Intelligent mobile distribution robot

Abstract

The intelligent mobile distribution robot comprises a main body and a driving leg assembly, the main body comprises a framework part, a shell, a visual sensor, a laser radar sensor and a storage box arranged in the framework part, the framework part is composed of two partition plates and supporting columns, the two partition plates are symmetrically arranged up and down relative to the storage box, and the supporting columns are connected with the partition plates. The shell is arranged on the surface of the framework part, the visual sensor is arranged at the front end of the shell, the laser radar sensor is arranged at the rear end of the shell, and the visual sensor and the laser radar sensor are electrically connected with the driving leg assembly; the driving leg assemblies are symmetrically arranged on the two outer sides of the main body, the four driving leg assemblies work independently, each driving leg assembly comprises an upper leg part rotationally connected to the main body through a rotating shaft, a lower leg part rotationally connected to the upper leg part through a rotating shaft and a driving wheel part, and the upper leg part and the lower leg part are provided with driving motors; and the lower leg part is also provided with a coding motor for controlling the movable wheel part. The system can replace manual work to execute a distribution task in a complex path.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to an intelligent mobile delivery robot. Background Art

[0002] With the accelerated pace of life, the food delivery industry has developed rapidly and has become an indispensable part of daily life. However, the dramatic increase in delivery orders and the extension of food delivery time have become established facts. Traditional manual delivery has become increasingly difficult to meet the needs of the current food delivery industry.

[0003] However, using robots to deliver orders will face the problem of complex road conditions. When there are uneven surfaces or steps in the delivery route, the robot's delivery efficiency will be affected. Therefore, there is an urgent need for an intelligent mobile delivery robot to replace manual labor to perform delivery tasks in complex road conditions. Utility Model Content

[0004] In view of the deficiencies of the prior art, the utility model proposes an intelligent mobile delivery robot that can perform delivery tasks in complex road conditions.

[0005] The technical solution of the utility model is achieved in this way:

[0006] An intelligent mobile delivery robot comprises a main body and a driving leg assembly, wherein the main body comprises a skeleton, a shell, a visual sensor, a laser radar sensor and a storage box arranged in the skeleton, wherein the skeleton is composed of two partitions arranged symmetrically with respect to the storage box and a support column connecting the partitions, the shell is arranged on the surface of the skeleton, the visual sensor is arranged at the front end of the partition above the skeleton, the laser radar sensor is arranged on the shell, and the visual sensor and the laser radar sensor are both electrically connected to the driving leg assembly;

[0007] The driving leg assemblies are symmetrically arranged on both outer sides of the main body, and the four driving leg assemblies work independently. The driving leg assemblies include an upper leg portion rotatably connected to the main body through a rotating shaft, a lower leg portion rotatably connected to the upper leg portion through a rotating shaft, and a moving wheel portion. The upper leg portion is provided with a driving motor that drives the upper leg portion to swing left and right around the rotating shaft relative to the main body. The lower leg portion is also provided with a driving motor that drives the lower leg portion to swing back and forth around the rotating shaft relative to the upper leg. The lower leg is also provided with an encoding motor that controls the moving wheel portion.

[0008] Preferably, the moving wheel portion includes a Mecanum wheel, a rubber wheel and an omnidirectional wheel.

[0009] Preferably, a solar panel is provided on the surface of the shell.

[0010] Preferably, the visual sensor includes a base and a camera disposed on the base, and the camera is rotatably connected to the base via a rotating shaft to adjust the viewing angle of the camera.

[0011] Preferably, the housing includes a side shell provided on a side surface of the frame portion for sealing and a top shell provided on an upper partition.

[0012] Preferably, the top shell is provided with a plurality of downwardly inclined slopes.

[0013] Preferably, a window is provided on the inclined surface of the top shell at the rear end of the main body.

[0014] Preferably, the window is provided with a movable cover plate, and a handle is installed on the movable cover plate.

[0015] Compared with the prior art, the utility model has the following advantages:

[0016] The utility model identifies and monitors road conditions through visual sensors and laser radar sensors, and adopts a combination of a bionic leg structure including an upper leg and a lower leg and a wheeled structure, so that the delivery robot can complete obstacle avoidance on the path through difficult actions when facing complex road conditions or terrains. In particular, the combination of the upper leg and the lower leg removes the directional restrictions on the robot's leg movement, and the wheeled structure facilitates the robot to complete the climbing of steps or slopes, thereby improving the delivery efficiency of the delivery robot and its adaptability to road conditions and terrains, and can replace manual labor to complete difficult delivery tasks, meeting the current delivery needs of a large number of orders in the takeout industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 This is a structural schematic diagram of an intelligent mobile delivery robot of the utility model;

[0019] Figure 2 for Figure 1 A schematic diagram of the structure from another perspective;

[0020] Figure 3 for Figure 2 Schematic diagram of the state in which the movable cover is opened;

[0021] Figure 4The utility model is a schematic diagram of the structure of the skeleton part of an intelligent mobile delivery robot.

