Full-gradient terrain logistics robot and control method

Abstract

The application discloses a full-gradient terrain logistics robot and a control method. The full-gradient terrain logistics robot comprises a robot body, a control box, a first suction disc assembly and a second suction disc assembly. The first suction disc assembly is connected with one end of the control box and can rotate around the connection position of the control box. The second suction disc assembly is connected with the other end of the control box and can rotate around the connection position of the control box. A control system is arranged in the control box and connected with the first suction disc assembly and the second suction disc assembly. A storage box assembly is connected with the control box. The full-gradient terrain logistics robot is suitable for full-gradient terrain, so that a control personnel does not need to walk to a wall to place the robot. The shape and structural rigidity are variable, and the suction disc movement mode and the wheeled movement mode can be flexibly switched.

Description

Technical Field

[0001] This application relates to the field of logistics and transportation technology, and in particular to a logistics robot for all-slope terrain and a control method for the logistics robot for all-slope terrain. Background Technology

[0002] Currently, logistics robots are mainly used in industry and warehousing, with relatively few commercially available types, primarily translational robots and drones. Translational robots are often used in hotel settings. For residents on high floors, these robots must work with elevators to complete delivery services, limiting their application scenarios and making them unsuitable for buildings without elevators. Furthermore, their competition for elevator space with pedestrians can lead to decreased service efficiency and customer satisfaction. Drone delivery applications are also extremely limited. In most cities, drones are prohibited from flying within urban areas by law. Additionally, drones have limitations such as high risk and small payload. To address these issues, some have designed suction cup wall-climbing robots, but these designs are prone to causing goods to bounce during transport.

[0003] In the existing technology, existing suction cup wall-climbing robots cannot achieve the function of carrying objects, and cannot prevent the carried objects from remaining relatively stationary while moving; in addition, existing suction cup wall-climbing robots can only move horizontally on the wall and do not have the ability to cross obstacles on the wall such as windowsills.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0005] Application content

[0006] The purpose of this application is to provide a logistics robot for all-slope terrain to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0007] To achieve the above objectives, this application provides a logistics robot for all-slope terrain, the logistics robot for all-slope terrain comprising:

[0008] The robot body includes a control box, a first suction cup assembly, and a second suction cup assembly. The first suction cup assembly is connected to one end of the control box and is rotatable around the connection position with the control box. The second suction cup assembly is connected to the other end of the control box and is rotatable around the connection position with the control box.

[0009] A control system is disposed within the control box and connected to the first suction cup assembly and the second suction cup assembly;

[0010] A storage box assembly, wherein the storage box assembly is connected to the control box; wherein...

[0011] The all-slope terrain logistics robot includes a climbing state. In the climbing state, the control system controls the rotation of the first suction cup assembly relative to the control box and the rotation of the second suction cup assembly relative to the control box, thereby causing the all-slope terrain logistics robot to move during the alternating movement of the first and second suction cup assemblies. During the movement of the all-slope terrain logistics robot, the control system can control the first suction cup assembly and / or the second suction cup assembly to work, thereby causing the first suction cup assembly and / or the second suction cup assembly to provide suction force to the all-slope terrain logistics robot by adsorbing the contact surface.

[0012] Optionally, the first suction cup assembly includes:

[0013] First suction cup;

[0014] A first suction cup connecting arm, one end of which is connected to the first suction cup;

[0015] A first control box connecting arm, one end of which is connected to the other end of the first suction cup connecting arm via a first rotating shaft, and the other end of which is connected to the control box via a first rotating shaft of the control box; the first suction cup connecting arm is capable of rotating around the first rotating shaft of the control box; the first control box connecting arm is capable of rotating around the first rotating shaft of the control box.

[0016] A first driving device is used to drive the first suction cup connecting arm to rotate around the first rotating axis;

[0017] A first control box driving device is configured to drive the first control box connecting arm to rotate about a first rotation axis of the control box, thereby causing the first suction cup assembly to rotate relative to the control box; and...

[0018] The second suction cup assembly includes:

[0019] Second suction cup;

[0020] The second suction cup connecting arm has one end connected to the second suction cup;

[0021] The second control box connecting arm has one end connected to the other end of the second suction cup connecting arm via a second rotating shaft, and the other end connected to the control box via a second rotating shaft. The second suction cup connecting arm is capable of rotating around the second rotating shaft.

[0022] The second driving device is used to drive the second suction cup connecting arm to rotate around the second rotating axis;

[0023] The second control box drive device is used to drive the second control box connecting arm to rotate around the second rotation axis of the control box, thereby causing the second suction cup assembly to rotate relative to the control box.

[0024] Optionally, the all-slope terrain logistics robot further includes:

[0025] The first traveling wheel is disposed at one end of the control box near the first suction cup assembly;

[0026] A walking wheel drive device is connected to the first walking wheel and is used to control the rotation of the first walking wheel.

[0027] Optionally, the storage box assembly includes:

[0028] A connecting rod assembly, one end of which is connected to the control box, wherein the connecting rod assembly may have rotational freedom or no degree of freedom relative to the control box;

[0029] A storage box, the storage box having an internal storage space for holding items, and the other end of the connecting rod assembly being connected to the storage box; wherein...

[0030] In the climbing state, the connecting rod assembly is able to have rotational freedom relative to the control box.

[0031] Optionally, the storage box includes:

[0032] The storage box body has the aforementioned storage space inside.

[0033] The storage box lid is connected to one side of the storage box body, and the storage box lid can rotate around the connection position with the storage box body, so that the storage box body has an open state and a closed state.

[0034] The bottom plate of the storage box is connected to the other side of the main body of the storage box, and a sandwich layer is provided between the bottom plate of the storage box and the main body of the storage box;

[0035] An inflatable airbag is disposed within the receiving space;

[0036] An air pump, disposed within the interlayer and connected to the airbag, is used to inflate the airbag; wherein...

[0037] When the air pump inflates the airbag, the airbag expands, thereby reducing the movable space in the containment space.

