CN215618100U - robot - Google Patents
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- CN215618100U CN215618100U CN202121251422.8U CN202121251422U CN215618100U CN 215618100 U CN215618100 U CN 215618100U CN 202121251422 U CN202121251422 U CN 202121251422U CN 215618100 U CN215618100 U CN 215618100U
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Abstract
本申请实施例提供了一种机器人，该机器人包括：机器人本体；可运动底盘，安装在机器人本体上，与集装箱顶部可移动连接，用于带动机器人本体沿集装箱顶部移动；数据采集单元，安装在机器人本体上，用于对集装箱的内部空间进行扫描，得到集装箱内不同位置处的剖面图；第一控制器，安装在机器人本体上，用于对剖面图进行组合，得到集装箱内货物堆放的三维空间结构图和集装箱内不同位置处的货物堆放的目标位置和目标高度，并根据三维空间结构图，将目标位置与预先获取的位置信息进行对比，以及将目标高度与预先获取的高度信息进行对比，得到掏箱结果信息。根据本申请实施例，无需人工通过自身经验对掏箱范围进行判断，提高了货物查验的结果准确性。
An embodiment of the present application provides a robot, the robot includes: a robot body; a movable chassis mounted on the robot body and movably connected to the top of the container for driving the robot body to move along the top of the container; a data acquisition unit, installed on the top of the container The robot body is used to scan the interior space of the container to obtain sectional views at different positions in the container; the first controller is installed on the robot body and used to combine the sectional views to obtain a three-dimensional view of the goods stacked in the container. The spatial structure diagram and the target position and target height of goods stacked at different positions in the container, and according to the three-dimensional spatial structure diagram, the target position is compared with the pre-acquired position information, and the target height is compared with the pre-acquired height information. , and get the information about the unpacking result. According to the embodiment of the present application, it is not necessary to manually judge the range of unpacking boxes through one's own experience, which improves the accuracy of the result of goods inspection.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot.
Background
In ports, customs, and the like, it is necessary to check incoming cargo.
At present, the mode of checking the imported goods is that the goods in the container are manually taken out, then whether the range of taking out the box meets the checking requirement is judged by workers, whether the range of taking out the box meets the checking requirement is judged by the workers according to self experience, and therefore the result accuracy of checking the goods is low.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a robot, can solve and acquire the examination sample among the correlation technique, be infected with the toxic substance easily, have the problem of potential safety hazard.
In a first aspect, an embodiment of the present application provides a robot, including:
a robot body;
the movable chassis is arranged on the robot body, is movably connected with the top of the container and is used for driving the robot body to move along the top of the container;
the data acquisition unit is arranged on the robot body and used for scanning the inner space of the container in the process that the robot main body moves along the top of the container to obtain section views at different positions in the container;
the first controller is installed on the robot body and used for combining the section diagrams to obtain a three-dimensional space structure diagram of goods stacked in the container and target positions and target heights of the goods stacked at different positions in the container, comparing the target positions with position information acquired in advance according to the three-dimensional space structure diagram, and comparing the target heights with height information acquired in advance to obtain the box drawing result information.
In a possible implementation, the robot further comprises a chassis controller mounted on the robot body, connected to the movable chassis, for controlling the movable chassis to move along the top of the container.
In one possible implementation, the chassis controller includes:
the driving device is used for generating driving torque and driving the movable chassis to move;
the motor driver is connected with the driving device and used for driving the rotation angle and the running speed of the motor;
and the second controller is connected with the motor driver and used for controlling the motor driver.
In one possible implementation, the chassis controller further includes:
and the safety module is connected with the second controller and used for controlling the motor driver to stop driving the movable chassis to move under the condition that an obstacle exists in the traveling direction of the robot.
In one possible implementation, the robot further includes:
and the sensor is connected with the chassis controller and used for acquiring barrier data.
In one possible implementation, the sensor is any one of the following: lidar, ultrasonic arrays, laser arrays, depth cameras.
In one possible implementation, the movable chassis comprises:
and the magnetic adsorption device is used for adsorbing the robot body on the top of the container.
In a possible implementation, the movable chassis further comprises shock absorbing means;
and the damping device is used for reducing the vibration of the robot in the operation process.
