Robot sensing mechanism and distribution robot

Abstract

The utility model relates to the field of automatic equipment, in particular to a robot induction mechanism and a distribution robot. The robot sensing mechanism comprises a side stereoscopic vision device; side stereoscopic vision devices are correspondingly arranged on the left side and the right side of a storage platform of the robot. The shooting part of the side stereoscopic vision device is arranged towards the inclined lower part of the outer side of the robot, and the field angle edge of the side stereoscopic vision device of the side stereoscopic vision device is overlapped with the edge area of the storage platform of the next layer. According to the robot sensing mechanism provided by the invention, through reasonable layout of the side stereoscopic vision device, the robot can detect the conditions around the edge of the object placing platform, such as lateral obstacles and objects which are borne on the object placing platform and exceed the size of the object placing platform, so that the motion control of the robot is facilitated; and the running stability and safety of the robot are improved.

Description

Technical Field

[0001] The present application relates to the field of automatic equipment, and in particular to a robot sensing mechanism and a delivery robot. Background Art

[0002] At present, robots are widely used in many fields, especially delivery robots. According to user needs, delivery robots are used in different scenarios, which requires delivery robots to adapt to the complex lighting conditions and road conditions in the actual operating environment to achieve safe transfer or delivery of goods. The sensing mechanism of existing delivery robots is not set reasonably, and cannot accurately identify the robot's surrounding environment, which in turn affects the normal operation of the robot. Utility Model Content

[0003] The purpose of this application is to provide a robot sensing mechanism and a delivery robot to solve the problem of being unable to accurately identify the robot's surrounding environment.

[0004] The present application provides a robot sensing mechanism, including a side stereoscopic vision device;

[0005] The side stereoscopic vision devices are correspondingly arranged on the left and right sides of the storage platform of the robot;

[0006] The shooting part of the side stereoscopic vision device is arranged obliquely downward toward the outside of the robot, and the edge of the field angle of the side stereoscopic vision device of the side stereoscopic vision overlaps with the edge area of ​​the storage platform of the next layer.

[0007] In the above technical solution, further, the shooting part of the side stereoscopic vision device is deflected toward the forward direction of the robot;

[0008] The height of the side stereoscopic vision device to the ground is within 1.0m; the angle between the center line of the cone of vision of the side stereoscopic vision device and the vertical direction is between 30° and 45°;

[0009] The side stereoscopic vision device is arranged on the top storage platform of the robot.

[0010] In the above technical solution, further, the edge area is an area of ​​the storage platform extending 5 mm to 10 mm along the edge toward the center of the storage platform in the left-right direction.

[0011] In the above technical solution, further, it also includes a hand control key;

[0012] The robot is symmetrically provided with hand control keys on the left and right sides, and a body display screen is also provided between the hand control keys on the left and right sides;

[0013] The hand control key is installed at a height between 0.8m and 0.95m above the ground; in the front and rear directions of the robot, the distance between the hand control key and the side stereoscopic vision device is between 0.15m and 0.25m; and the hand control key is located outside the field of view of the side stereoscopic vision device.

[0014] In the above technical solution, further, the storage platform located at the top layer includes a supporting frame;

[0015] Mounting pieces are provided on the left and right sides of the support frame respectively, and the mounting pieces are detachably connected to the support frame;

[0016] The support frame is provided with a reinforcement structure;

[0017] The mounting piece is provided with a mounting socket to fix the side stereoscopic vision device; the mounting socket is arranged obliquely downward toward the outside of the robot, and the front end of the mounting socket is deflected toward the direction close to the robot.

[0018] In the above technical solution, further, the mounting socket is provided with an electrical terminal; a plate recognition camera is also provided on the storage platform; the supporting frame is provided with a wiring groove, and the wiring groove is used to accommodate the electrical connection wires of the plate recognition camera and the electrical connection wires of the side stereoscopic vision, and guide them to the control panel inside the fuselage.

[0019] The present application also provides a delivery robot, comprising the robot sensing mechanism described in the above solution.