[0038] Optionally, the all-slope terrain logistics robot further includes:

[0039] A camera device is used to capture images of the environment surrounding the full-slope terrain logistics robot;

[0040] A depth camera device, wherein the depth camera device is disposed on the first suction cup connecting arm and / or the second suction cup connecting arm;

[0041] An attitude information acquisition module is used to acquire attitude information of the first suction cup connecting arm and / or the second suction cup connecting arm;

[0042] GPS, which is used to obtain current geographical location information.

[0043] This application also provides a control method for a logistics robot on all-slope terrain, the control method for the logistics robot on all-slope terrain includes:

[0044] Obtain current geographical location information and images of the surrounding environment;

[0045] Information about the building to be climbed is obtained based on the current geographical location information and surrounding environment images;

[0046] Obtain a database of exterior wall information of buildings to be climbed. The database includes at least one preset building to be climbed information and building wall information, with one building wall information corresponding to one preset building to be climbed information.

[0047] Obtain the wall information of the building to be climbed corresponding to the preset building to be climbed information that is the same as the building to be climbed information;

[0048] Based on the obtained information about the wall to be climbed, determine whether climbing is possible. If so, then...

[0049] Control the logistics robot on the full slope terrain as described above to perform wall climbing operations.

[0050] Optionally, the information about the wall to be climbed includes information about the wall material and information about the wall manufacturing method;

[0051] Before controlling the all-slope terrain logistics robot described above to perform wall-climbing operations, the control method for the all-slope terrain logistics robot further includes:

[0052] Obtain a suction cup strength comparison database, which includes at least one preset suction cup suction range, preset wall material information, and preset wall manufacturing method information. One preset suction cup suction range corresponds to one preset wall material information and one preset wall manufacturing method information.

[0053] Obtain the same preset wall material information as the wall material information and wall manufacturing method information, as well as the preset suction cup suction range corresponding to a preset wall manufacturing method information;

[0054] The robot is controlled to climb walls according to the preset suction force of the suction cups, as described above, so that when the robot is climbing walls, the suction force generated by the first suction cup on the wall and the suction force generated by the second suction cup on the wall are within the preset suction force range.

[0055] Optionally, during the process of controlling the all-slope terrain logistics robot to perform wall-climbing operations as described above, the control method for the all-slope terrain logistics robot further includes:

[0056] Acquire image information of the forward direction of the logistics robot on a full-slope terrain;

[0057] Based on the image information, determine whether there is an obstacle; if so, then...

[0058] Obtain the distance information between the obstacle and the logistics robot on the full slope terrain, as well as the height information of the obstacle;

[0059] Based on the distance and height information of the obstacle, determine whether it is possible to cross the obstacle. If so, then...

[0060] Enables logistics robots to perform traversing operations on sloped terrain.

[0061] Optionally, enabling the logistics robot to perform traversal operations across sloping terrain includes:

[0062] Control the first suction cup assembly and the second suction cup assembly that are relatively far from the obstacle to rotate around the connection position of the control box and / or control the control box to rotate around the first suction cup assembly and the second suction cup assembly that are relatively close to the obstacle, so that the height of one of the first suction cup assembly or the second suction cup assembly from the wall exceeds the height of the obstacle;

[0063] The thickness of the obstacle is detected by an infrared distance detection device installed on a first suction cup assembly or a second suction cup assembly whose height exceeds that of the obstacle, thereby obtaining the thickness information of the obstacle.

[0064] The crossing operation is performed based on the thickness information obtained from the obstacle.

[0065] The all-slope terrain logistics robot of this application has advantages such as small weight, large load capacity, and strong terrain adaptability. The wheeled design allows the robot to move freely on flat or gentle slopes, while the suction cup structure enables it to move on steep slopes or vertical walls. The form-transformation system allows the robot to freely switch between wheeled and suction cup movement modes to adapt to different terrain scenarios. In climbing mode, the all-slope terrain logistics robot of this application can climb slopes through the alternating movement of the first and second suction cup components, and the included cargo box component enables the all-slope terrain logistics robot to perform cargo-carrying functions. Attached Figure Description

[0066] Figure 1 This is a structural schematic diagram of a full-slope terrain logistics robot according to an embodiment of this application, wherein the full-slope terrain logistics robot is in a wall-climbing state.

[0067] Figure 2 yes Figure 1 The diagram shows a side view of the structure of a logistics robot for all-slope terrain.

[0068] Figure 3 yes Figure 1 The diagram shown is a top-down view of the structure of a logistics robot for all-slope terrain.

[0069] Figure 4 yes Figure 1 The diagram shows the structure of the storage box in a logistics robot for all-slope terrain.

[0070] Figure 5 yes Figure 1 Another structural diagram of the all-slope terrain logistics robot is shown, in which the all-slope terrain logistics robot is in a walking state.

[0071] Figure 6 yes Figure 1 The diagram shows a logistics robot encountering an obstacle on a sloped terrain.

[0072] Figure 7 yes Figure 1 Another structural schematic diagram of a logistics robot for all-slope terrain is shown.

[0073] Figure 8 yes Figure 1 Another structural schematic diagram of a logistics robot for all-slope terrain is shown.

[0074] Figure 9 yes Figure 1 The diagram shows the structure of the suction cup part of the logistics robot for all-slope terrain.

[0075] Figure 10 yes Figure 1 The diagram shows the structural connection between the connecting rod assembly and the control box of the logistics robot for all-slope terrain.

[0076] Figure 11 yes Figure 1 Another structural diagram of the connection rod assembly and control box connection part of the logistics robot for all-slope terrain is shown.

[0077] Figure Labels

[0078]

[0079] Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0081] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limiting the scope of protection of this application.

[0082] Figure 1 This is a structural schematic diagram of a full-slope terrain logistics robot according to an embodiment of this application, wherein the full-slope terrain logistics robot is in a wall-climbing state. Figure 2 yes Figure 1 The diagram shows a side view of the structure of a logistics robot for all-slope terrain. Figure 3 yes Figure 1 The diagram shown is a top-down view of the structure of a logistics robot for all-slope terrain. Figure 4 yes Figure 1The diagram shows the structure of the storage box in a logistics robot for all-slope terrain. Figure 5 yes Figure 1 The diagram shows another structural schematic of the all-slope terrain logistics robot, in which the all-slope terrain logistics robot is in a walking state.