[0022] Figure markings: 1-skeleton part, 11-partition, 12-support column, 2-outer shell, 21-side shell, 22-top shell, 23-inclined surface, 24-window, 25-movable cover, 26-handle, 27-solar panel, 3-visual sensor, 31-base, 32-camera, 4-lidar sensor, 5-storage box, 6-upper leg, 7-lower leg, 8-moving wheel part. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", "fourth", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figures 1 to 4The utility model embodiment discloses an intelligent mobile delivery robot, including a main body and a driving leg assembly, wherein the main body includes a skeleton part 1, a shell 2, a visual sensor 3, a laser radar sensor 4 and a storage box 5 arranged in the skeleton part 1, wherein the skeleton part 1 is composed of two partitions 11 symmetrically arranged up and down relative to the storage box 5 and a support column 12 connecting the partitions 11, the shell 2 is arranged on the surface of the skeleton part 1, the visual sensor 3 is arranged at the front end of the partition 11 above the skeleton part 1, the laser radar sensor 4 is arranged on the shell 2, and the visual sensor 3 and the laser radar sensor 4 are both electrically connected to the driving leg assembly;

[0027] It should be noted that the skeleton portion 1 is composed of a structure of upper and lower partitions 11 and support columns 12. The skeleton-like structure protects the storage box 5 placed in the skeleton portion 1 to prevent the goods or takeout inside the storage box 5 from being damaged by external forces during the delivery process.

[0028] Furthermore, the outer surface of the skeleton part 1 is protected by the outer shell 2 so that the inner cavity of the skeleton part 1 forms a closed space, thereby improving the sealing of the main body to ensure the waterproofness and safety for the delivery of goods or take-out.

[0029] Furthermore, the visual sensor 3 and the lidar sensor 4 are used to obtain the road condition information in the delivery task and the obstacle information around the delivery robot, and the electrical connection between the controller and the driving leg assembly enables the delivery robot to complete the control of difficult movements, thereby enabling the delivery robot to overcome complex terrain and road conditions and efficiently complete mobile delivery tasks.

[0030] The driving leg assemblies are symmetrically arranged on both outer sides of the main body, and the four driving leg assemblies work independently. The driving leg assemblies include an upper leg portion 6 rotatably connected to the main body through a rotating shaft, a lower leg portion 7 rotatably connected to the upper leg portion 6 through a rotating shaft, and a moving wheel portion 8. The upper leg portion 6 is provided with a driving motor for driving the upper leg portion 6 to swing left and right around the rotating shaft relative to the main body. The lower leg portion 7 is also provided with a driving motor for driving the lower leg 7 to swing back and forth around the rotating shaft relative to the upper leg 6. The lower leg 7 is also provided with an encoding motor for controlling the moving wheel portion 8.

[0031] Furthermore, the driving leg assembly, through the combined design of the upper leg 6, the lower leg 7 and the moving wheel 8, can allow the delivery robot to have both the movement capabilities of a wheeled structure and the movement capabilities of a leg structure. When faced with relatively flat road conditions and terrains, the wheeled structure can be used to move quickly, so that the delivery robot can reach a maximum speed of 6.2 m / s. When faced with complex road conditions and terrains (such as steps or tunnels), the delivery robot can use the movement capabilities of the leg structure to perform difficult actions such as climbing and jumping to cross the complex road conditions and terrains. The combination of the wheeled structure and the leg structure can enhance the delivery robot's adaptability to different road conditions and terrains, and improve delivery efficiency while ensuring delivery safety and stability, thereby replacing manual delivery to reduce labor costs and liberate manual labor.

[0032] Furthermore, the combination of the left and right swing of the upper leg 6 and the up and down swing design of the lower leg 7 can ensure that the driving leg assembly can achieve a human bionic motion state. Such leg motion can satisfy the delivery robot to complete various difficult movements required for movement when facing different terrains and road conditions.

[0033] Furthermore, the driving wheel part 8 is controlled by an encoding motor. When it is necessary to simulate leg walking (such as climbing stairs, going downhill, crossing steps and railings, etc.), the driving wheel part 8 can be locked by the encoding motor, so that the driving leg assembly as a whole provides leg movement function. When moving on flat terrain, the restriction of the driving wheel part 8 can be released. Compared with the movement of the leg structure, moving through the wheel structure can avoid tilting of delivered goods or take-out food to the greatest extent, thereby ensuring the stability of delivery. Such a design can provide a reasonable movement method when facing different terrains, thereby improving the movement performance and flexible adaptability of the delivery robot in completing delivery tasks.

[0034] Specifically, the encoder motor can cooperate with the road condition information and terrain information fed back by the visual sensor 3 and the laser radar sensor 4, so as to achieve precise control of the moving wheel part 8 of the wheeled structure, especially including the control of the speed.

[0035] Preferably, the moving wheel portion 8 includes a Mecanum wheel, a rubber wheel and an omnidirectional wheel.