[0020] In the above technical solution, further, it also includes a fuselage and a plurality of storage platforms;

[0021] The fuselage comprises a front bracket and a rear bracket which are arranged at intervals, and a plurality of the storage platforms are arranged at intervals along the height direction, and the plurality of the storage platforms are located between the front bracket and the rear bracket;

[0022] The storage platform on the top layer is connected to the front bracket; the remaining storage platforms are connected to the front bracket and the rear bracket;

[0023] The delivery robot is provided with a front stereoscopic vision device at the front side, and the detection range of the front stereoscopic vision device and the side stereoscopic vision device has an overlapping area;

[0024] A three-dimensional coordinate system is established with the projection center of the delivery robot on the ground as the coordinate origin, the left stereoscopic vision device in the side stereoscopic vision device rotates 32° to 34° around the X axis, -2° to -5° around the Y axis, and -8° to -11° around the Z axis, and the right stereoscopic vision device in the side stereoscopic vision device rotates 55° to 58° around the X axis, -2° to -5° around the Y axis, and 8° to 11° around the Z axis;

[0025] The offset of the left stereoscopic vision device in the X axis is 60mm-80mm, the offset in the Y axis is 200mm-210mm, and the offset in the Z axis is 900mm-930mm; the offset of the right stereoscopic vision device in the X axis is 60mm-80mm, the offset in the Y axis is -200mm--210mm, and the offset in the Z axis is 900mm-930mm;

[0026] The delivery robot is provided with a mounting member for mounting a side stereoscopic vision device, and the mounting member is deflected at a corresponding angle and arranged on the supporting frame of the storage platform;

[0027] The mounting piece is a high-strength plastic piece made of nylon and glass fiber, and is fixed to the support frame by screws; the delivery robot is also provided with a sheet metal bracket, and the sheet metal bracket is arranged below the support frame;

[0028] The center of the side stereoscopic vision is in the width direction of the storage platform, and the distance from the edge of the storage platform on the side of the forward direction of the delivery robot is 20% to 25% of the total width of the storage platform;

[0029] The robot is provided with an omnidirectional chassis.

[0030] In the above technical solution, further, the top end of the rear bracket is higher than the preset height of the storage platform of the second layer from top to bottom;

[0031] A plurality of the storage platforms are detachably connected to the fuselage;

[0032] The rear bracket is provided with a fixing piece for connecting with the bottom of the storage platform.

[0033] In the above technical solution, further, the storage platform includes an upper cover and a bottom plate, and the upper cover is buckled on the bottom plate to enclose and form a cavity;

[0034] The cavity is provided with an installation area for placing the light source, and the installation area is close to the edge of the storage platform; the light source is locked to the upper cover by screws;

[0035] The upper cover includes a main body and a light guide part, the main body includes a top plate and a surrounding edge, the surrounding edge is connected to the bottom surface of the top plate, and the surrounding edge is provided with a notch, and the light guide part is embedded and installed in the notch;

[0036] The light guide portion is opposite to the light source component; the light guide portion is welded to the upper cover by ultrasonic wave.

[0037] Compared with the prior art, the beneficial effects of this application are:

[0038] The robot sensing mechanism provided in the present application, by reasonably arranging the side stereo vision device on the storage platform, enables the robot to accurately detect the situation around the edge of the storage platform, such as lateral obstacles and objects carried on the storage platform that exceed the size of the storage platform, that is, more accurate perception facilitates robot motion control and improves the stability and safety of the robot operation.

[0039] The present application also provides a delivery robot, including the robot sensing mechanism described in the above solution. Based on the above analysis, it can be seen that the delivery robot also has the above beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A first structural schematic diagram of the delivery robot provided in this application;

[0042] Figure 2 A second structural schematic diagram of the delivery robot provided in this application;

[0043] Figure 3 A schematic diagram of the assembly structure of the support frame and mounting parts provided for this application;

[0044] Figure 4 A schematic diagram of the internal structure of the storage platform provided for this application;

[0045] Figure 5 for Figure 4 A magnified schematic diagram of center A.

[0046] In the figure: 101-side stereoscopic vision device; 102-storage platform; 103-left-hand touch key; 104-right-hand touch key; 105-body display screen; 106-support frame; 107-installation piece; 108-wiring groove; 109-front bracket; 110-rear bracket; 111-upper cover; 112-edge; 113-light guide; 114-light source; 115-front stereoscopic vision device. DETAILED DESCRIPTION

[0047] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0048] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0049] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 this application can be understood according to specific circumstances.