[0083] like Figures 1 to 5 The illustrated full-slope terrain logistics robot includes the robot body, control system, and storage box assembly, among which...

[0084] The robot body includes a control box 7, a first suction cup assembly, and a second suction cup assembly. The first suction cup assembly is connected to one end of the control box and can rotate around the connection position with the control box; the second suction cup assembly is connected to the other end of the control box and can rotate around the connection position with the control box.

[0085] The control system is housed in the control box and connected to the first suction cup assembly and the second suction cup assembly;

[0086] The storage box assembly is connected to the control box; wherein,

[0087] The all-slope terrain logistics robot includes a climbing mode. In the climbing mode, the control system controls the rotation of the first suction cup assembly relative to the control box and the rotation of the second suction cup assembly relative to the control box, thereby enabling the all-slope terrain logistics robot to move during the alternating movement of the first and second suction cup assemblies. During the movement of the all-slope terrain logistics robot, the control system can control the first and / or second suction cup assemblies to work, thereby enabling the first and / or second suction cup assemblies to provide suction force to the all-slope terrain logistics robot by adsorbing the contact surface.

[0088] The all-slope terrain logistics robot of this application has advantages such as small weight, large load capacity, and strong terrain adaptability. The wheeled design allows the robot to move freely on flat or gentle slopes, while the suction cup structure enables it to move on steep slopes or vertical walls. The form-transformation system allows the robot to freely switch between wheeled and suction cup movement modes to adapt to different terrain scenarios. In climbing mode, the all-slope terrain logistics robot of this application can climb slopes through the alternating movement of the first and second suction cup components, and the included cargo box component enables the all-slope terrain logistics robot to perform cargo-carrying functions.

[0089] See Figure 1 , Figure 2 as well as Figure 5In this embodiment, the first suction cup assembly includes a first suction cup 1, a first suction cup connecting arm 3, a first control box connecting arm 5, a first driving device, and a first control box driving device, wherein one end of the first suction cup connecting arm 3 is connected to the first suction cup 1.

[0090] One end of the first control box connecting arm 5 is connected to the other end of the first suction cup connecting arm 3 via a first rotating shaft, and the other end of the first control box connecting arm 5 is connected to the control box 7 via a first rotating shaft of the control box. The first suction cup connecting arm 3 can rotate around the first rotating shaft; the first control box connecting arm 5 can rotate around the first rotating shaft of the control box.

[0091] The first driving device is used to drive the first suction cup connecting arm 3 to rotate around the first rotating axis;

[0092] The first control box drive device is used to drive the first control box connecting arm 5 to rotate around the first rotation axis of the control box 7, thereby causing the first suction cup assembly to rotate relative to the control box 7.

[0093] See Figure 2 In this embodiment, the first suction cup connecting arm 3 can rotate Figure 2 Rotate in the direction shown.

[0094] By adjusting the position of the first suction cup connecting arm 3, the position of the first suction cup can be adjusted, allowing the first suction cup to be adaptively adjusted according to the shape of the wall, thus enabling the first suction cup to be perpendicular to walls of different shapes or angles.

[0095] In this embodiment, when the first suction cup adheres to the wall, the first control box driving device drives the first control box connecting arm 5 to rotate around the first rotation axis of the control box 7. However, because the first suction cup adheres to the wall, the first control box connecting arm 5 cannot rotate around the control box 7. If the second suction cup does not adhere to the wall, the control box 7 will rotate around the first control box connecting arm 5.

[0096] In this embodiment, the second suction cup assembly includes:

[0097] The system comprises a second suction cup 2, a second suction cup connecting arm 4, a second control box connecting arm 6, a second drive device, and a second control box drive device, wherein...

[0098] One end of the second suction cup connecting arm 4 is connected to the second suction cup 2;

[0099] One end of the second control box connecting arm 6 is connected to the other end of the second suction cup connecting arm 4 via a second rotating shaft, and the other end of the second control box connecting arm 6 is connected to the control box 7 via a second rotating shaft of the control box. The second suction cup connecting arm 4 can rotate around the second rotating shaft; the second control box connecting arm 6 can rotate around the second rotating shaft of the control box.

[0100] The second driving device is used to drive the second suction cup connecting arm 4 to rotate around the second rotating axis;

[0101] The second control box drive device is used to drive the second control box connecting arm 6 to rotate around the second rotation axis of the control box, thereby causing the second suction cup assembly to rotate relative to the control box 7.

[0102] In this embodiment, the full-slope terrain logistics robot of this application, in the climbing mode under normal obstacle-free conditions, each normal gait cycle is divided into 5 phases, namely (1) first suction cup adsorption; (2) second suction cup moving upward; (3) second suction cup adsorption; (4) first suction cup desorption; (5) first suction cup moving upward.

[0103] For example, suppose the full-slope terrain logistics robot of this application is currently located in... Figure 1 or Figure 2 At the location shown, the first suction cup of the first suction cup assembly of the all-slope terrain logistics robot is adhered to the wall by suction force, and the second suction cup of the second suction cup assembly is also adhered to the wall by suction force. If the all-slope terrain logistics robot needs to move, the suction force of either the first or second suction cup must first be removed. Figure 2 For example, if a logistics robot moves across a slope... Figure 2 The upward movement shown requires first removing the suction force of the second suction cup, meaning the suction force of the first suction cup is used as the basis for the entire slope-terrain logistics robot. After removing the suction force of the second suction cup, the second control box connecting arm is driven by the second control box drive device to rotate around the control box, thereby causing the second suction cup assembly to flip upwards. Figure 2 The control box flips from right to left and the first control box drive device drives the control box to rotate around the first control box connecting arm, thereby flipping the control box and thus achieving one movement.

[0104] Through the repeated movements described above, the logistics robot for all-slope terrain of this application can achieve slope climbing operation.

[0105] See Figure 1 In this embodiment, the full-slope terrain logistics robot further includes a first walking wheel 8 and a walking wheel drive device. The first walking wheel 8 is located at one end of the control box 7 near the first suction cup assembly. The walking wheel drive device is connected to the first walking wheel 8 and is used to control the rotation of the first walking wheel.

