Composite robot for unmanned delivery and delivery method

Abstract

The invention belongs to the technical field of unmanned delivery, and particularly relates to a composite robot for unmanned delivery. The composite robot comprises a movable chassis, a folding lifting unit is connected to the movable chassis, a control system and a trunk unit are connected to the top of the folding lifting unit, and a head unit and two mechanical arm units are connected to the trunk unit; a laser radar, a chassis depth camera, an inertial measurement unit and a pull pressure sensor are mounted on the movable base, and power wheels and universal wheels are mounted at the bottom of the movable base; the trunk unit is provided with a trunk depth camera; a common camera and a head depth camera are mounted on the head unit; and a five-finger paw is mounted at the tail end of the mechanical arm unit. According to the composite robot for unmanned delivery and the delivery method provided by the invention, automatic identification and delivery of different goods are realized, the delivery efficiency is improved, the long-term labor cost is reduced, the value in the aspects of service standardization and reliability is enhanced, and the effects of cost reduction and gain are achieved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned delivery technology, and specifically relates to a composite robot for unmanned delivery. Background Technology

[0002] Automation and intelligentization have become core driving forces reshaping social production and service models. In the industrial sector, robots are widely replacing manual labor in high-intensity, high-precision manufacturing tasks, significantly improving production efficiency and quality. Simultaneously, the continuous improvement of living standards and rapid social development are propelling robotics technology to gradually penetrate every corner of daily life, giving rise to service robots in education, healthcare, cleaning, and unmanned delivery. Currently, with the continuous rise in labor costs across all industries, companies are introducing various robotic solutions, such as welcoming robots and food delivery robots, to achieve cost reduction and efficiency improvement goals.

[0003] However, in 24-hour convenience stores or pharmacies, the reliance on human staff to meet nighttime operational needs not only faces recruitment difficulties but also incurs additional labor costs. Furthermore, common food delivery robots on the market can only perform simple delivery from the kitchen to the table; the handling and placement of food still require human intervention. Common unmanned delivery robots can only deliver goods of specific shapes, and the handling of these goods also requires manual intervention, failing to meet the demand for delivery of complexly categorized items. In summary, existing unmanned delivery robots have not achieved true full automation, and their labor-saving effect is limited. Summary of the Invention

[0004] In order to solve the above-mentioned problems in the existing technology, the purpose of this invention is to provide a composite robot and delivery method for unmanned delivery, which changes the existing delivery mode in a highly efficient and multi-purpose manner, realizes the automatic identification and delivery of different goods, improves delivery efficiency, reduces long-term labor costs, enhances the value of service standardization and reliability, and achieves the effect of cost reduction and profit increase.

[0005] The technical solution adopted in this invention is as follows: A composite robot for unmanned delivery includes a mobile chassis, a folding lifting unit connected to the mobile chassis, a torso unit connected to the top of the folding lifting unit, and a head unit and two robotic arm units connected to the torso unit. The mobile base is equipped with a lidar, a chassis depth camera, an inertial measurement unit, and tensile and compressive sensors. The bottom of the mobile base is equipped with drive wheels and omnidirectional wheels. The torso unit is equipped with a torso depth camera. The head unit is equipped with a regular camera and a head depth camera. The end of the robotic arm unit is equipped with a five-fingered gripper. It also includes a control system, and the lidar, chassis depth camera, inertial measurement unit, tension and compression sensors, drive wheels, casters, torso depth camera, ordinary camera, head depth camera, folding lifting unit and robotic arm unit are electrically connected to the control system.

[0006] As a preferred embodiment of the present invention, the folding lifting unit includes a lifting thigh left and right swing drive mechanism mounted on a mobile chassis. The output end of the lifting thigh left and right swing drive mechanism is connected to the lifting thigh, the other end of the lifting thigh is connected to the lifting calf, the other end of the lifting calf is connected to the lifting waist left and right swing drive mechanism, the output end of the lifting waist left and right swing drive mechanism is connected to the lifting waist axial rotation mechanism, and the torso unit is connected to the output end of the lifting waist axial rotation mechanism.