[0050] Embodiment 1

[0051] See also Figures 1 to 5 As shown, the robot sensing mechanism provided by the present application can be applied to various types of robots, especially delivery robots.

[0052] The robot sensing mechanism includes a side stereo vision device 101, and optionally, the side stereo vision device 101 is a tof stereo vision device. The side stereo vision devices 101 are correspondingly arranged on the left and right sides of the robot's storage platform. The use of the stereo vision device can accurately detect and determine the detected objects, and facilitate more flexible motion control of the robot according to the type and position of the object. The shooting part of the side stereo vision device 101 is arranged obliquely downward toward the outside of the robot, so that the field of view of the side stereo vision covers a larger range of the robot's front environment. The edge of the field of view of the side stereoscopic vision device 101 overlaps with the edge area of ​​the storage platform 102 of the next layer. Through the overlap of the edge areas, the robot can accurately detect the situation around the edge of the storage platform 102, such as lateral obstacles and objects carried on the storage platform 102 that exceed the size of the storage platform 102, which facilitates the robot's motion control, such as avoiding lateral obstacles and controlling the robot's motion according to objects that exceed the size of the storage platform 102, such as reducing the speed and increasing the width requirements for the robot's operating channel, etc., thereby improving the stability and safety of the robot's operation.

[0053] Preferably, the front end of the camera is deflected toward the robot so that the side stereoscopic field of view covers a wider range of the robot's front environment. Figure 1 The angle between the center and Z-axis directions is between 30° and 45°, and the height of the side stereo vision device 101 above the ground is within 1.0m. The side stereo vision device is arranged on the top storage platform of the robot to facilitate the detection of more environmental information on the side of the robot. The installation height and angle can make the overall size of the robot appropriate, facilitate the placement of items on the top floor, and reduce the blind spots of the left and right sides of the robot above 400mm above the ground. Obstacles above 400mm are what the robot needs to focus on identifying and avoiding. Collisions may cause damage to the items carried, thereby further improving the safety of the robot's operation.

[0054] Preferably, the edge area is the area of ​​the storage platform 102 in the left and right directions (for example Figure 1 The edge area is an area extending 5mm to 10mm from the edge to the center of the storage platform 102 (in the Y-axis direction). The edge area is within the above range, which can not only compensate for most of the position deviations caused by manufacturing tolerances or installation deviations, so that the lateral stereoscopic vision device can fully detect both sides of the storage platform, but also facilitates the determination of whether the photographed object is a lateral obstacle or an object on the storage platform 102 based on the overlapping area, and will not occupy too much of the coverage range of the field of view of the lateral stereoscopic vision device 101, reducing the problem of the field of view covering the surrounding environment too small.

[0055] In an optional solution of this embodiment, the robot sensing mechanism further includes a hand control key. The robot is symmetrically provided with hand control keys on both sides, which are installed at a preset height and are outside the field of view of the side stereoscopic vision device 101 .

[0056] In one embodiment, if Figure 1 and Figure 2 As shown, the robot is provided with a body display screen 105, and the body display screen 105 can interact and display information under the control of control instructions and / or information to be input, and the hand control keys located next to the body display screen 105 are used for interaction and information input. The hand control keys specifically include a left-hand touch key 103 and a right-hand touch key 104. When the body display screen 105 faces the user's perspective, the left-hand touch key 103 is arranged on the left side of the body display screen 105, and the right-hand touch key 104 is arranged on the right side of the body display screen 105. The left-hand touch key 103 and the right-hand touch key 104 are symmetrically arranged on both sides of the body display screen 105, and the left-hand touch key 103 and the right-hand touch key 104 have the same structure, both of which are in the shape of a fist-like small hand.

[0057] In order to meet the user's comfort level when touching the hand control key, the hand control key is installed at a height between 0.8m and 0.95m above the ground; in the front and rear directions of the robot, the distance between the hand control key and the side stereoscopic vision device is between 0.15m and 0.25m, that is, the difference in distance between the two from the Y axis is between 0.15m and 0.25m. The hand control key, the body and the head display screen together form a "human-like" shape to increase the sense of interaction. Through the distance and installation height, this embodiment sets the hand control key to be located outside the field of view of the side stereoscopic vision device 101, so that the hand control key will not block the front side viewing angle of the side stereoscopic vision device 101, thereby not affecting the function of detecting obstacles in the forward direction, and ensuring the safety of the robot's movement.