[0106] In this embodiment, the logistics robot for all-slope terrain of this application can move not only by reciprocating through the first suction cup assembly and the second suction cup assembly, but also by the first walking wheel.

[0107] In this embodiment, the storage box assembly includes a connecting rod assembly 10 and a storage box body 11, wherein,

[0108] One end of the connecting rod assembly 10 is connected to the control box 7, and the connecting rod assembly can have rotational freedom or no freedom relative to the control box 7;

[0109] The storage box 11 has an internal storage space for holding items, and the other end of the connecting rod assembly is connected to the storage box 11; wherein...

[0110] When climbing, the connecting rod assembly has rotational freedom relative to the control box 7.

[0111] In this embodiment, a controllable device (connecting rod fixing device 9) is provided on one end of the connecting rod assembly 10 connected to the control box 7. It is located inside the control box 7 and consists of an electromagnet and a spring pin assembly. When the robot is in wall-climbing mode, the electromagnet controls the spring pin assembly to move away from the part of the connecting rod 10 inside the control box 7. At this time, the connecting rod 10 can rotate freely relative to the control box 7, so that the storage box 11 can always be kept perpendicular to the horizontal plane under the action of gravity. When the robot is in translation mode, the electromagnet controls the spring pin assembly to press on the part of the connecting rod 10 inside the control box 7. The friction between this part and the spring pin assembly forces the connecting rod 10 to be relatively fixed to the storage box 7, which is convenient for movement on flat ground or gently sloping ground using the first traveling wheel and omnidirectional wheel.

[0112] See Figure 10 as well as Figure 11 The connecting rod fixing device 9 consists of an electromagnet 125, a spring pin 124, and an internal spring. The main body of the connecting rod fixing device 9 is fixed to the inner wall of the control box 7. When it is not necessary to fix the connecting rod 10, the electromagnet 125 is activated, pulling the spring pin 124 away from the connecting rod 10. When it is necessary to fix the connecting rod 10, the electromagnet 125 is not activated. At this time, under the action of the spring, the spring pin is pressed into the groove inside the connecting rod 10, locking the connecting rod 10 to achieve the effect of fixing the relative rotation between the connecting rod 10 and the control box 7.

[0113] In this embodiment, the connecting rod includes a first rod 121 and a second rod 122. One end of the first rod 121 passes through the control box and is connected to the end of the second rod 122 that passes through the control box.

[0114] The portion of the first rod 121 located inside the control box is provided with a first rod groove and / or the portion of the second rod located inside the control box is provided with a second rod groove 123. In actual use, the spring pin locks the first rod groove or the second rod groove 123, thereby fixing the connecting rod 10 and preventing the connecting rod 10 from rotating.

[0115] It is understandable that the parts of the first lever 121 and the second lever 122 located inside the control box can be connected together by welding, can be integrally formed, or can be connected together in a detachable manner.

[0116] In this embodiment, when the logistics robot needs to move on a slope, the connecting rod assembly needs to have rotational freedom relative to the control box 7 in order to achieve movement. When the connecting rod assembly does not need to rotate relative to the control box, the connecting rod 10 and the storage box 7 can be fixed relative to each other by the aforementioned spring pin assembly.

[0117] See Figures 1 to 5 In this embodiment, the storage box assembly further includes casters 12, which are disposed on the storage box 11.

[0118] See Figure 3 as well as Figure 4 In this embodiment, the storage box 11 includes a storage box body 113, a storage box lid 111, a storage box bottom plate 114, an inflatable airbag 117, and an air pump 116, wherein,

[0119] The storage box body 113 is provided with the aforementioned storage space;

[0120] The lid 111 of the storage box is connected to one side of the body 113 of the storage box, and the lid 111 of the storage box can rotate around the connection position with the body 113 of the storage box, so that the storage box has an open state and a closed state.

[0121] The bottom plate 114 of the storage box is connected to the other side of the body 113 of the storage box, and a layer is provided between the bottom plate 114 of the storage box and the body 113 of the storage box.

[0122] The inflatable airbag 117 is disposed within the receiving space;

[0123] An air pump 116 is disposed within the interlayer and connected to the airbag 117 for inflating the airbag; wherein...

[0124] When the air pump 116 inflates the airbag, the airbag expands, thereby reducing the movable space in the containment space.

[0125] In this embodiment, the storage box lid 111 and the storage box body 113 can be locked together by a lock.

[0126] Using this method, the storage space can be filled with inflatable airbags during the movement of the logistics robot on all slopes, thereby preventing objects in the storage space from shifting or flipping during the movement of the logistics robot on all slopes.

[0127] In one embodiment, the all-slope terrain logistics robot further includes a camera device, a depth camera device, a posture information acquisition module, and a GPS, wherein...

[0128] The camera device is used to capture images of the environment surrounding the logistics robot on the full slope terrain;

[0129] The depth camera is mounted on the first suction cup connecting arm 3 and / or the second suction cup connecting arm 4;

[0130] The attitude information acquisition module is used to acquire the attitude information of the first suction cup connecting arm 3 and / or the second suction cup connecting arm 4;

[0131] GPS is used to obtain current geographical location information.

[0132] In this embodiment, the Intel 435i series can be selected, which includes a depth camera device, a posture information acquisition module, and a camera device.

[0133] In this embodiment, there can be multiple depth cameras, multiple pose information acquisition modules, and multiple camera devices.

[0134] In one embodiment, the camera device is respectively installed on the first suction cup connecting arm, the first control box connecting arm, the control box, the second suction cup connecting arm, and the second control box connecting arm.

[0135] In one embodiment, the depth camera is respectively installed on the first suction cup connecting arm, the first control box connecting arm, the control box, the second suction cup connecting arm, and the second control box connecting arm.

[0136] In one embodiment, the attitude information acquisition module is located at various positions on the first suction cup connecting arm, the first control box connecting arm, the control box, the second suction cup connecting arm, and the second control box connecting arm.

[0137] The following examples further illustrate this application in detail. It is understood that these examples do not constitute any limitation on this application.

