclosure mainly by operation vertically move elevator in the way of for be described in detail autonomous device 10, but the present invention protected
Therefore the range of shield is not limitation.
In one embodiment, the target object is in control board for elevator or the control panel in elevator or on the outside of elevator
Floor and other control buttons, in another embodiment, the target object is the building that autonomous device 10 is wanted
The button of layer.After imaging sensor 104 captures the image of the floor button in elevator, image is sent to processor 108, is located
Reason device 108 judges the position of the button for the floor wanted.Again in one embodiment, the target object is autonomous dress
It is used to control door on or off or extend the button of the movements such as time in elevator where setting 10.
Autonomous device 10 also includes slide unit structure, and the slide unit structure includes slide unit component 105 and sliding rail 106,
Middle slide unit component 105 connects scissor type elevating structure 102 through sliding rail 106, and slide unit component 105 can on sliding rail 106 towards the
Two directions are mobile, wherein the second direction is perpendicular to the first direction.By taking Fig. 1 as an example, slide unit component 105 is in sliding rail 106
Upper court-y-axis direction, wherein lifting direction (z-axis direction) of-y-axis direction perpendicular to scissor type elevating structure 102.
When autonomous device 10 is when different floor gaps are mobile, processor 108 judges the button position for the floor wanted
It postpones, according to the button position for the floor wanted, scissor type elevating structure 102 is controlled, so that platform 103 moves along the z-axis direction
Dynamic, processor 108 simultaneously controls slide unit component 105, so that slide unit component 105 moves to touch in edge-y-axis direction on sliding rail 106
The button for the floor wanted.
The slide unit structure also includes mechanical shaft 107, and mechanical shaft 107 extends towards the direction of the target object.The cunning
Platform structure also includes crank block (not shown), and processor 108 controls the crank block, so that mechanical shaft 107 is towards third party
To movement, the third direction is perpendicular to the first direction.Such as the embodiment of Fig. 1, processor 108 controls the slide crank
Block, so that mechanical shaft 107 is mobile towards x-axis direction, wherein lifting direction (z of the x-axis direction perpendicular to scissor type elevating structure 102
Axis direction).After imaging sensor 104 captures the image of the floor button in elevator, processor 108 is from imaging sensor 104
The image is received, according to the button position for the floor that image judgement is wanted, and controls scissor type elevating structure 102,
So that platform 103 is moved to positioning along the z-axis direction, then, the crank block is controlled, so that mechanical shaft 107 is moved to positioning,
And the button position for controlling slide unit component 105 towards the floor wanted is mobile, and the floor wanted is touched through mechanical shaft 107
Button position, in other words, crank block moving direction (x-axis direction) is perpendicular to 105 moving direction (y-axis side of slide unit component
To), crank block moving direction simultaneously also perpendicular to the lifting direction of scissor type elevating structure 102 (z-axis direction), through crank
Sliding block, slide unit component 105 and 102 three of scissor type elevating structure cooperation make processor 108 reach three-dimensional position control.Place
After reason device 108 receives the image from imaging sensor 104, the coordinate of the button position for the floor wanted is established, and according to
According to autonomous device 10 in elevator position, mechanical shaft 107 between the imaging sensor 104 at a distance from and want
The coordinate of the button position of floor makes whom platform 103 is moved to judge control scissor type elevating structure 102
It sets.After processor 108 judges that mechanical shaft 107 touches the button failure for the floor wanted, according to the error after touching, processing
Device 108 controls autonomous device 10 and carries out transverse shifting towards x-axis direction, alternatively, controlling the crank block makes mechanical shaft
107, which carry out transverse shifting towards x-axis direction, is corrected, alternatively, control autonomous device 10 is moved towards-y-axis direction,
Alternatively, control slide unit component 105 is moved in edge-y-axis direction on sliding rail 106 to be corrected, alternatively, control scissors type elevating knot
Structure 102 moves platform to be corrected along the z-axis direction.Above-mentioned crank block can also be arbitrary line moving structure, example
Such as straight line slide unit.