In a possible implementation, the data acquisition unit comprises a follower device, and/or a pan-tilt stabilizer, respectively connected to the data acquisition unit, for maintaining the stability of the data acquisition unit during the movement of the robot body along the top of the container.
In one possible implementation, the robot further includes:
and the human-computer interaction unit is connected with the first controller.
In one possible implementation, the human-computer interaction unit includes at least one of: voice interaction device, touch button, buzzer.
In one possible implementation, the robot further includes:
the communication equipment is connected with the first controller and used for receiving the checking information sent by the target system and sending the drawing result information to the target system;
the ping information includes position information and altitude information.
In one possible implementation, the communication device includes a switch and/or a wireless communication device.
In one possible implementation, the robot further includes:
and the power management unit is connected with the chassis controller and used for supplying electric energy to the robot.
In the embodiment of the application, through movable chassis and container top swing joint, make the robot body can remove at the container top, thereby use the first sensor on the robot body to scan container inside, obtain the section view that different positions go out in the container, first controller on the robot body can make up the section view, obtain the three-dimensional space structure picture that the goods was stacked in the container and the target position and the target height that the goods of different positions department was stacked in the container, and can be according to the three-dimensional space structure picture, compare target position and positional information, compare target height and height information, obtain drawing out case result information. Consequently, can realize scanning the goods in the container through the first sensor of installing on the robot, can obtain through the first controller of installing on the robot and draw a case result information, therefore, in the robot that provides through this application embodiment, can obtain drawing a case result information, need not the manual work and judge drawing a case scope through self experience, improved the result accuracy of goods inspection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a robot scanning a container according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of another robot scanning a container according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a three-dimensional spatial structure provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of another robot provided in the embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In ports, customs, and the like, it is necessary to check incoming cargo.
At present, the mode of checking the imported goods is that the goods in the container are manually taken out, then whether the range of taking out the box meets the checking requirement is judged by workers, whether the range of taking out the box meets the checking requirement is judged by the workers according to self experience, and therefore the result accuracy of checking the goods is low.
In order to solve the problems in the related art, embodiments of the present application provide a robot.
The following first describes a robot provided in an embodiment of the present application.
Fig. 1 shows a schematic structural diagram of a robot 100 provided in an embodiment of the present application.
As shown in fig. 1, a robot 100 provided in an embodiment of the present application may include: a robot body 101, a movable chassis 102, a data acquisition unit 103 and a first controller 104.
And the movable chassis 102 is installed on the robot body 101 and movably connected with the top of the container, and is used for driving the robot body 101 to move along the top of the container. For example, after the worker installs the robot on the top of the container, the movable chassis moves linearly on the top of the container, so that the whole robot is driven to move linearly on the top of the container.
In some embodiments, to enable the movable chassis to be attached on top of the container, the movable chassis may comprise magnetic attachment means, enabling the robot body 101 to be attached on top of the container. In other embodiments, the top of the container may have sliding rails to which the movable chassis may be attached for sliding.
In some embodiments, the movable chassis further comprises a damping device, and the damping device can reduce the vibration of the robot during operation, so that the robot is kept stable and an accurate sectional view is obtained.
In some embodiments, in order to ensure the stability of the robot during the operation process or keep the data acquisition unit stable during the operation process of the robot, the data acquisition unit may further include a follower device and/or a pan-tilt stabilizer. The follow-up device can enable the robot to be in a moving axial static state in the running process. In the process that the robot main body moves along the top of the container, the holder stabilizer can keep the stability of the data acquisition unit.
As shown in fig. 2, the data acquisition unit 103 is mounted on the robot body 101, and is used for scanning the internal space of the container during the movement of the robot body 101 along the top of the container, so as to obtain cross-sectional views of different positions in the container. Wherein, the data acquisition unit can be a single line laser radar. To enable more accurate acquisition of the profile inside the container, a multiline lidar may be used.
As shown in fig. 3, the robot is movably attached to the top of the container by a movable chassis. The robot can drive the robot body to move on the top of the container through the movable chassis, and the data acquisition unit 103 can scan the inside of the container in the moving process of the robot, so that sectional views at different positions in the container can be obtained.
In some embodiments, the movable chassis comprises magnetic attachment means capable of attaching the movable chassis 102 on top of the container, thereby enabling the robot body 101 to be attached on top of the container.