[0138] This application primarily achieves the switching between suction cup and wheeled movement modes by modifying the structure to complete movement across all slope terrains. It mainly consists of two parts: the robot body and the storage section. The robot body comprises a first suction cup 1, a second suction cup 2, a first suction cup connecting arm 3, a second suction cup connecting arm 4, a first control box connecting arm 5, a second control box connecting arm 6, a control box 7, wheels 8, and a connecting rod fixing device 9. The storage section consists of a storage box 11 and omnidirectional wheels 12. The storage box 11 comprises a storage box lid 111, a latch 112, a storage box 113, a storage box base 114, a Bluetooth module 115, an air pump 116, and an inflatable airbag 117. The robot body and the storage section are connected by a connecting rod 10.

[0139] One end of the control box 7 is connected to the first control box connecting arm 5, and the relative angle between the two can be controlled by an internal motor.

[0140] The first control box connecting arm 5 is connected to the first suction cup connecting arm 3, and the relative angle between the two can be controlled by an internal motor.

[0141] See Figure 6 as well as Figure 7 The first suction cup connecting arm 3 is connected to the center position of the first suction cup 1. The first suction cup 1 can rotate freely along the axis pointed to by the first suction cup connecting arm 3, and its rotation angle is controlled by the internal motor.

[0142] The other end of the control box 7 is connected to the connecting arm 6 of the second control box, and the relative angle between the two can be controlled by an internal motor.

[0143] The second control box connecting arm 6 is connected to the second suction cup connecting arm 4, and the relative angle between the two can be controlled by an internal motor.

[0144] See Figure 7 as well as Figure 8 The second suction cup connecting arm 4 is connected to the center position of the second suction cup 2. The second suction cup 2 can rotate freely along the axis pointed to by the second suction cup connecting arm 4 (that is, to achieve plane rotation of the surface parallel to the wall). Its rotation angle is controlled by the internal motor.

[0145] In this embodiment, both the first suction cup and the second suction cup are vacuum suction cups, and the vacuum device is located inside the control box.

[0146] In this embodiment, the first walking wheels 8 are installed on both sides of the control box 7, near one end of the first control box connecting arm 5. The rotation of the wheels 8 can be controlled by the built-in motors. The connecting rod fixing device 9 is located on both sides of the center of the control box 7 and can contact the connecting rod assembly 10.

[0147] In this embodiment, the storage box lid 111 and the storage box 113 are connected on one side, and they can rotate relative to each other to open the storage box 11. When the storage box lid 111 and the storage box body 113 are closed, the latch 112 on the storage box body 113 can fix the storage box lid 111 and the storage box body 113. The bottom of the storage box body 113 is connected to the storage box bottom plate 114. A Bluetooth module 115 and an air pump 116 are placed in the interlayer between the storage box body 113 and the storage box bottom plate 114. The air pump 116 is connected to an inflatable airbag 117 located inside the storage box body 113 through a conduit in a small hole at the bottom of the storage box body 113. The universal wheel 12 is a universal wheel, which is connected to one side of the storage box body 113 and can rotate in all directions.

[0148] One side of the connecting rod 10 is fixedly connected to the storage box body 113, with the connection point located at the center of the storage box body 113, offset from the storage box cover 111. The other side of the connecting rod 10 is connected to the control box 7, and the two can rotate freely. The connecting rod fixing device 9 can be controlled to increase the friction between the connecting rod 10 and the control box 7, thereby fixing the connecting rod 10 and the control box 7.

[0149] In this embodiment, the control box 7 has a built-in control chip that can receive remote control signals. Additionally, the control box 7 can control the movement of the aforementioned built-in motor and the inflation / deflation of the first suction cup 1 and the second suction cup 2. It can also control the connecting rod fixing device 9 to determine whether the connecting rod 10 is fixed to the control box 7. The control box 7 can also send signals to the Bluetooth module 115 to control the air pump 116 to inflate or deflate the airbag 117.

[0150] At the start of the logistics task, the operator should place the items to be transferred into the storage box 11 and fasten the latch 112. Then, a remote control command is sent to the control box 7, which in turn sends a command to the Bluetooth module 115 to control the air pump 116 to inflate the airbag 117, securing the objects inside the storage box 11 and providing shock absorption and protection.

[0151] See Figure 5 When on flat ground or a gently sloping surface, the robot moves in a wheeled (ground-walking) mode. The connecting rod fixing device 9 (as described above, the spring-loaded assembly) engages the second rod groove 123, fixing the connecting rod assembly 10 to the control box 7. The control box 7 controls the first suction cup connecting arm 3, the second suction cup connecting arm 4, the first control box connecting arm 5, and the second control box connecting arm 6 to bend towards one side of the robot's body (opposite to the side where the omnidirectional wheel 12 is located), causing the wheels 8 to contact the ground. The control box 7 can receive remote control commands to move from the operator's side to the vicinity of the target building wall, or return from the vicinity of the target building wall to the operator's side.

[0152] See Figure 1When positioned on a wall with a significant slope, the robot operates in suction cup motion (wall-climbing) mode. The connecting rod fixing device 9 is released from its constraint with the second rod groove 123, allowing free rotation between the connecting rod assembly 10 and the control box 7. The control box 7 controls the movement of the first suction cup connecting arm 3 and the first control box connecting arm 5, causing the first suction cup 1 to adhere to the wall. Then, the air inside the first suction cup 1 is removed, ensuring it adheres firmly to the wall. Next, the control box 7 controls the coordinated movement of the first suction cup connecting arm 3, the second suction cup connecting arm 4, the first control box connecting arm 5, and the second control box connecting arm 6 to attach the second suction cup 2 to a wall surface higher than the first suction cup 1. The suction force of the second suction cup 2 is increased, while the suction force of the first suction cup 1 is decreased. This process is repeated, allowing the robot to alternately lift the first suction cup 1 and the second suction cup 2 using a rolling motion. Because the connecting rod 10 and the control box 7 can rotate freely, gravity keeps the storage box 11 stable. The control box 7 can receive remote control commands. When the robot moves near the target window, the operator sends a remote control command to the control box 7, instructing it to send a command to the Bluetooth module 115, which then controls the air pump 116 to deflate the airbag 117. The recipient can then open the latch 112 through the window, retrieve the goods, and lock the latch 112. Finally, the operator controls the robot to return to the ground using the aforementioned suction cup-based rolling motion.

