CN-122008266-A - Dispensing robot

CN122008266ACN 122008266 ACN122008266 ACN 122008266ACN-122008266-A

Abstract

The application provides a distribution robot which comprises a display screen, a storage structure, a chassis structure and an environment monitoring structure, wherein the storage structure is arranged below the display screen, the chassis structure is arranged below the storage structure, the environment monitoring structure is used for acquiring environment information so as to acquire running tracks moving to target positions through path planning based on the environment information, the environment monitoring structure comprises a depth camera, a laser radar and a pit measuring radar, the depth camera is fixed on the outer surface of the storage structure, the laser radar is fixed between the storage structure and the chassis structure, and the pit measuring radar is fixed on the outer surface of the chassis structure. And acquiring a cost map through an environment monitoring structure so as to plan an initial running track based on the cost map, and optimizing the initial running track through various constraint cost values, so that the optimized distribution robot is stable in the transportation process.

Inventors

FENG YUJUAN
ZHU KEHANG
XIA YANTING
ZHOU ZHIXIN
GU XIONGFEI
TIAN SHAOHUA
DU LIHUI
CAO GUANGKE

Assignees

杭州申昊科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. A dispensing robot for transporting at least one item to be dispensed to at least one target location, comprising: the display screen is used for displaying the interactive interface; the storage structure is positioned below the display screen and used for placing the articles to be distributed; The chassis structure is positioned below the storage structure and comprises at least two driving units for driving the distribution robot to move to each target position; The environment monitoring structure is used for acquiring environment information to acquire moving tracks moving to each target position through path planning based on the environment information, and comprises a depth camera, a laser radar and a pit measuring radar, wherein the depth camera is fixed on the outer surface of the storage structure, the laser radar is fixed between the storage structure and the chassis structure, and the pit measuring radar is fixed on the outer surface of the chassis structure.
2. The dispensing robot of claim 1, wherein for any one of the target positions, an initial trajectory for movement to the target position is generated based on the environmental information, various constraint cost values are calculated based on the initial trajectory, and the initial trajectory is optimized based on each of the constraint cost values to obtain the final trajectory.
3. The dispensing robot of claim 2, wherein the constraint cost values include endpoint constraint cost values, and wherein the endpoint constraint cost values are calculated by a method comprising: Acquiring the distance between the end point of the initial running track and the corresponding target position as an end point error; Based on the end point error, acquiring a corresponding error weight by combining a stopping area radius and a transition area radius, wherein the stopping area radius is a maximum error distance value between the distribution robot and the corresponding target position when stopping, and the transition area radius is a minimum distance value of the distribution robot approaching to the target position at a maximum speed; Acquiring an error weight based on the error weight and the end point error, and acquiring an effective error; And calculating and acquiring the endpoint constraint cost value based on the effective error, wherein the endpoint constraint cost value is smaller as the effective distance is smaller.
4. The dispensing robot of claim 3 wherein said error weight is a maximum weight value when said end point error is greater than or equal to said transition zone radius; When the end point error is smaller than the radius of the transition zone and larger than the radius of the stop zone, calculating the error weight, wherein the error weight comprises the steps of obtaining a difference value between the end point error and the radius of the stop zone as a first difference value, obtaining a difference value between the radius of the transition zone and the radius of the stop zone as a second difference value, and taking the square of the ratio of the first difference value to the second difference value as the error weight; And when the end point error is smaller than the radius of the stop zone, the error weight is the minimum weight value.
5. The dispensing robot of claim 3 wherein each of said categories of constrained cost values further comprises an end point angular cost value, said end point angular cost value being the product of a starting angular velocity of said dispensing robot when the current trajectory is optimized and an angular velocity of a previous cycle release; And when the cost value of the end point angle is smaller than zero, punishment is performed based on a preset punishment function.
6. The dispensing robot of claim 1 wherein said storage structure comprises a storage compartment and a dynamic weighing unit disposed directly beneath said storage compartment for acquiring changes in each of said items to be dispensed within said storage compartment.
7. The dispensing robot of claim 6, wherein the dynamic weighing cell comprises an array of sensors.
8. The dispensing robot of claim 7 wherein said storage compartment comprises an outer compartment fixedly connected to said display screen and said chassis structure, and an inner compartment positioned within said outer compartment and connected to said outer compartment by a plurality of sets of motors, said plurality of sets of motors being configured to rotate said inner compartment, said dynamic weighing unit further comprising an inertial measurement unit and a gyroscope secured below said inner compartment.
9. The dispensing robot of claim 8, wherein said storage compartment further comprises an inner tray and an outer tray, said inner tray having a slide rail disposed therein, said outer tray slidably coupled to said slide rail, said inner tray for receiving each of said articles to be dispensed, said inner tray being positioned within said outer tray when said dispensing robot is transporting said articles to be dispensed, said outer tray being positioned outside said storage compartment when said dispensing robot is filled with said articles to be dispensed.
10. The dispensing robot of claim 8 wherein said storage structure further comprises a camera secured to an upper interior surface of said interior compartment.