The first controller 104 is mounted on the robot body 101. The first controller 101 may combine the sectional views to obtain a three-dimensional spatial structure diagram of the stacking of the goods in the container and a target position and a target height of the stacking of the goods at different positions in the container. As shown in fig. 4, a three-dimensional space structure diagram is obtained by combining cross-sectional views. Here, the first controller 104 may obtain the ping instruction from the customs system. The ping command includes position information and height information. The first controller 104 compares the target position with the position information acquired in advance and compares the target height with the height information acquired in advance according to the three-dimensional space structure diagram to obtain the drawing result information. And the drawing result information is used for indicating whether the drawing in the current container is qualified or not.
In some embodiments, as shown in fig. 5, the robot further comprises a chassis controller 105. Mounted on the robot body 101 and connected to the movable chassis 102 for controlling the movement of the movable chassis along the top of the container.
In some embodiments, the chassis controller 105 includes a drive, a motor driver, and a second controller. Wherein the second controller may control the motor driver so that the motor driver may drive the driving device to generate the torque. The driving device can drive the movable chassis to move under the driving of the motor driver. The motor driver can control the rotation angle and the operation speed of the driving device, so that the moving speed of the movable chassis can be adjusted, and the like.
In some embodiments, as shown in fig. 5, an obstacle may exist in a driving process of the robot, and in order to ensure that the robot collides with the obstacle, etc., the chassis controller may further include a safety module, and the safety module may control the robot to avoid the obstacle in an emergency. And the safety module is connected with the second controller and used for controlling the motor driver to stop driving the movable chassis to move under the condition that an obstacle exists in the traveling direction of the robot.
In some embodiments, as shown in fig. 5, the robot further includes a sensor 106. Wherein, the sensor 106 is connected with the chassis controller 105, and the sensor 106 can collect obstacle data in the running process of the robot. Wherein, the acquisition of obstacle data can be carried out by adopting a laser radar, an ultrasonic array, a laser array or a depth camera and the like.
In some embodiments, as shown in fig. 5, the robot further comprises a human-machine interaction unit 107, e.g. a voice interaction device, by which the staff member can communicate instructions to the robot. But also touch buttons, buzzers, etc. For example, when the robot fails to move, the robot may indicate the robot failure to the worker through a buzzer.
In some embodiments, as shown in fig. 5, the robot further includes communication equipment 108. The communication equipment 108 is connected to the first controller 104. The communication device 108 may receive ping information sent by the target system and send out the out-of-box result information to the target system, the ping information including location information and height information. Wherein the target system may be a customs detection system or the like. The communication device includes a switch and/or a wireless communication device, such as a network card, router, etc.
In some embodiments, as shown in fig. 5, the robot further comprises a battery management unit 109. And the power management unit is connected with the chassis controller and used for supplying electric energy to the robot. The battery management unit comprises a storage battery pack and a battery pack management unit thereof, a storage battery charging unit, a power supply unit and a power supply conversion unit thereof.
In the embodiment of the application, through movable chassis and container top swing joint, make the robot body can remove at the container top, thereby use the first sensor on the robot body to scan container inside, obtain the section view that different positions go out in the container, first controller on the robot body can make up the section view, obtain the three-dimensional space structure picture that the goods was stacked in the container and the target position and the target height that the goods of different positions department was stacked in the container, and can be according to the three-dimensional space structure picture, compare target position and positional information, compare target height and height information, obtain drawing out case result information. Consequently, can realize scanning the goods in the container through the first sensor of installing on the robot, can obtain through the first controller of installing on the robot and draw a case result information, therefore, in the robot that provides through this application embodiment, can obtain drawing a case result information, need not the manual work and judge drawing a case scope through self experience, improved the result accuracy of goods inspection.
It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.
Claims (14)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121251422.8U CN215618100U (en) | 2021-06-04 | 2021-06-04 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121251422.8U CN215618100U (en) | 2021-06-04 | 2021-06-04 | robot |
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| CN215618100U true CN215618100U (en) | 2022-01-25 |
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| CN202121251422.8U Active CN215618100U (en) | 2021-06-04 | 2021-06-04 | robot |
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- 2021-06-04 CN CN202121251422.8U patent/CN215618100U/en active Active
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