[0153] This application has the following advantages:

[0154] 1. This system employs a suction cup / wheel hybrid motion scheme, allowing delivery personnel to place the robot at a distance from the target building, remotely control the robot to approach the building, and deliver the goods to the recipient's window by climbing the wall. This solution expands the application scenarios for logistics robots, such as in situations requiring contactless delivery in gated communities. Furthermore, the wall-climbing solution broadens the range of buildings suitable for logistics robots, including those without elevators.

[0155] 2. The variable structural stiffness design and deformation scheme adopted by the system allows the structure to flexibly switch between suction cup motion mode and wheel motion mode.

[0156] 3. The relative motion range between the robot's main body control box and any connected arm, and between any two connected arms, is -90° to 90°. Any suction cup can rotate 360° along the axis of the connected arm. This six-degree-of-freedom design greatly enhances the robot's movement flexibility, allowing it to freely control the climbing direction and overcome obstacles such as protruding walls during wall climbing.

[0157] 4. This system employs a high-suction bionic suction cup and a high-torque motor, with the connecting rod positioned at the center of the robot's main body. This reduces and stabilizes the torque generated by the weight of the storage box and the robot itself when climbing walls, thereby enhancing the system's load-bearing capacity. Furthermore, the inflatable airbag design firmly secures the goods inside the storage box and provides shock absorption protection, further strengthening the robot system's cargo-carrying capabilities.

[0158] 5. By optimizing the structural design and using lightweight materials such as carbon fiber plates, the weight of the logistics robot system itself is greatly reduced, energy consumption is reduced, and load-bearing capacity is increased.

[0159] This application also provides a control method for a logistics robot on all-slope terrain, the control method for the logistics robot on all-slope terrain includes:

[0160] Step 1: Obtain current geographical location information and surrounding environment images;

[0161] Step 2: Obtain the information about the building to be climbed based on the current geographical location information and the surrounding environment image;

[0162] Step 3: Obtain the database of exterior wall information of the building to be climbed. The database of exterior wall information of the building to be climbed includes at least one preset building to be climbed information and building wall information. One building wall information corresponds to one preset building to be climbed information.

[0163] Step 4: Obtain the wall information of the building to be climbed corresponding to the preset building information that is the same as the building information to be climbed;

[0164] Step 5: Determine whether climbing the wall is feasible based on the obtained information about the wall. If so, then...

[0165] Step 6: Control the logistics robot on the full slope terrain as described above to perform wall climbing operation.

[0166] In practical applications, the materials of the walls of various buildings are not the same, and the load-bearing capacity and whether the walls are prone to falling off are also different. Therefore, before actually climbing the wall, it is necessary to first obtain the wall condition of the building to be climbed through location positioning and image recognition, and then determine whether it is suitable to climb the wall based on the wall condition.

[0167] In this embodiment, the information about the wall to be climbed includes information about the wall material and information about the wall manufacturing method;

[0168] In this embodiment, before controlling the all-slope terrain logistics robot to perform wall-climbing operations as described above, the control method for the all-slope terrain logistics robot further includes:

[0169] Obtain a suction cup strength comparison database, which includes at least one preset suction cup suction range, preset wall material information, and preset wall manufacturing method information. One preset suction cup suction range corresponds to one preset wall material information and one preset wall manufacturing method information.

[0170] Obtain the same preset wall material information as the wall material information and wall manufacturing method information, as well as the preset suction cup suction range corresponding to a preset wall manufacturing method information;

[0171] The robot, described in any one of claims 1 to 8, performs wall-climbing operations according to the preset suction cup suction force, so that when the robot performs wall-climbing operations, the suction force generated by the first suction cup on the wall and the suction force generated by the second suction cup on the wall are within the preset suction cup suction force range.

[0172] This method allows for obtaining the necessary suction force based on the wall's condition, while also preventing excessive suction from causing the wall to detach.

[0173] The all-slope terrain logistics robot of this application has the following advantages:

[0174] 1. Adaptable to all slope terrains, eliminating the need for operators to walk to the wall to place the robot.

[0175] 2. The shape and structural rigidity are variable, and the suction cup movement mode and wheel movement mode can be flexibly switched.

[0176] 3. The robot's six degrees of freedom control allows it to flexibly control its direction and overcome obstacles such as protrusions when climbing walls.

[0177] 4. It has a strong load-bearing capacity, and the built-in airbag fixing system can greatly reduce bumps and protect the goods.

[0178] In this embodiment, during the process of controlling the all-slope terrain logistics robot to perform wall-climbing operations as described above, the control method for the all-slope terrain logistics robot further includes:

[0179] Acquire image information of the forward direction of the logistics robot on a full-slope terrain;

[0180] Based on the image information, determine whether there is an obstacle; if so, then...

[0181] Obtain the distance information between the obstacle and the logistics robot on the full slope terrain, as well as the height information of the obstacle;

[0182] Based on the distance and height information of the obstacle, determine whether it is possible to cross the obstacle. If so, then...

[0183] Enables logistics robots to perform traversing operations on sloped terrain.

[0184] Specifically, see Figure 6 When encountering an obstacle, the camera can detect the distance and extension of the obstacle, and combine this with posture information to guide the robot to cross the obstacle. The specific method is as follows:

[0185] Determine the number of pixels n0 of the camera in the direction perpendicular to the wall, and measure the length of the obstacle that occupies all pixels in that direction when the vertical distance from the camera is L. This length can be expressed as the distance outside the camera's optical path. The sum of the vertical distance D of the camera from the wall

[0186]

[0187] When the vertical distance between the obstacle and the camera is L, and the length of the obstacle is less than... At this point, the length of the obstacle can be calculated. First, the camera's ranging function generates a distance heatmap with the same number of pixels as the real-world image. Because of abrupt changes in the detected distance, the end of the obstacle will show a color abrupt change on the heatmap. The location of this color abrupt pixel can be detected using machine learning algorithms such as CNN. This allows us to obtain the vertical distance *n* of the obstacle's corresponding pixel from the image center. Therefore, the length of the obstacle at this moment can be calculated using the pixel-to-length correspondence.