[0058] Optionally, the center of the side stereoscopic vision is along the width direction of the storage platform (consistent with the front-to-back direction of the robot), for example Figure 1 In the X-axis direction, the distance from the edge of the storage platform on the side of the delivery robot's forward direction is 20% to 25% of the total width of the storage platform. The stereo vision is set on the storage platform close to the robot's forward direction to facilitate the stereo vision to detect more obstacles / objects in front of the robot's side.

[0059] The robot sensing mechanism provided in the present application can effectively improve the recognition efficiency and enhance the safety of the robot's movement through the reasonable layout of the side stereoscopic vision device 101 so that the robot's field of view covers a larger area of ​​the front environment, thereby realizing the safe transfer or delivery of items.

[0060] In this embodiment, the edge of the field of view angle of the side stereoscopic vision device 101 is set to overlap with the edge area of ​​the storage platform 102 of the next layer, the purpose of which is to ensure that the ground environment on both sides of the robot can be within the field of view angle of the side stereoscopic vision device 101. If the edge of the field of view angle of the side stereoscopic vision device 101 is set to be tangent to the edge of the storage platform 102 of the next layer, the above purpose can also be achieved in theory, but due to the existence of manufacturing tolerances, the problem of component installation deviation will arise, and the comprehensiveness of the field of view angle coverage cannot be guaranteed. Through the above-mentioned settings, the present application ensures the comprehensiveness of the field of view angle coverage, thereby further improving the safety and reliability of the robot's movement.

[0061] Embodiment 2

[0062] The robot sensing mechanism in the second embodiment is an improvement on the above embodiment, and the technical contents disclosed in the above embodiment will not be described repeatedly, and the contents disclosed in the above embodiment also belong to the contents disclosed in the second embodiment.

[0063] In an optional solution of this embodiment, the storage platform 102 located at the top layer includes a support frame 106, and the support frame 106 is provided with a reinforcement structure to improve the strength. The outer side of the support frame 106 is also covered with a platform shell. Figure 3 and Figure 4 As shown, mounting members 107 are provided on the left and right sides of the support frame 106, and the mounting members 107 are used to fix the side stereoscopic vision device 101. The provision of the support frame 106 can enhance the strength of the storage platform 102, so that the storage platform 102 with the side stereoscopic vision device 101 installed will not be deformed due to excessive load, and the mounting members can be easily fixed.

[0064] Furthermore, the mounting member 107 is detachably connected to the support frame 106. Optionally, the mounting member 107 is connected and fixed to the support frame by screws. The mounting member 107 is specifically a rigid body made of nylon and glass fiber material. The side stereoscopic vision device 101 is connected to the mounting member 107, which can be decoupled from the platform shell to prevent the viewing angle deviation caused by non-rigid deformation.

[0065] More specifically, the mounting member 107 is provided with a mounting socket to fix the side stereoscopic vision device 101, and the side stereoscopic vision device 101 can be further fixed to the mounting socket by screws. The mounting socket is arranged obliquely downward toward the outside of the robot, and the front end of the mounting socket is deflected toward the direction close to the robot. In other words, the mounting socket formed by the mounting member 107 can adapt to the deflection angle of the side stereoscopic vision device 101, so that the field of view of the side stereoscopic vision device 101 after installation can meet the corresponding requirements, and there is no need to deflect the side stereoscopic vision device after installation.

[0066] In an optional solution of this embodiment, the mounting socket is provided with a power terminal; and the supporting frame 106 is provided with a wiring groove 108 .

[0067] In this embodiment, when the side stereoscopic vision device 101 is inserted into the installation socket, the power connection part of the side stereoscopic vision device 101 can be connected to the power connection terminal of the installation socket and energized. A plate recognition camera is also provided on the storage platform. The support frame is provided with a wiring groove, which is used to accommodate the electrical connection wires of the plate recognition camera and the electrical connection wires of the side stereoscopic vision, and guide them to the control board in the fuselage. In other words, the electrical connection wires connected to the power connection terminals and the electrical connection wires of the camera can be wired along the wiring groove 108, so that the side stereoscopic vision device 101 and the camera can be connected to the power supply and controller of the fuselage, thereby realizing the power supply and control of the side stereoscopic vision device 101 and the camera, and through the setting of the wiring groove, the overall thickness of the storage platform can be reduced, and the storage space of the lower storage platform can be increased.