It is the signal of the error of the judgement mechanical shaft 107 and target object according to the embodiment of the present application with reference to Fig. 2A, Fig. 2A
Figure.In the embodiment of Fig. 2A, target object is tetra- building, control panel Shang in elevator floor buttons, when mechanical shaft 107 is touched
After target object failure, processor 108 through judge after 104 pick-up image of imaging sensor mechanical shaft 107 and target object it
Between distance error be lateral distance error K, therefore processor 108 judge autonomous device 10 must towards x-axis direction into
Row cross-level, a kind of method of correction be processor 108 control the crank block make mechanical shaft 107 towards x-axis direction into
Row transverse shifting.With reference to Fig. 2 B, Fig. 2 B is the error of the judgement mechanical shaft 107 and target object according to another embodiment of the application
Schematic diagram.In the embodiment of Fig. 2 B, target object is tetra- building, control panel Shang in elevator floor buttons, works as mechanical shaft
After 107 touch target object failure, processor 108 judges mechanical shaft 107 and target after penetrating 104 pick-up image of imaging sensor
The error of distance is the error K ' of height between object, therefore processor 108 judges that must control scissor type elevating structure 102 makes
Mechanical shaft 107 with platform 103 towards z-axis direction carry out height correction.With reference to Fig. 2 C, Fig. 2 C is according to the application and another reality
Apply the schematic diagram of the judgement mechanical shaft 107 of example and the error of target object.In the embodiment of Fig. 2 C, target object is in elevator
The floor button that control panel Shang is tetra- buildings, after mechanical shaft 107 touches target object failure, processor 108 penetrates image sensing
Judge after 104 pick-up image of device the error of distance between mechanical shaft 107 and target object for the error K " of depth, therefore processor
108 judgements must control autonomous device 10 and carry out depth correction, another kind towards the direction (- y-axis direction) of control panel is mobile
The method processor 108 of depth correction is control slide unit component 105 in moving along the y-axis direction on sliding rail 106.
Fig. 2 is the whether successful flow chart touched of confirmation target object according to the embodiment of the present application, if generally may be used
Obtain identical as a result, the application does not limit fully according to steps flow chart shown in Fig. 2.The process of Fig. 2 can be summarized as follows:
Step 211: control slide unit component is mobile towards the position of target object.
Step 212: judging whether target object is touched, if so, entering step 218；Otherwise, 213 are entered step.
For example, in one embodiment, the target button is confirmed through the autochromy device of imaging sensor 104
Whether lamp lights, and uses and judges whether target object is successfully touched.
Step 213: judging the error of the position of mechanical shaft drop point site and target object.
Since the possible cause that target object is not touched is the misjudgment of depth, height or lateral distance,
This step starts to carry out the correction of depth, height or lateral distance.The image that processor 108 is returned according to imaging sensor 104
Content judges mechanical shaft 105 toward the drop point of extension and the offset direction of target object, and processor 108 is determined further according to offset direction
Carry out depth correction, height correction or lateral distance correction.
Step 214: being decided whether to carry out depth correction according to the error judged.If so, entering step 215；It is no
Then, 216 are entered step.
Since the distance between autonomous device 10 and control board for elevator may be too long, cause mechanical shaft 107 suitable
Benefit touching the target button, it is therefore desirable to control autonomous device 10 and be moved along control board for elevator direction to carry out depth correction.
For example, it is captured between autonomous device 10 and control board for elevator using the depth photographic means in imaging sensor 104
Range information, and the length extended according to mechanical shaft 107 towards control board for elevator, to judge that autonomous device 10 should be towards mesh
Mark the mobile distance in object direction.It can be kept in a certain embodiment, between autonomous device 10 and control board for elevator one most
Small distance, avoids autonomous device 10 from colliding the metope where control panel, this minimum range is less than mechanical shaft 107 towards elevator control
The extreme length that disk processed can extend, institute's number minimum range is different according to actual design and changes.
Step 215: control slide unit component 105 is mobile in carrying out depth on sliding rail 106, or control autonomous device into
Row depth is mobile.
Step 216: being decided whether to carry out cross-level according to the error judged, if so, entering step 217；It is no
Then, 218 are entered step.
Judge that there are the errors of lateral distance with the target button for position that mechanical shaft 107 is touched, will hold in processor 108
Row cross-level.For example, it is captured between the position touched of mechanical shaft 107 and the target button using imaging sensor 104
Lateral distance error, processor 108 is according to the lateral distance control errors autonomous device 10 or the control crank
Sliding block makes mechanical shaft 107 mobile towards transverse direction, makes up the lateral distance error.
Step 217: controlling the crank block and mechanical shaft 107 is made to carry out transverse shifting, or control autonomous dress
Set carry out transverse shifting.