[0188]

[0189] When the perpendicular distance between the obstacle and the camera is not L, let the current distance between the camera and the obstacle be s. According to the similarity relationship, the length of the obstacle can be obtained as:

[0190]

[0191] Based on this formula, the length of the obstacle extending out of the wall can be calculated in real time, and a length threshold can be set. If the threshold is exceeded, the obstacle crossing is abandoned, and the obstacle begins to move laterally to find a climbable position. The controller is then reminded to switch to manual control mode.

[0192] In one embodiment, when the obstacle length is less than a threshold, the robot adjusts its position and step length according to the obstacle length and attempts to cross the obstacle. There are three scenarios for obstacle crossing: first, the obstacle is very thin and can be crossed directly; second, the obstacle is very thick with suitable surface roughness, allowing the robot to adhere to it; third, the obstacle's thickness is between direct crossing and adhesion, preventing the suction cup from adhering firmly. The robot determines the obstacle crossing scenario as follows: first, after adjusting its position and step length based on the obstacle length, the robot attempts to cross the obstacle using a normal gait. During the crossing, the motor controlling the suction cup connecting arm maintains a small torque. If the suction cup adheres stably to the obstacle or wall, the IMU's attitude information will show that the suction cup connecting arm is always perpendicular to the wall. If the suction cup cannot adhere due to obstacle thickness or other reasons, the IMU's attitude information will show that the suction cup connecting arm is not perpendicular to the wall, and the robot will return to the previous state, adjust its step length, and attempt to cross again. If the IMU's attitude information shows that the suction cup connecting arm is perpendicular to the wall, the suction cup air pressure detection process will be triggered. If neither the posture nor the air pressure can meet the requirements for continued movement after three consecutive adjustments, an alarm signal will be sent to the terminal in the controller's hand, and the system will automatically switch to manual control mode.

[0193] In this embodiment, the suction cup air pressure detection process is as follows:

[0194] The suction cup is a specialized suction cup designed for uneven surfaces, featuring an outer ring of airtight sponge. It can stably adhere to walls with significant roughness. An internal gas pressure sensor module detects the pressure inside the suction cup. As the suction cup begins to adhere, an air pump gradually extracts gas from within, increasing the pressure difference between the inside and outside. The controller is pre-set with a safe operating pressure threshold and an air pump operating time T. If the gas pressure sensor detects a pressure difference greater than the threshold within time T, the robot continues to the next step. If the air pump operating time t exceeds the normal operating time T, and the gas pressure sensor still detects a pressure difference less than the threshold, the system determines that the suction cup may be in an abnormal adhesion state (e.g., ...). Figure 9 As shown, Figure 9 If the wall surface has a notch (119), the robot will automatically return to the previous posture phase within the same climbing cycle, adjust the climbing step size, and then re-execute the movement of this phase. If the suction cup still fails to attach after three consecutive adjustments, an alarm signal will be sent to the terminal in the controller's hand, and the robot will automatically switch to manual control mode.

[0195] In another embodiment, the present application's method for enabling a logistics robot to perform traversing operations on sloping terrain includes:

[0196] Control the first suction cup assembly and the second suction cup assembly that are relatively far from the obstacle to rotate around the connection position of the control box and / or control the control box to rotate around the first suction cup assembly and the second suction cup assembly that are relatively close to the obstacle, so that the height of one of the first suction cup assembly or the second suction cup assembly from the wall exceeds the height of the obstacle;

[0197] The thickness of the obstacle is detected by an infrared distance detection device installed on a first suction cup assembly or a second suction cup assembly whose height exceeds that of the obstacle, thereby obtaining the thickness information of the obstacle.

[0198] The crossing operation is performed based on the thickness information obtained from the obstacle.

[0199] Specifically, in this embodiment, the first suction cup assembly and the second suction cup assembly are equipped with a distance detection device (e.g., an infrared distance sensor). The distance detection device can scan the thickness direction of the obstacle to understand the length, width and thickness of the obstacle, thereby enabling a better analysis of whether the obstacle can be crossed. If the length, width and thickness analysis shows that the obstacle can be crossed, a crossing operation is performed. If the length, width and thickness analysis shows that the obstacle cannot be crossed, an obstacle avoidance operation is performed.

[0200] In this embodiment, obstacle avoidance refers to the logistics robot on a full-slope terrain modifying its travel route to climb along a different path.

[0201] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A logistics robot for all-slope terrain, characterized in that, The all-slope terrain logistics robot includes: The robot body includes a control box (7), a first suction cup assembly, and a second suction cup assembly. The first suction cup assembly is connected to one end of the control box and can rotate around the connection position with the control box. The second suction cup assembly is connected to the other end of the control box and can rotate around the connection position with the control box. A control system is disposed within the control box and connected to the first suction cup assembly and the second suction cup assembly; A storage box assembly, wherein the storage box assembly is connected to the control box; wherein... The all-slope terrain logistics robot includes a climbing state. In the climbing state, the control system controls the rotation of the first suction cup assembly relative to the control box and the rotation of the second suction cup assembly relative to the control box, thereby causing the all-slope terrain logistics robot to move during the alternating movement of the first suction cup assembly and the second suction cup assembly. During the movement of the all-slope terrain logistics robot, the control system can control the first suction cup assembly and / or the second suction cup assembly to work, thereby causing the first suction cup assembly and / or the second suction cup assembly to provide suction force to the all-slope terrain logistics robot by adsorbing the contact surface. The all-slope terrain logistics robot further includes: The first walking wheel (8) is disposed at one end of the control box (7) near the first suction cup assembly; A walking wheel drive device is connected to the first walking wheel (8) and is used to control the rotation of the first walking wheel; The storage box assembly includes: A connecting rod assembly (10) is provided, one end of which is connected to the control box (7). The connecting rod assembly is capable of having rotational freedom or no freedom relative to the control box (7). A storage box (11) has an internal storage space for storing items, and the other end of the connecting rod assembly is connected to the storage box (11); wherein, In the climbing state, the connecting rod assembly is able to have rotational freedom relative to the control box (7); The storage box assembly further includes casters (12), which are mounted on the storage box body (11); When the robot is on flat ground or a gently sloping surface, it moves in a wheeled mode, with the connecting rod assembly (10) fixed to the control box (7).

