园区智能配送机器人的研究与设计  

Research and Design of Intelligent Distribution Robot in Park

作　　者：何云邦 闫康宁 陈楚文 王超[1] HE Yunbang;YAN Kangning;CHEN Chuwen;WANG Chao(Tangshan University,Tangshan 063000,China)

机构地区：[1]唐山学院,河北唐山063000

出　　处：《工业技术与职业教育》2024年第4期14-18,共5页Industrial Technology and Vocational Education

基　　金：河北省创新创业教育教学改革研究与实践项目“产教融合背景下多元化创新创业人才培养模式改革探索与实践——以唐山学院智能与信息工程学院为例”(课题编号:2023cxcy289),主持人王超。

摘　　要：随着社会不断发展,对配送的需求不断上升,虽然现有园区配送机器人已经能有效改善园区配送效率低、成本高、服务差等问题,但其还存在难以适应复杂的配送环境、无法保证物品安全等问题。为了解决上述问题,设计了一种园区智能配送机器人,一是其具有自主研发的自动驾驶系统,即通过Gmapping算法进行雷达建图,导航算法进行路径规划,GNSS信号辅助定位减少路径规划误差,从而增强环境适应能力;二是具有配送安全系统,即通过计算机视觉的人脸识别和射频卡进行身份认证,并通过物联网模块连接至物联网云端,物联网云端将人员身份卡号信息和人脸认证信息下发给PyQt5的显示界面进行可视化展示,通过可视化展示实现了取物的回溯,从而保障了配送的安全。通过系统调试和实验发现设计的园区智能配送机器人可以很好实现自动驾驶和保障配送物品安全,并且配送的准确性达到了95%以上,从而提高了园区智能配送的准确性和安全性。With the continuous development of society,the demand for distribution continues to rise.Although the existing park distribution robots have effectively improved the problems of low distribution efficiency,high cost and poor service in the park,they still have problems such as difficulty in adapting to the complex distribution environment and inability to ensure the safety of goods.In order to solve the above problems,an intelligent distribution robot in the park is designed.First,it has an autonomous driving system developed by itself.Gmapping algorithm is used for radar mapping,navigation algorithm for path planning,GNSS signal assisted positioning reduces path planning errors,and thus enhances environmental adaptability.The second is a distribution security system in which identity authentication is carried out through computer vision face recognition and radio frequency card,and connected to the Internet of Things cloud through the Internet of Things module.The Internet of Things cloud sends the personnel identity card number information and face authentication information to the PyQt5 display interface for visual display,and realizes the retrieval backtracking through visual display.Thus,the safety of distribution is ensured.Through the system debugging experiment,it is found that the intelligent distribution robot in the park can realize the functions of automatic driving and ensuring the safety of distributed goods,which improves the accuracy and safety of intelligent distribution in the park.The accuracy of distribution reaches more than 95%,and the safety of distribution meets the expected standard of design.

关 键 词：智能配送 雷达建图 导航算法 GNSS信号 人脸识别 物联网云端 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]