Description

Dispensing robot Technical Field The application belongs to the technical field of robots, relates to an intelligent mobile robot, and particularly relates to a distribution robot. Background The distribution robot has application in various fields such as logistics, catering, hotels and medical treatment, and particularly in the medical field, has a large amount of high-frequency material conveying requirements, such as dining and distribution in a disease area, medicine transportation, medical instrument allocation, medical dressing, sample transmission and the like, and can release medical staff from complicated conveying work by introducing the distribution robot, reduce unnecessary personnel contact and movement, be beneficial to maintaining a clean environment, reduce cross infection probability and improve the overall operation efficiency and the safety management level of a hospital. However, due to the complex ground conditions in the hospital environment, the situation may involve ramps, sliding door tracks, elevator joints, slight uneven ground, etc., and acceleration, deceleration and steering exist in the running process of the robot, the dispensed objects are easily shifted, swayed and even sprinkled, which not only causes waste, pollutes the hospital environment, but also affects the time and dosage of dining and medication of patients, and even causes medical safety events. Based on this, how to obtain a dispensing robot, which can stably convey the articles, is a technical problem to be solved by those skilled in the art. Disclosure of Invention The application aims to provide a distribution robot which is used for solving the problems that in the prior art, the distribution robot is unstable, conveyed articles are easy to shift, incline, roll over and even cause effects. The application provides a delivery robot which is used for transporting at least one article to be delivered to at least one target position and comprises a display screen, a storage structure, a chassis structure and an environment monitoring structure, wherein the display screen is used for displaying an interactive interface, the storage structure is positioned below the display screen and used for placing each article to be delivered, the chassis structure is positioned below the storage structure and comprises at least two driving units used for driving the delivery robot to move to each target position, the environment monitoring structure is used for acquiring environment information to acquire a running track moving to each target position through path planning based on the environment information, the environment monitoring structure comprises a depth camera, a laser radar and a pit measuring radar, the depth camera is fixed on the outer surface of the storage structure, the laser radar is fixed between the storage structure and the chassis structure, and the pit measuring radar is fixed on the outer surface of the chassis structure. In an embodiment of the present application, for any one of the target positions, an initial moving track moving to the target position is generated based on the environmental information, various constraint cost values are calculated based on the initial moving track, and the initial moving track is optimized based on each constraint cost value, so as to obtain a final moving track. In an embodiment of the application, the various constraint cost values comprise end constraint cost values, wherein the calculation mode of the end constraint cost values comprises the steps of obtaining the distance between an end point of the initial running track and the corresponding target position as an end point error, obtaining corresponding error weights based on the end point error and combining a stopping area radius and a transition area radius, wherein the stopping area radius is the maximum error distance value between the stopping robot and the corresponding target position, the transition area radius is the minimum distance value of the dispensing robot approaching the target position at the maximum speed, obtaining error weights based on the error weights and the end point error, obtaining effective errors based on the effective errors, and obtaining the end constraint cost values, wherein the smaller the effective distance is, the smaller the end constraint cost value is. According to the end point constraint, the smooth transition of the end point constraint from soft constraint to hard constraint is realized by constructing the end point constraint cost function based on the error weight. By the method, the convergence stability is improved, the oscillation near the end point is avoided, and the track executable is improved; In one embodiment of the present application, the error weight is the maximum weight when the end point error is greater than or equal to the transition zone radius, and the error weight is calculated when the end point error is less than the transition zone radi