[0007] As a preferred embodiment of the present invention, the output end of the lifting thigh left and right swing drive mechanism is equipped with a thigh flexion and extension drive mechanism for driving the lifting thigh to tilt forward and backward.

[0008] As a preferred embodiment of the present invention, a calf flexion and extension drive mechanism for driving the calf to tilt forward and backward is installed at one end of the lifting thigh connected to the lifting calf.

[0009] As a preferred embodiment of the present invention, the torso unit is further equipped with a bass unit and a tweeter unit.

[0010] As a preferred embodiment of the present invention, the robotic arm unit includes a shoulder body, a first upper arm, a second upper arm, a first lower arm, and a second lower arm connected sequentially via a harmonic integrated joint; the shoulder body is mounted on the torso unit via the harmonic integrated joint; a wrist body is rotatably connected to the second lower arm, and a harmonic integrated joint is also mounted on the lower end of the second lower arm; a first gear is mounted on the output end of the harmonic integrated joint; a third gear is connected to the rotating shaft of the wrist body; a second gear meshes between the first gear and the third gear; and the second gear is rotatably connected to the second lower arm; the wrist body is connected to a palm body via the harmonic integrated joint, and the five-fingered claw is connected to the palm body.

[0011] As a preferred embodiment of the present invention, the head unit is further equipped with a microphone array.

[0012] As a preferred embodiment of the present invention, the number of chassis depth cameras is two, and the chassis depth cameras are respectively disposed on both sides of the mobile chassis; the number of tension and compression sensors is three.

[0013] An unmanned delivery method includes the following steps: S1: When using the robot for the first time, the LiDAR creates a map model of the entire environment, while the head depth camera records and saves the specific location information of the items on the shelf in the system. S2: When picking up goods, the robot will go to the corresponding coordinate point to pick up the goods according to the system instructions received: S21: The control system scans the surrounding obstacles using the onboard lidar, inertial measurement unit, and chassis depth camera, and fuses the feedback information to obtain the robot's coordinates and position in the current environment as well as the surrounding obstacles. The control system retrieves the map information stored in the lidar and, together with the obstacle location information fed back by the inertial measurement unit and the chassis depth camera, knows the robot's current coordinates. Then, the path planning module plans a feasible path according to the received system instructions and sends instructions to the drive wheels to make the robot move to the target point. S22: After the mobile chassis reaches the target location, the control system locks the drive wheels and controls the robotic arm unit to move to the vicinity of the target location. The head depth camera performs real-time modeling of the environment to ensure that there are no obstacles on the grasping path. When the robotic arm unit moves to the vicinity of the target location, the head depth camera takes a picture of the target cargo and sends the image back to the control system for comparison. If a match is successful, the next action continues; otherwise, the system is notified to cancel the task. After a successful match, the head depth camera continuously updates the modeling data, and the control system controls the five-fingered gripper to grasp the target cargo. After the robot confirms that it has grasped the target cargo using the head depth camera, the moving robotic arm unit removes the cargo. S23: After confirming the customer, the robot retrieves the map modeling data from the LiDAR, and the chassis depth camera scans the obstacles on the path. The fused data is then fed back to the control system. The robot generates an autonomous movement trajectory and moves to the designated area. The head depth camera scans and models the placement area. After the control system confirms that the placement area has been reached, it moves the robotic arm unit to the designated area and releases its five-finger gripper. Once the goods are placed in the designated area, the robot's handling process is complete.

[0014] As a preferred embodiment of the present invention, in step S21, during operation, multiple chassis depth cameras scan the road conditions in real time, determine whether there are obstacles and issue instructions to enable the control system to control the power wheels to perform obstacle avoidance movement; at the same time, during the robot's movement, the upper center of gravity shifts during acceleration, and multiple tension and compression sensors simultaneously detect the amount of the robot's center of gravity shift and feed the shift back to the control system. The control system then adjusts the robot's center of gravity by adjusting the folding and lifting unit, so that the robot can run smoothly to the work area.