[0036] Preferably, a solar panel 27 is provided on the surface of the shell 2. The solar energy converted by the solar panel 27 is used as a stored energy source and can be provided as a backup energy source to complete the current delivery task when the delivery robot is short of power.

[0037] Preferably, the visual sensor 3 includes a base 31 and a camera 32 arranged on the base 31. The camera 32 is rotatably connected to the base 31 via a rotating shaft to adjust the viewing angle of the camera 32. The rotating shaft structure enables the camera 32 to capture the surrounding terrain and road conditions, thereby providing decision information on path movement and motion status to the controller that controls the driving leg assembly.

[0038] Preferably, the outer shell 2 includes a side shell 21 arranged on the side of the skeleton part 1 for sealing, and a top shell 22 arranged on the upper partition 11. The storage box 5 in the skeleton part 1 is protected by the side shell 21 and the top shell 22, and the side shell 21 and the top shell 22 can be directly disassembled to repair the delivery robot during the maintenance stage.

[0039] Preferably, the top shell 22 is provided with a plurality of downwardly inclined slopes 23, which extend outward to cover the skeleton portion 1, thereby preventing the delivered goods or cargoes from being damaged by objects falling from above, and reducing the impact of accumulated water or snow on the delivery tasks of the delivery robot in severe weather (heavy rain or heavy snow).

[0040] Preferably, the top shell 22 is provided with a window 24 on the inclined surface 23 at the rear end of the main body, and the window 24 is provided with a movable cover 25, and a handle 26 is installed on the movable cover 25. Goods for delivery or take-out delivery can be taken and placed through the window 24, and the window 24 is sealed by the movable cover 25, and the handle 26 can facilitate the user to use force to open or close the movable cover 25, thereby increasing the user experience.

[0041] The utility model discloses an intelligent mobile delivery robot which identifies and monitors road conditions through visual sensors and laser radar sensors, and adopts a combination of a bionic leg structure including an upper leg and a lower leg and a wheeled structure, so that the delivery robot can complete obstacle avoidance on the path through difficult actions when facing complex road conditions or terrains. In particular, the combination of the upper leg and the lower leg removes the directional restrictions on the robot's leg movement, and the wheeled structure facilitates the robot to complete the climbing action of steps or slopes, thereby improving the delivery efficiency of the delivery robot and its adaptability to road conditions and terrains, and can replace manual labor to complete difficult delivery tasks, thus meeting the delivery needs of a large number of orders in the current takeout industry.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent mobile delivery robot, comprising a main body and a driving leg assembly, characterized in that: The main body comprises a skeleton part (1), an outer shell (2), a visual sensor (3), a laser radar sensor (4) and a storage box (5) arranged in the skeleton part (1); the skeleton part (1) is composed of two partitions (11) symmetrically arranged above and below the storage box (5) and a support column (12) connecting the partitions (11); the outer shell (2) is arranged on the surface of the skeleton part (1); the visual sensor (3) is arranged at the front end of the partition (11) above the skeleton part (1); the laser radar sensor (4) is arranged on the outer shell (2); and the visual sensor (3) and the laser radar sensor (4) are both electrically connected to the driving leg assembly; The driving leg assemblies are symmetrically arranged on both outer sides of the main body, and the four driving leg assemblies work independently. The driving leg assemblies include an upper leg part (6) rotatably connected to the main body via a rotating shaft, a lower leg part (7) rotatably connected to the upper leg part (6) via a rotating shaft, and a moving wheel part (8). The upper leg part (6) is provided with a driving motor for driving the upper leg part (6) to swing left and right around the rotating shaft relative to the main body. The lower leg part (7) is also provided with a driving motor for driving the lower leg part (7) to swing forward and backward around the rotating shaft relative to the upper leg part (6). The lower leg part (7) is also provided with an encoding motor for controlling the moving wheel part (8).

2. The intelligent mobile delivery robot according to claim 1, characterized in that: The moving wheel part (8) comprises a Mecanum wheel, a rubber wheel and an omnidirectional wheel.

3. The intelligent mobile delivery robot according to claim 1, characterized in that: A solar panel (27) is arranged on the surface of the housing (2).

4. The intelligent mobile delivery robot according to claim 1, characterized in that: The visual sensor (3) comprises a base (31) and a camera (32) arranged on the base (31); the camera (32) is rotatably connected to the base (31) via a rotating shaft to adjust the viewing angle of the camera (32).

5. The intelligent mobile delivery robot according to claim 1, characterized in that: The housing (2) comprises a side shell (21) arranged on the side of the frame part (1) for sealing, and a top shell (22) arranged on the upper partition (11).

6. The intelligent mobile delivery robot according to claim 5, characterized in that: The top shell (22) is provided with a plurality of downwardly inclined slopes (23).

7. The intelligent mobile delivery robot according to claim 6, characterized in that: The top shell (22) is provided with a window (24) on the inclined surface (23) located at the rear end of the main body.

8. The intelligent mobile delivery robot according to claim 7, characterized in that: The window (24) is provided with a movable cover plate (25), and a handle (26) is installed on the movable cover plate (25).

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