2. The all-slope terrain logistics robot as described in claim 1, characterized in that, The first suction cup assembly includes: First suction cup (1); First suction cup connecting arm (3), one end of the first suction cup connecting arm (3) is connected to the first suction cup (1); The first control box connecting arm (5) has one end connected to the other end of the first suction cup connecting arm (3) via a first rotating shaft, and the other end connected to the control box (7) via a first rotating shaft. The first suction cup connecting arm (3) can rotate around the first rotating shaft. The first control box connecting arm (5) can rotate around the first rotating shaft. A first driving device is used to drive the first suction cup connecting arm (3) to rotate around the first rotating axis; A first control box drive device is used to drive the first control box connecting arm (5) to rotate about a first rotation axis of the control box (7), thereby causing the first suction cup assembly to rotate relative to the control box (7); and, The second suction cup assembly includes: Second suction cup (2); The second suction cup connecting arm (4) has one end connected to the second suction cup (2); The second control box connecting arm (6) has one end connected to the other end of the second suction cup connecting arm (4) via a second rotating shaft, and the other end connected to the control box (7) via a second rotating shaft. The second suction cup connecting arm (4) is able to rotate around the second rotating shaft. The second control box connecting arm (6) is able to rotate around the second rotating shaft. The second driving device is used to drive the second suction cup connecting arm (4) to rotate around the second rotating axis; The second control box drive device is used to drive the second control box connecting arm (6) to rotate around the second rotation axis of the control box, thereby causing the second suction cup assembly to rotate relative to the control box (7).

3. The all-slope terrain logistics robot as described in claim 2, characterized in that, The storage box (11) includes: The storage box body (113) has the storage space inside; The storage box lid (111) is connected to one side of the storage box body (113), and the storage box lid (111) can rotate around the connection position with the storage box body (113), so that the storage box body has an open state and a closed state. The bottom plate (114) of the storage box is connected to the other side of the main body (113) of the storage box, and a sandwich layer is provided between the bottom plate (114) of the storage box and the main body (113) of the storage box. An inflatable airbag (117) is disposed within the receiving space; An air pump (116) is disposed within the interlayer and connected to the inflatable airbag (117) for inflating the airbag; wherein, When the air pump (116) inflates the airbag, the airbag expands, thereby reducing the movable space in the containment space.

4. The all-slope terrain logistics robot as described in claim 3, characterized in that, The all-slope terrain logistics robot further includes: A camera device is used to capture images of the environment surrounding the full-slope terrain logistics robot; A depth camera device, wherein the depth camera device is disposed on the first suction cup connecting arm (3) and / or the second suction cup connecting arm (4); An attitude information acquisition module is used to acquire attitude information of the first suction cup connecting arm (3) and / or the second suction cup connecting arm (4); GPS, which is used to obtain current geographical location information.

5. A control method for a logistics robot on all-slope terrain, characterized in that, The control method for the logistics robot on all-slope terrain includes: Obtain current geographical location information and images of the surrounding environment; Information about the building to be climbed is obtained based on the current geographical location information and surrounding environment images; Obtain a database of exterior wall information of buildings to be climbed. The database includes at least one preset building to be climbed information and building wall information, with one building wall information corresponding to one preset building to be climbed information. Obtain the wall information of the building to be climbed corresponding to the preset building to be climbed information that is the same as the building to be climbed information; Based on the obtained information about the wall to be climbed, determine whether climbing is possible. If so, then... Control the full-slope terrain logistics robot as described in any one of claims 1 to 4 to perform wall-climbing operations.

6. The control method for a logistics robot on all-slope terrain as described in claim 5, characterized in that, The information about the wall surface to be climbed includes information about the wall material and the wall manufacturing method. Before controlling the all-slope terrain logistics robot as described in any one of claims 1 to 4 to perform wall-climbing operations, the control method for the all-slope terrain logistics robot further includes: Obtain a suction cup strength comparison database, which includes at least one preset suction cup suction range, preset wall material information, and preset wall manufacturing method information. One preset suction cup suction range corresponds to one preset wall material information and one preset wall manufacturing method information. Obtain the same preset wall material information as the wall material information and wall manufacturing method information, as well as the preset suction cup suction range corresponding to a preset wall manufacturing method information; The robot, described in any one of claims 1 to 4, performs wall-climbing operations according to the preset suction cup suction force, so that when the robot performs wall-climbing operations, the suction force generated by the first suction cup on the wall and the suction force generated by the second suction cup on the wall are within the preset suction cup suction force range.

7. The control method for a logistics robot on all-slope terrain as described in claim 6, characterized in that, In the process of controlling the all-slope terrain logistics robot as described in any one of claims 1 to 4 to perform wall-climbing operations, the control method for the all-slope terrain logistics robot further includes: Acquire image information of the forward direction of the logistics robot on a full-slope terrain; Based on the image information, determine whether there is an obstacle; if so, then... Obtain the distance information between the obstacle and the logistics robot on the full slope terrain, as well as the height information of the obstacle; Based on the distance and height information of the obstacle, determine whether it is possible to cross the obstacle. If so, then... Enables logistics robots to perform traversing operations on sloped terrain.

8. The control method for a logistics robot on all-slope terrain as described in claim 7, characterized in that, The process of enabling the logistics robot to perform traversing operations on sloping terrain includes: Control the first suction cup assembly and the second suction cup assembly that are relatively far from the obstacle to rotate around the connection position of the control box and / or control the control box to rotate around the first suction cup assembly and the second suction cup assembly that are relatively close to the obstacle, so that the height of one of the first suction cup assembly or the second suction cup assembly from the wall exceeds the height of the obstacle; The thickness of the obstacle is detected by an infrared distance detection device installed on a first suction cup assembly or a second suction cup assembly whose height exceeds that of the obstacle, thereby obtaining the thickness information of the obstacle. The crossing operation is performed based on the thickness information obtained from the obstacle.

Images