[0015] The beneficial effects of this invention are as follows: This invention integrates an autonomous mobile chassis, a multi-degree-of-freedom robotic arm, a high-precision vision system, and intelligent decision-making algorithms to achieve a closed-loop process of "perception-decision-movement-operation." This invention can not only autonomously navigate to the target location but also use the robotic arm to precisely grasp, deliver, and place items, truly replacing manual labor in the "last mile" delivery and operational tasks. This invention improves operational efficiency, reduces long-term labor costs, and enhances service standardization and reliability, giving it irreplaceable advantages in high-end retail, smart healthcare, and nighttime delivery scenarios. Attached Figure Description

[0016] Figure 1 This is the front view of the present invention; Figure 2 This is the right view of the present invention; Figure 3 This is a partial structural diagram of the present invention; Figure 4 This is the front view of the robotic arm unit; Figure 5 This is the right view of the robotic arm unit.

[0017] In the diagram: 1-Mobile chassis; 2-Folding lifting unit; 3-Tortoise unit; 4-Robotic arm unit; 5-Head unit; 6-Five-finger gripper; 1.1-LiDAR; 1.2-Chassis depth camera; 1.3-Drive wheel; 1.4-Universal wheel; 1.5-Inertial measurement unit; 1.6-Tension / compression sensor; 2.1-Lifting thigh left-right swing drive mechanism; 2.2-Lifting thigh; 2.3-Lifting lower leg; 2.4-Lifting waist left-right swing drive mechanism; 2.5-Lifting... Waist axial rotation mechanism; 3.1- Bass unit; 3.2- Tweeter unit; 3.3- Torso depth camera; 4.1- Shoulder body; 4.2- First upper arm; 4.3- Second upper arm; 4.4- First lower arm; 4.5- Second lower arm; 4.6- Wrist body; 4.7- Hand body; 5.1- Microphone array; 5.2- Ordinary camera; 5.3- Head depth camera; 4.5.1- First gear; 4.5.3- Third gear; 4.5.2- Second gear. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0020] like Figure 1 and Figure 2 As shown, the composite robot for unmanned delivery in this embodiment includes a mobile chassis 1, a folding lifting unit 2 connected to the mobile chassis 1, a torso unit 3 connected to the top of the folding lifting unit 2, and a head unit 5 and two robotic arm units 4 connected to the torso unit 3.

[0021] The mobile base is equipped with a lidar 1.1, two chassis depth cameras 1.2, an inertial measurement unit 1.5, and three tension and compression sensors 1.6. The bottom of the mobile base is equipped with a power wheel 1.3 and a caster wheel 1.4.

[0022] The torso unit 3 is equipped with a torso depth camera 3.3, and also with a bass unit 3.1 and a tweeter unit 3.2.

[0023] The head unit 5 is equipped with a general camera 5.2 and a head depth camera 5.3, and the head unit 5 is also equipped with a microphone array 5.1.

[0024] Specifically, the robotic arm unit 4 includes a shoulder body 4.1, a first upper arm 4.2, a second upper arm 4.3, a first lower arm 4.4, and a second lower arm 4.5 connected sequentially via harmonic integrated joints. The shoulder body 4.1 is mounted on the torso unit 3 via harmonic integrated joints. A wrist body 4.6 is rotatably connected to the second lower arm 4.5, and a harmonic integrated joint is also mounted on the lower end of the second lower arm 4.5. A first gear 4.5.1 is mounted on the output end of the harmonic integrated joint. A third gear 4.5.3 is connected to the pivot of the wrist body 4.6. A second gear 4.5.2 meshes between the first gear 4.5.1 and the third gear 4.5.3, and the second gear 4.5.2 is rotatably connected to the second lower arm 4.5. The wrist body 4.6 is connected to a palm body 4.7 via a harmonic integrated joint, and a five-finger gripper 6 is connected to the palm body 4.7. The robotic arm unit 4 is a seven-axis arm with seven degrees of freedom, allowing for flexible arm movement.