Step 218: being decided whether to carry out height correction according to the error judged, if so, entering step 219；It is no
Then, 211 are entered step.
Judge that there are the errors of height distance with the target button for position that mechanical shaft 107 is touched, will hold in processor 108
Row height correction.For example, it is captured between the position touched of mechanical shaft 107 and the target button using imaging sensor 104
Height distance error, processor 108 is according to the height distance control errors scissor type elevating structure 102, so that mechanical shaft
105 is mobile towards z-axis direction with platform 103, makes up the height distance error.
Step 219: it is highly mobile that control scissor type elevating structure carries out mechanical shaft with platform, enters step 211.
Step 220: process terminates.
In practical applications, processor 108 can capture the floor panel image of elevator through imaging sensor 104 to sentence
Break floor where current elevator, however, causing imaging sensor 104 that can not capture elevator when the floor panel of elevator is blocked
When floor panel image, processor 108 can judge floor where current elevator through other modes.In certain embodiments,
By artificial mode can be inputted to processor 108 the elevator time mobile in each floor gap, when autonomous device 10
Into elevator and imaging sensor 104 can not capture the floor panel image of elevator constantly, and processor 108 can be closed according to door
Judge the floor at current place, to the time being again turned on to determine when elevator should be left.In certain embodiments, locate
Reason device 108 opened entire time cost according to the elevator door that identical elevator is recorded previously is taken, and compares this elevator door and opens the entire time
Come judge it is current where floor (interpolation method or other estimation modes can be used for example to calculate to calculate), come determine when
Elevator should be left.In certain embodiments, autonomous device 10 also includes Inertial Measurement Unit, the Inertial Measurement Unit
Upward acceleration or downward acceleration for measuring elevator is until elevator stops, and processor 108 is then from the inertia measurement list
Member is started the clock when measuring the upward acceleration or downward acceleration, until the acceleration or downward acceleration stop
After only, the floor where elevator is current is judged, according to the calculated time to determine when elevator should be left.
Fig. 3 is the flow chart for judging the current place floor of autonomous device 10 according to the embodiment of the present application.If big
It can be obtained identical on body as a result, the application does not limit fully according to steps flow chart shown in Fig. 3.The process of Fig. 3 can be concluded such as
Under:
Step 311: measuring upward acceleration or downward acceleration using Inertial Measurement Unit.
Step 312: recording upward acceleration or downward acceleration existing calculating time.
Step 313: judging whether upward acceleration or downward acceleration are zero, if so, entering step 314；Otherwise, enter
Step 312.
Step 314: stopping recording the time.
Step 315: according to floor where the time judgement at present recorded.In certain embodiments, 106 basis of processor
Acceleration that identical elevator is recorded previously had been taken there are length of time, has compared the time existing for this elevator acceleration to judge
Floor where at present, can be used for example interpolation method or other estimation modes to calculate.
In certain embodiments, autonomous device 10 also includes voice system, when autonomous device 10 enters elevator
Afterwards, processor 108 control the voice system with voice mode warning autonomous device 10 will move into elevator or from
Elevator is opened, to avoid collision pedestrian, and processor 108 controls the voice system also with voice mode instruction autonomous dress
10 floors wanted are set, the button for pressing the floor wanted is assisted convenient for the personnel in elevator.
With reference to Fig. 1 and Fig. 4, Fig. 4 it is the schematic diagram of the different angle of autonomous device 10, and shows scissor
Kenel when formula lifting structure 102 is fallen.Autonomous device 10 includes also range sensor 301,302 and 410, for judging
The distance between autonomous device 10 and barrier, collision obstacle when avoiding mobile.Range sensor 301,302 and 410
It can be laser radar, infrared sensor, sonic sensor or depth photographic means.It continues to refer to figure 1, autonomous device
10 also include indicator light 303 and 304, for reaching alert through flashing indicator light 303 and 304 in turning or when preparing mobile
It is shown as using.Autonomous device 10 includes also multiple comprehensive driving wheels 305, and for example, driving wheel 305 can be omnidirectional
Wheel, Mecanum wheel or the driving wheel with steering motor.