[0068] Embodiment 3

[0069] Embodiment 3 of the present application provides a delivery robot, including the robot sensing mechanism of any of the above embodiments, and thus has all the beneficial technical effects of the robot sensing mechanism of any of the above embodiments, which will not be elaborated here.

[0070] In an optional solution of this embodiment, the delivery robot includes a body and multiple storage platforms 102, and the multiple storage platforms 102 can carry multiple items to increase the cargo capacity of the delivery robot. The body includes a front bracket 109 and a rear bracket 110 arranged at intervals, and the multiple storage platforms 102 are arranged at intervals along the height direction, and the multiple storage platforms 102 are located between the front bracket 109 and the rear bracket 110; wherein, the storage platform 102 on the top layer is only connected to the front bracket 109, and the remaining storage platforms 102 are connected to the front bracket 109 and the rear bracket 110.

[0071] In this embodiment, if Figure 1 and Figure 2 As shown, the figure shows a three-layer storage platform 102, all of which are connected to the front bracket 109, and the lower two-layer storage platforms 102 are also connected to the rear bracket 110. For the square storage platform 102 shown in the figure, only one side of the upper two-layer storage platform 102 is blocked by the front bracket 109, and the other three sides are open. For the upper two-layer storage platform 102 that is used more frequently, such a setting makes it more convenient for users to take and put items on the storage platform 102.

[0072] In an optional solution of this embodiment, the top of the rear bracket 110 is higher than the preset height of the second-level storage platform 102 from top to bottom, thereby enhancing the stability of the robot structure, less obstructing the second-level storage platform 102, and not affecting the placement of items. The protruding structure can also prevent items on the storage platform 102 from slipping, thereby achieving a limiting effect on the items.

[0073] Furthermore, the multiple storage platforms 102 are detachably connected to the body, so that the installation positions of the storage platforms 102 can be adjusted according to the items of different types and sizes, the layer spacing of the storage platforms 102 can be changed, and the delivery application range of the delivery robot can be improved. Specifically, a fixing piece is provided on the rear bracket for connecting with the bottom of the storage platforms of the lower two layers.

[0074] Optionally, a front stereoscopic vision device 115 is provided at the front side of the robot, and the detection ranges of the front stereoscopic vision device 115 and the side stereoscopic vision device 101 have an overlapping area to reduce blind spots in the robot's surroundings.

[0075] like Figure 1 As shown, a three-dimensional coordinate system is established with the projection center of the robot on the ground as the coordinate origin, wherein the positive direction of the X-axis is the forward direction of the robot, the positive direction of the Y-axis is the left direction of the robot, and the positive direction of the Z-axis is the height direction of the robot. The installation angle of the lateral stereoscopic vision device can be explained according to the installation process of the lateral stereoscopic vision device 101, as shown in the following example: First, the lateral stereoscopic vision device 101 is placed at the coordinate origin of the three-dimensional coordinate system, and the shooting part of the lateral stereoscopic vision device 101 faces the ground. Then, the lateral stereoscopic vision device 101 is rotated to change the direction of the shooting part. Finally, the lateral stereoscopic vision device 101 is moved from the coordinate origin to the installation position.

[0076] For example, when installing the stereoscopic vision device on the left side of the robot, the side stereoscopic vision device 101 can be rotated 32° to 34° around the X axis, -2° to -5° around the Y axis, and -8° to -11° around the Z axis, and then moved to the right left installation position of the robot. When installing the stereoscopic vision devices on the left and right sides of the robot, the side stereoscopic vision device 101 can be rotated 55° to 58° around the X axis, -2° to -5° around the Y axis, and 8° to 11° around the Z axis, and then moved to the right installation position of the robot.

[0077] Optionally, the offset of the left stereo vision device in the X axis is 60mm-80mm, the offset in the Y axis is 200mm-210mm, and the offset in the Z axis is 900mm-930mm; the offset of the right stereo vision device in the X axis is 60mm-80mm, the offset in the Y axis is -200mm--210mm, and the offset in the Z axis is 900mm-930mm. This offset distance enables the stereo vision devices on the left and right sides to be located at the bottom of the storage platform on this layer, which is not easy to be contaminated, and can capture more of the robot's side and front, thereby increasing the effective detection range and facilitating the placement of items on the current layer and the lower layer storage platform.