[0025] The folding lifting unit 2 includes a lifting thigh left and right swing drive mechanism 2.1 mounted on the mobile chassis 1. The output end of the lifting thigh left and right swing drive mechanism 2.1 is connected to the lifting thigh 2.2. The other end of the lifting thigh 2.2 is connected to the lifting calf 2.3. The other end of the lifting calf 2.3 is connected to the lifting waist left and right swing drive mechanism 2.4. The output end of the lifting waist left and right swing drive mechanism 2.4 is connected to the lifting waist axial rotation mechanism 2.5. The torso unit 3 is connected to the output end of the lifting waist axial rotation mechanism 2.5.

[0026] The output end of the lifting thigh lateral swing drive mechanism 2.1 is equipped with a thigh flexion and extension drive mechanism for driving the lifting thigh 2.2 to tilt forward and backward. The end of the lifting thigh 2.2 connected to the lifting lower leg 2.3 is equipped with a lower leg flexion and extension drive mechanism for driving the lifting lower leg 2.3 to tilt forward and backward.

[0027] The present invention also includes a control system, and the lidar 1.1, chassis depth camera 1.2, inertial measurement unit 1.5, tension and compression sensor 1.6, drive wheel 1.3, caster wheel 1.4, torso depth camera 3.3, ordinary camera 5.2, head depth camera 5.3, folding lifting unit 2 and robotic arm unit 4 are electrically connected to the control system.

[0028] The unmanned delivery method of this embodiment includes the following steps: S1: When using the robot for the first time, the LiDAR 1.1 creates a map model of the entire environment, while the head depth camera 5.3 records and saves the specific location information of the items on the shelf in the system. S2: When picking up goods, the robot will go to the corresponding coordinate point to pick up the goods according to the system instructions received: S21: The control system scans the surrounding obstacles using the onboard LiDAR 1.1, inertial measurement unit 1.5, and chassis depth camera 1.2, and fuses the feedback information to obtain the robot's coordinates and position in the current environment as well as the surrounding obstacles. The control system retrieves the map information stored in the lidar 1.1, and together with the obstacle position information fed back by the inertial measurement unit 1.5 and the chassis depth camera 1.2, it knows the robot's current coordinates. Then, the path planning module plans a feasible path according to the received system instructions and sends instructions to the drive wheel 1.3 to make the robot move to the target point. During operation, two chassis depth cameras 1.2 scan the road conditions in real time to determine if there are obstacles and issue commands to the control system to control the power wheels 1.3 to perform obstacle avoidance movements. At the same time, during the robot's movement, the upper center of gravity shifts during acceleration. Three tension and compression sensors 1.6 simultaneously detect the amount of the robot's center of gravity shift and feed the shift back to the control system. The control system then adjusts the robot's center of gravity by adjusting the folding lifting unit 2, so that the robot can move smoothly to the work area.

[0029] S22: After the mobile chassis 1 reaches the target position, the control system locks the power wheels 1.3, controls the robotic arm unit 4 to move to the vicinity of the target position, and the head depth camera 5.3 performs real-time modeling of the environment to ensure that there are no obstacles on the grasping path. The robotic arm unit 4 moves to the vicinity of the target position, the head depth camera 5.3 takes pictures of the target goods, and feeds the pictures back to the control system for comparison. If the match is successful, the next action continues; otherwise, it is reported to the control system to cancel the task. After a successful match, the head depth camera 5.3 continuously updates the modeling data, and the control system controls the five-finger gripper 6 to grasp the target goods. After the robot confirms that it has grasped the target cargo through the head depth camera 5.3, the mobile robotic arm unit 4 removes the cargo.