Fig. 5 is that the autonomous device 10 of foundation the embodiment of the present application carries out in the carriage 500 for vertically moving elevator
The diagrammatic illustration of autonomous operation.Autonomous device 10 can first penetrate 104 pick-up image of imaging sensor after entering carriage 500
The position of control panel 510 is differentiated, in the 5 embodiment of figure 5, control panel 510 is placed on closer sedan-chair in this carriage 500
The side inner wall 520 in compartment 500, therefore, before the control autonomous device 10 of processor 108 is moved to control panel 510.In mobile mistake
Cheng Zhong, range sensor 301 detect the distance between autonomous device 10 and side inner wall 520, avoid autonomous device 10
Collide side inner wall 520.After autonomous device 10, which reaches, to be positioned, processor 108 is according to the mode of above-described embodiment from image
Sensor 104 receives the image of control panel 510, and controls scissor type elevating structure 102 according to the image of control panel 510 to make to put down
Platform 103 moves along the z-axis direction, and controls mechanical shaft 107 and carry out moving to reach positioning along the x-axis direction, then, controls slide unit component
105 in touching the floor button wanted towards the floor button position wanted is mobile on sliding rail 106.
It continues to refer to figure 1, autonomous device 10 also includes open storage space 306 (such as storing basket) and upper cover
307, there is closed storage space 309, closed storage space 309 has locking function between upper cover 307 and body 101
Suo Hu mechanism can lock or unlock according to the instruction of processor 106.In usually in application, can directly arrangement of goods in open
In storage space 306, transported alternatively, cargo can be placed in the storage space.
Autonomous device 10 also includes touch control display device 308, and touch control display device 308 can rise with platform 103
Decline (moving along the z-axis direction), the information of the article transported can be shown in touch-control and shows by autonomous device 10 to be set
On standby 308, confirm convenient for logistics employee or consignee.Preferably, touch control display device 308 includes camera, is used for
The image of face of logistics employee or consignee are captured, Lai Jinhang status recognizes, or to the authentication code such as two that consignee is held
Dimension code is scanned.Preferably, touch control display device 308 includes fingeprint distinguisher, for capturing logistics employee or consignee
Fingerprint data, Lai Jinhang status identification.Preferably, touch control display device 308 include microphone, for capture logistics employee or
The voice data of consignee, the identification of Lai Jinhang status.Preferably, touch control display device 308 is installed on the y-axis of slide unit component 105
Mobile end, is shown towards the rear end of autonomous device 10.Preferably, has a camera shooting in touch control display device 308
Head can go up and down according to operator's height control platform 103, operator is made to be easier to operate to touch control display device 308.
Autonomous device 10 also includes communication device 320, for teleprocessing unit or personal terminal electronic device into
Row wireless communication.It is noted that processor 108 and communication device 320 are in autonomous device 10 in Fig. 1 embodiment
Position be only example explanation.With reference to the autonomous device 10 and teleprocessing unit that Fig. 6, Fig. 6 are according to the embodiment of the present application
30 and personal terminal electronic device 40 communicate schematic diagram, autonomous device 10 penetrate 108 communication control device 320 of processor
To be carried out wireless communication with teleprocessing unit 30 and personal terminal electronic device 40.In the present embodiment, teleprocessing unit 30 can
To be electronic device entrained by a server or logistics employee, and personal terminal electronic device 40 can be the hand of consignee
Machine, plate or personal computer etc..Goods information is sent to autonomous dress through communication by teleprocessing unit 30
Set 10.It is the schematic diagram of the display goods information according to the embodiment of the present application with reference to Fig. 7, Fig. 7.When autonomous device 10 penetrates
After 108 communication control device 320 of processor carries out wireless communication acquirement goods information with teleprocessing unit 30, cargo message occurs
In touch control display device 308, wherein cargo list 810 and ACK button 820 are contained, by taking the embodiment of Fig. 7 as an example, touching
Cargo message is shown in cargo list 810 by control display equipment 308, and logistics employee can be according to the information in cargo list 810
To put cargo.In the example of figure 7, cargo C is valuable because of value or has confidentiality, it is necessary to safeguard procedures are taken, because
This logistics employee can put cargo C into closed storage space 309.Cargo is all placed on autonomous in logistics employee
After on device 10, ACK button 820 can be touched.All cargos have been placed in logistics employee confirmation and click ACK button
After 820, autonomous device 10 will start to describe according to above-mentioned elevator operation, takes elevator and send cargo to consignee.