[0078] The delivery robot is provided with a mounting piece for mounting a side stereoscopic vision device, and the mounting piece is deflected at a corresponding angle and arranged on the supporting frame of the storage platform;

[0079] The mounting parts are high-strength plastic parts made of nylon and glass fiber, fixed to the support frame by screws; the delivery robot is also equipped with sheet metal brackets, which are located below the support frame; each layer of the robot's storage platform is equipped with sheet metal brackets, but the top layer of the storage platform is equipped with a support frame to facilitate the decoupling of the lateral stereoscopic vision device from the shell, as well as the installation and fixation of the lateral stereoscopic vision device, and facilitate the routing of wires through the wiring groove. The sheet metal bracket can enhance the rigidity of the robot's storage platform and enhance the stability of the storage.

[0080] The center of the side stereo vision is along the width direction of the storage platform, and the distance from the edge of the storage platform on the side of the delivery robot's forward direction is 20% to 25% of the total width of the storage platform. The stereo vision is set on the storage platform close to the robot's forward direction to facilitate the stereo vision to detect more obstacles / objects in front of the robot's side.

[0081] The robot is equipped with an omnidirectional chassis to achieve omnidirectional movement. In conjunction with the lateral stereoscopic vision device, on the one hand, the robot can detect side obstacles during forward and backward movement, and on the other hand, when the robot is crab-walking, it can achieve a certain obstacle detection function in the forward direction, thereby improving the safety and flexibility of the robot's omnidirectional movement.

[0082] In an optional solution of this embodiment, the storage platform 102 includes an upper cover 111 and a bottom plate, and the upper cover 111 is buckled on the bottom plate to enclose and form a cavity. The bottom plate of each storage platform 102 is provided with a camera to capture the information of the items carried by the lower storage platform 102, and the connection line of the camera can be routed through the cavity. For the storage platform 102 with the side stereoscopic vision device 101 installed on the top layer, the support frame 106 can also be set in the cavity.

[0083] Furthermore, a light strip is also provided at the edge of the storage platform 102, which can display the outline of the storage platform 102, so that the delivery robot can also play a striking identification role in a dimly lit environment. The upper cover 111 includes a main body and a light guide portion 113, the light guide portion 113 is connected to the main body, and the light guide portion 113 is opposite to the light source 114. Specifically, a mounting groove is provided at the edge of the upper cover 111 to form an installation area for the light source 114, and the light source 114 can be fastened to the upper cover 111 by screws. The main body of the upper cover 111 includes a top plate and a surrounding edge 112, the surrounding edge 112 is connected to the bottom surface of the top plate, and the surrounding edge 112 is provided with a defective portion, and the light guide portion 113 can be embedded and installed in the defective portion to form a complete upper cover 111 structure, thereby ensuring the consistency of the appearance. Optionally, the light guide portion 113 can be ultrasonically welded to the upper cover 111 made of plastic material.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In addition, a person skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means being within the scope of the present application and forming different embodiments.

Claims

1. A robot sensing mechanism, characterized in that: including a side stereoscopic vision device; The side stereoscopic vision devices are correspondingly arranged on the left and right sides of the storage platform of the robot; The shooting part of the side stereoscopic vision device is arranged obliquely downward toward the outside of the robot, and the edge of the field angle of the side stereoscopic vision device of the side stereoscopic vision overlaps with the edge area of ​​the storage platform of the next layer.

2. The robot sensing mechanism according to claim 1, characterized in that: The photographing part of the side stereoscopic vision device is deflected toward the forward direction of the robot; The height of the side stereoscopic vision device to the ground is within 1.0m; the angle between the center line of the cone of vision of the side stereoscopic vision device and the vertical direction is between 30° and 45°; The side stereoscopic vision device is arranged on the top storage platform of the robot.

3. The robot sensing mechanism according to claim 1, characterized in that: The edge area is an area of ​​the storage platform extending 5 mm to 10 mm along the edge toward the center of the storage platform in the left-right direction.