[0030] S23: After confirming the customer, the robot retrieves the map modeling data from the LiDAR 1.1, and the chassis depth camera scans the obstacles on the path, feeding back the fused data to the control system; the robot generates an autonomous movement trajectory and moves to the designated area, the head depth camera 5.3 scans and models the placement area, and after the control system confirms that the placement area has been reached, it moves the robotic arm unit 4 to the designated area and releases the five-finger gripper 6. After the goods are placed in the designated area, the robot's handling process is completed.

[0031] This invention integrates an autonomous mobile chassis 1, a multi-degree-of-freedom robotic arm, a high-precision vision system, and intelligent decision-making algorithms to achieve a closed-loop process of "perception-decision-movement-operation." This invention can not only autonomously navigate to the target location but also use the robotic arm to precisely grasp, deliver, and place items, truly replacing manual labor in the "last mile" delivery and operation tasks. This invention improves operational efficiency, reduces long-term labor costs, and enhances service standardization and reliability, giving it irreplaceable advantages in high-end retail, smart healthcare, and nighttime delivery scenarios.

[0032] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A composite robot for unmanned delivery, characterized by: It comprises a mobile chassis (1), a folding lifting unit (2) connected to the mobile chassis (1), a torso unit (3) connected to the top of the folding lifting unit (2), a head unit (5) and two mechanical arm units (4) connected to the torso unit (3) respectively; The mobile chassis is provided with a laser radar (1.1), a chassis depth camera (1.2), an inertial measurement unit (1.5), and a tension and pressure sensor (1.6), and the bottom of the mobile chassis is provided with a power wheel (1.3) and a universal wheel (1.4); the torso unit (3) is provided with a torso depth camera (3.3); the head unit (5) is provided with a general camera (5.2) and a head depth camera (5.3); the end of the mechanical arm unit (4) is provided with a five-fingered gripper (6). It also comprises a control system, and the laser radar (1.1), the chassis depth camera (1.2), the inertial measurement unit (1.5), the tension and pressure sensor (1.6), the power wheel (1.3), the universal wheel (1.4), the torso depth camera (3.3), the general camera (5.2), the head depth camera (5.3), the folding lifting unit (2), and the mechanical arm unit (4) are electrically connected to the control system respectively.

2. A composite robot for unmanned delivery according to claim 1, characterized in that: The folding lifting unit (2) comprises a lifting thigh left-right swing driving mechanism (2.1) mounted on the mobile chassis (1), an output end of the lifting thigh left-right swing driving mechanism (2.1) is connected with a lifting thigh (2.2), the other end of the lifting thigh (2.2) is connected with a lifting calf (2.3), the other end of the lifting calf (2.3) is connected with a lifting waist left-right swing driving mechanism (2.4), an output end of the lifting waist left-right swing driving mechanism (2.4) is connected with a lifting waist axial rotation mechanism (2.5), and the torso unit (3) is connected to the output end of the lifting waist axial rotation mechanism (2.5).

3. A composite robot for unmanned delivery according to claim 2, characterized in that: The output end of the lifting thigh left-right swing driving mechanism (2.1) is provided with a thigh flexion and extension driving mechanism for driving the lifting thigh (2.2) to tilt forward and backward.

4. The composite robot for unmanned delivery according to claim 2, wherein: The end of the lifting thigh (2.2) connected with the lifting calf (2.3) is provided with a calf flexion and extension driving mechanism for driving the lifting calf (2.3) to tilt forward and backward.

5. The composite robot for unmanned delivery of claim 1, wherein: The torso unit (3) is further provided with a bass unit (3.1) and a treble unit (3.2).