It is the schematic diagram of 10 delivery of autonomous device to consignee of foundation the embodiment of the present application with reference to Fig. 8, Fig. 8.When
After floor where autonomous device 10 reaches consignee according to mode described in preceding paragraphs, controlled through processor 108
Communication device 320 indicates that cargo has been sent to and has indicated to receive to be communicated with the personal terminal electronic device 40 of consignee
People goes at 10 place of autonomous device and receives.In the present embodiment, autonomous device 10 may penetrate short message, postal
Part or any software carry out wireless communication to notify consignee goes to receive with personal terminal electronic device 40, wherein in short message
Appearance can briefly indicate consignee to lift port picking.At this point, touch control display device 308 can show the goods that consignee should get
Object information can also be shown in touch control display device 308 if there is cargo to be placed in closed storage space 309 and notify to receive
People.In addition, touch control display device 308 also shows authentication button 910 other than showing cargo list 810, consignee is waited to click
It is authenticated after authentication button 910.If there is cargo to be placed in closed storage space 309, it is also necessary to which consignee authenticates
After could obtain cargo.As described above, consignee can carry out face recognition through the camera of touch control display device 308 or sweep
The authentication code on personal terminal electronic device 40 is retouched, or carries out voice recognition through the microphone of touch control display device 308, or thoroughly
The fingeprint distinguisher for crossing touch control display device 308 carries out identification of fingerprint, or penetrates and sign in touch control display device 308
Etc. modes recognize status, after the completion of recognizing status closed storage space 309 will will open its Suo Hu mechanism.In consignee
After collecting cargo, 108 communication control device 320 of processor collects goods with communication notice 30 consignee of remote server
The information of object, comprising face recognition image, voice print database, finger print data or signature etc., in order to the progress of remote server 30
Keyholed back plate.
Fig. 9 is the flow chart of consignee's picking object according to the embodiment of the present application.If identical knot generally can be obtained
Fruit, the application do not limit fully according to steps flow chart shown in Fig. 9.The process of Fig. 9 can be summarized as follows:
Step 1001: notifying consignee to designated place picking.
As described above, autonomous device 10 can penetrate short message, mail or various softwares and personal terminal electronic device
40 are communicated to notify consignee to receive to designated place (such as lift port).
Step 1002: consignee starts to authenticate.
Step 1003: carrying out face recognition.
Step 1004: whether face recognition succeeds, if so, entering step 1010；Otherwise, 1005 are entered step.
Autonomous device 10 can capture the image of face of consignee through the camera in touch control display device 308
It completes to authenticate, if completing certification, terminates process of receiving.If the image of face captured do not meet data in database or
Due to other factors cause image of face can not understand capture, then carry out other authentication modes.
Step 1005: carrying out sound authentication.
Step 1006: whether sound authentication succeeds, if so, entering step 1010；Otherwise, 1007 are entered step.
Autonomous device 10 can capture the voice data of consignee through the microphone in touch control display device 308
It completes to authenticate, if completing certification, terminates process of receiving.If the voice data captured do not meet data in database or
Due to other factors cause voice data can not understand capture, then carry out other authentication modes.
Step 1007: carrying out finger print identifying.
Step 1008: whether finger print identifying succeeds, if so, entering step 1010；Otherwise, 1009 are entered step.
Autonomous device 10 can capture the sound of consignee through the fingeprint distinguisher in touch control display device 308
Sound data are completed to authenticate, if completing certification, terminate process of receiving.If the fingerprint captured does not meet the data in database
Or due to other factors cause fingerprint can not understand capture, then carry out other authentication modes.
Step 1009: input authentication code scans the two-dimensional code.
If above-mentioned authentication mode all fails, consignee can choose directly defeated manually in touch control display device 308
Enter authentication code or scans the two dimensional code on personal terminal electronic device 40 through the camera in touch control display device 308 to complete
Certification.Wherein the authentication code or two dimensional code can by autonomous device 10 when notifying consignee to designated place picking,
It sends simultaneously to consignee.
Step 1010: authentication data is sent to teleprocessing unit by end of receiving.