4. The robot sensing mechanism according to claim 2, characterized in that: Also includes hand control keys; The robot is symmetrically provided with hand control keys on the left and right sides, and a body display screen is also provided between the hand control keys on the left and right sides; The hand control key is installed at a height between 0.8m and 0.95m above the ground; in the front and rear directions of the robot, the distance between the hand control key and the side stereoscopic vision device is between 0.15m and 0.25m; and the hand control key is located outside the field of view of the side stereoscopic vision device.

5. The robot sensing mechanism according to claim 2, characterized in that: The storage platform located on the top floor includes a supporting frame; Mounting pieces are provided on the left and right sides of the support frame respectively, and the mounting pieces are detachably connected to the support frame; The support frame is provided with a reinforcement structure; The mounting piece is provided with a mounting socket to fix the side stereoscopic vision device; the mounting socket is arranged obliquely downward toward the outside of the robot, and the front end of the mounting socket is deflected toward the direction close to the robot.

6. The robot sensing mechanism according to claim 5, characterized in that: The mounting socket is provided with an electrical terminal; a plate recognition camera is also provided on the storage platform; the support frame is provided with a wiring groove, which is used to accommodate the electrical connection wires of the plate recognition camera and the electrical connection wires of the side stereoscopic vision, and guide them to the control panel inside the fuselage.

7. A delivery robot, characterized in that: Comprising a robot sensing mechanism as claimed in any one of claims 1 to 6.

8. The delivery robot according to claim 7, characterized in that: It also includes the fuselage and multiple storage platforms; The fuselage comprises a front bracket and a rear bracket which are arranged at intervals, and a plurality of the storage platforms are arranged at intervals along the height direction, and the plurality of the storage platforms are located between the front bracket and the rear bracket; The storage platform on the top layer is connected to the front bracket; The rest of the storage platforms are connected to the front bracket and the rear bracket; The delivery robot is provided with a front stereoscopic vision device at the front side, and the detection range of the front stereoscopic vision device and the side stereoscopic vision device has an overlapping area; A three-dimensional coordinate system is established with the projection center of the delivery robot on the ground as the coordinate origin, the left stereoscopic vision device in the side stereoscopic vision device rotates 32° to 34° around the X axis, -2° to -5° around the Y axis, and -8° to -11° around the Z axis, and the right stereoscopic vision device in the side stereoscopic vision device rotates 55° to 58° around the X axis, -2° to -5° around the Y axis, and 8° to 11° around the Z axis; The offset of the left stereoscopic vision device in the X axis is 60mm-80mm, the offset in the Y axis is 200mm-210mm, and the offset in the Z axis is 900mm-930mm; the offset of the right stereoscopic vision device in the X axis is 60mm-80mm, the offset in the Y axis is -200mm--210mm, and the offset in the Z axis is 900mm-930mm; The delivery robot is provided with a mounting member for mounting a side stereoscopic vision device, and the mounting member is deflected at a corresponding angle and arranged on the supporting frame of the storage platform; The mounting piece is a high-strength plastic piece made of nylon and glass fiber, and is fixed to the support frame by screws; the delivery robot is also provided with a sheet metal bracket, and the sheet metal bracket is arranged below the support frame; The center of the side stereoscopic vision is in the width direction of the storage platform, and the distance from the edge of the storage platform on the side of the forward direction of the delivery robot is 20% to 25% of the total width of the storage platform; The robot is provided with an omnidirectional chassis.

9. The delivery robot according to claim 8, characterized in that: The top end of the rear support is higher than the preset height of the second storage platform from top to bottom; A plurality of the storage platforms are detachably connected to the fuselage; The rear bracket is provided with a fixing piece for connecting with the bottom of the storage platform.

10. The delivery robot according to claim 8, characterized in that: The storage platform comprises an upper cover and a bottom plate, wherein the upper cover is buckled on the bottom plate to enclose and form a cavity; The cavity is provided with an installation area for placing the light source, and the installation area is close to the edge of the storage platform; the light source is locked to the upper cover by screws; The upper cover includes a main body and a light guide part, the main body includes a top plate and a surrounding edge, the surrounding edge is connected to the bottom surface of the top plate, and the surrounding edge is provided with a notch, and the light guide part is embedded and installed in the notch; The light guide portion is opposite to the light source component; the light guide portion is welded to the upper cover by ultrasonic wave.

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