6. The composite robot for unmanned delivery of claim 1, wherein: The mechanical arm unit (4) comprises a shoulder body (4.1), a first upper arm (4.2), a second upper arm (4.3), a first lower arm (4.4) and a second lower arm (4.5) connected in sequence through harmonic integrated joints; the shoulder body (4.1) is installed on the trunk unit (3) through a harmonic integrated joint; a wrist body (4.6) is rotatably connected to the second lower arm (4.5), and a harmonic integrated joint is also installed at the lower end of the second lower arm (4.5); a first gear (4.5.1) is installed at the output end of the harmonic integrated joint; a third gear (4.5.3) is connected to the rotating shaft of the wrist body (4.6); a second gear (4.5.2) is engaged between the first gear (4.5.1) and the third gear (4.5.3), and the second gear (4.5.2) is rotatably connected to the second lower arm (4.5); the wrist body (4.6) is connected to a palm body (4.7) through a harmonic integrated joint, and a five-fingered gripper (6) is connected to the palm body (4.7).

7. The composite robot for unmanned delivery of claim 1, wherein: The head unit (5) is also provided with a microphone array (5.1).

8. The composite robot for unmanned delivery of claim 1, wherein: The number of chassis depth cameras (1.2) is two, and the chassis depth cameras (1.2) are arranged on the two sides of the mobile chassis (1); the number of tension and compression force sensors (1.6) is three.

9. A method for unmanned delivery, using the composite robot for unmanned delivery according to any one of claims 1-8. The method comprises the following steps: S1: When the robot is used for the first time, the laser radar (1.1) models the entire environment, and the head depth camera (5.3) records the specific position information of the goods on the shelf and saves it in the system; S2: When taking goods, the robot goes to the corresponding coordinate point according to the received system instruction: S21: The control system scans the surrounding obstacles according to the carried laser radar (1.1), inertial measurement unit (1.5) and chassis depth camera (1.2), fuses the feedback information, obtains the coordinate position of the robot in the current environment and the existing obstacles around the robot, and then the control system calls the map information built in the laser radar (1.1), and the obstacle position information fed back by the inertial measurement unit (1.5) and the chassis depth camera (1.2) know the current coordinate of the robot, and then the path planning module plans a feasible path according to the received system instruction and sends an instruction to the driving wheel (1.3), so that the robot runs to the target point; S22: After the mobile chassis (1) reaches the target point, the control system locks the driving wheel (1.3), the control system controls the mechanical arm unit (4) to move to the target point, the head depth camera (5.3) models the environment in real time to ensure that the grabbing path is obstacle-free, the mechanical arm unit (4) moves to the target position, the head depth camera (5.3) takes a picture of the target goods and feeds it back to the control system for comparison, and if the matching is successful, the next action is continued, otherwise the control system is reported to cancel the task; after the matching is successful, the head depth camera (5.3) continuously updates the modeling data, and the control system controls the five-fingered gripper (6) to grab the target goods; ​ After the robot confirms that the target goods are grabbed through the head depth camera (5.3), the robot moves the mechanical arm unit (4) to take out the goods; S23: After confirming the customer, the robot calls the map modeling data of the laser radar (1.1), the chassis depth camera scans the obstacles on the path, and feeds the fusion data to the control system; The robot generates a trajectory for autonomous motion and moves to the designated area, the head depth camera (5.3) scans and models the placement area, the control system confirms that it has reached the placement area, and the robot moves the mechanical arm unit (4) to the designated area to release the five-finger gripper (6), and after the goods are placed in the designated area, the robot's carrying process is completed.

10. The method of claim 9, wherein: In step S21, multiple chassis depth cameras (1.2) scan the road conditions in real time during operation, determine whether there are obstacles and issue instructions, so that the control system controls the power wheels (1.3) to avoid obstacles; At the same time, during the movement of the robot, the center of gravity of the upper layer deviates during acceleration, and multiple tension and pressure sensors (1.6) detect the deviation of the center of gravity of the robot at the same time, and feed the deviation to the control system. The control system adjusts the center of gravity of the robot by adjusting the folding lifting unit (2), so that the robot can run smoothly to the working area.

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