The autonomous device 10 of the application is concluded in Figure 10, facilitates and understands the application.Figure 10 is implemented according to the application
The system block diagrams of the autonomous device 10 of example.Autonomous device 10 includes scissor type elevating structure 102, imaging sensor
104, mechanical shaft 107, processor 108, range sensor 301/302, Inertial Measurement Unit 1101, communication device 320, touch-control are aobvious
Show equipment 308, camera 1102, microphone 1103, fingeprint distinguisher 1104 and storage device 1105.The storage device
To store the main/auxiliary information that can be used when various autonomous devices 10 state embodiment on the implementation, for example, from
Main mobile device 10 stores route map in the storage device so that autonomous device 10 is moved to elevator.With another example
For, autonomous device 10 stores the data of all consignees, image of face, voice data, fingerprint to authenticate.With
For another example, the storage of autonomous device 10 all goods informations received by the teleprocessing unit 30.This technology neck
Domain has common knowledge person in the implementation detail for reading above-described embodiment and should be able to being readily appreciated that Figure 10, and detailed description is omitted herein
To save length.
Claims (14)
1. a kind of autonomous device characterized by comprising
Scissor type elevating structure, for moving the platform for being set to the scissor type elevating structure top in first direction
It is dynamic；
Imaging sensor is set on the platform, and wherein described image sensor is used to capture the image of target object；
Slide unit structure is set on the platform, includes:
Slide unit component and sliding rail, wherein the slide unit component connects the scissor type elevating structure through sliding rail, and in the cunning
It is mobile towards second direction on rail, wherein the second direction is perpendicular to the first direction；And
Processor judges the position of the target object for receiving the image from described image sensor, and according to institute
The position of target object is stated to control the scissor type elevating structure, moves the platform in the first direction, and
The slide unit component is controlled in mobile towards the second direction on the sliding rail.
2. autonomous device as claimed in claim 1, which is characterized in that the slide unit structure also includes:
Mechanical shaft extends along the second direction.
3. autonomous device as claimed in claim 2, which is characterized in that the slide unit structure also includes crank block, wherein institute
Processor is stated through controlling the crank block, so that the mechanical shaft is on the platform along third direction in moving, wherein institute
Third direction is stated perpendicular to the first direction.
4. autonomous device as claimed in claim 2, which is characterized in that the processor establishes the target according to the image
The coordinate of object, and it is located at according to the autonomous device position, described image sensor and the mechanical shaft in elevator
The distance between and the coordinate of the target object touch the target object to control the mechanical shaft.
5. autonomous device as claimed in claim 4, which is characterized in that when to judge that the mechanical shaft is touched described for the processor
After target object failure, the processor control autonomous device or the mechanical shaft are mobile towards third direction, described
Third direction is perpendicular to the first direction.
6. autonomous device as claimed in claim 4, which is characterized in that when to judge that the mechanical shaft is touched described for the processor
After target object failure, the processor, which controls the scissor type elevating structure, to be come so that the platform is moved along the first direction
It is dynamic.
7. autonomous device as claimed in claim 4, which is characterized in that when to judge that the mechanical shaft is touched described for the processor
After target object failure, the processor controls the autonomous device or the slide unit component is moved towards the second direction
It is dynamic.
8. autonomous device as claimed in claim 1, which is characterized in that described image sensor includes autochromy device, institute
State image of the autochromy device for photographic subjects object.
9. autonomous device as claimed in claim 1, which is characterized in that described image sensor includes depth photographic means, institute
Depth photographic means is stated for judging target object at a distance from the autonomous device.
10. autonomous device as claimed in claim 1, which is characterized in that the scissor type elevating structure penetrates hydraulic bar for institute
Platform is stated to be moved along the first direction.
11. autonomous device as claimed in claim 1, which is characterized in that the processor is also used to fill when the autonomous
It sets after entering elevator, calculates elevator and start the mobile time to judge floor where the autonomous device.
12. such as the autonomous device of claim 11, which is characterized in that separately include:
Inertial Measurement Unit, for after the autonomous device enters elevator, measure the elevator upward acceleration or
Downward acceleration；
Wherein the processor calculates the Inertial Measurement Unit and starts to measure to the upward acceleration or the downward acceleration
The time after elevator stopping is spent, to judge floor where the autonomous device.
13. autonomous device as claimed in claim 1, which is characterized in that separately include:
Voice system, wherein the processor controls the voice system with language after the autonomous device enters elevator
Sound warns the autonomous device that will move or indicates the autonomous device floor to be gone to voice.
14. autonomous device as claimed in claim 1, which is characterized in that the processor is also used to receive from teleprocessing unit
Goods information.
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| CN201910267994.6A CN109986574A (en) | 2019-04-03 | 2019-04-03 | Autonomous device |
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| CN201910267994.6A CN109986574A (en) | 2019-04-03 | 2019-04-03 | Autonomous device |
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