Food delivery robot

Abstract

The present application provides a food delivery robot, comprising: a mobile chassis and a support portion, the mobile chassis comprising a front edge and a rear edge arranged opposite to each other; the support portion vertically extends upward from the front edge, a cornice extending toward the rear is formed on the top of the support portion, and the projection of the free end of the cornice on the mobile chassis is 0 to 20 mm away from the center of the mobile chassis. The food delivery robot provided by the present application limits the length of the cornice extending toward the rear to avoid interference between the cornice and items on the tray.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a food delivery robot. Background Art

[0002] With the development of artificial intelligence technology, robots replacing human labor has gradually become a trend in business and life in today's society. At present, there are two main ways of serving meals in restaurants, fast food restaurants and other catering places. One is that diners pick up the food by themselves, and the other is that waiters deliver the food. Among them, although the first method saves labor costs, the order of picking up the food is easy to be chaotic, which affects the dining experience of diners. Although the second method improves the service quality, it increases labor costs. However, meal serving is not like production and processing, which is a mechanical and repetitive operation. It requires precise delivery to each diner, which is difficult to mechanize. In this case, the meal delivery robot came into being. It can not only replace manual delivery, but also avoid cross infection, which is conducive to improving food hygiene quality.

[0003] Existing food delivery robots generally have the following technical problems:

[0004] (1) The channel performance is poor and the usage scenario requirements are high;

[0005] (2) The lack of advertising is not conducive to the promotion of food. Utility Model Content

[0006] The purpose of this application is to provide a food delivery robot to solve the technical problem that existing food delivery robots are inconvenient to use.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a food delivery robot, comprising:

[0008] A movable chassis, comprising a front side edge and a rear side edge arranged opposite to each other;

[0009] The support portion extends vertically upward from the front edge, and a flying eave extending toward the rear direction is formed on the top of the support portion. The distance between the projection of the free end of the flying eave on the mobile chassis and the center position of the mobile chassis is in the range of 0 to 20 mm.

[0010] Optionally, a protruding emergency stop switch is provided on the side or top surface of the eaves, and the emergency stop switch is connected to a control component of the food delivery robot.

[0011] Optionally, the food delivery robot includes a tray, one end of the tray is fixedly mounted on the support portion, an end of the tray away from the support portion is a free end, and a horizontal plane of the free end of the tray has an open food picking area greater than 270°.

[0012] Optionally, a mounting frame is formed on the free end surface of the eaves, and a return button is arranged in the mounting frame. The pressing surface of the return button is flush with the mounting frame or the pressing surface of the return button is recessed in the mounting frame.

[0013] Optionally, the food delivery robot includes a tray detection unit for detecting the information of the tray on the tray. When the function of the tray detection unit is turned off, the food delivery robot can control the mobile chassis to perform a return action through the command input by the return button.

[0014] Optionally, the food delivery robot further includes a first display screen assembly, and the supporting portion includes a front side surface and a rear side surface that are relatively arranged, the rear side surface is mounted with a tray of the food delivery robot, and the front side surface is mounted with the first display screen assembly.

[0015] Optionally, the food delivery robot also includes a second display screen assembly, which is arranged above the first display screen assembly and connected to the support portion, and the angle between the display interface of the first display screen assembly and the horizontal direction is different from the angle between the human-computer interaction surface of the second display screen assembly and the horizontal direction.

[0016] Optionally, an area of ​​the first display screen assembly is not less than twice an area of ​​the second display screen assembly.

[0017] Optionally, when the food delivery robot rotates along the central axis of the food delivery robot except for the first display screen assembly, it is projected in the horizontal direction to form a rotating projection area, and the projection of the first display screen assembly in the horizontal direction along the central axis of the food delivery robot falls into the rotating projection area.

[0018] Optionally, a visual detection component for detecting obstacles in the horizontal range is provided on the front side of the mobile chassis, and a visual sensor with a field of view angle including a horizontal preset angle and a vertical preset angle is provided on the left side and / or right side of the mobile chassis, and the visual detection component and the visual sensor are both connected to the control component of the food delivery robot.

[0019] Optionally, a top vision sensor is disposed on the front side of the support portion, the top vision sensor is close to the top area of ​​the support portion and the top vision sensor detects downward, and the top vision sensor is connected to the control component of the food delivery robot.

[0020] Optionally, the food delivery robot is projected in a horizontal direction to form a projection area, the length of the projection area at its longest point is 40 to 48 centimeters, and the width of the projection area at its widest point is 35 to 40 centimeters.

[0021] The beneficial effect of the present application is that compared with the prior art, the food delivery robot provided by the present application changes the design of the eaves and limits the length of the eaves extending toward the rear, that is, the distance range between the projection of the free end of the eaves on the mobile chassis and the center position of the mobile chassis is 0 to 20 mm, so as to avoid the inconvenience of placing tall items on the top tray when the length of the eaves extending toward the rear is relatively long, thereby avoiding interference between the eaves and the items on the tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the back structure of the food delivery robot provided in an embodiment of the present application;

[0024] Figure 2 for Figure 1 A partial enlarged view of point C in the middle;

[0025] Figure 3 A schematic diagram of the front structure of the food delivery robot provided in an embodiment of the present application;

[0026] Figure 4 Another front structural schematic diagram of the food delivery robot provided in an embodiment of the present application;

[0027] Figure 5 A side schematic diagram of a food delivery robot provided in an embodiment of the present application;

[0028] Figure 6 A schematic top view of a food delivery robot provided in an embodiment of the present application;

[0029] Figure 7 A schematic diagram of the front side of the food delivery robot provided in an embodiment of the present application;

[0030] Figure 8 A schematic structural diagram of a food delivery robot provided in an embodiment of the present application (in which the first display screen assembly is in an exploded view).

[0031] Among them, the reference numerals in the figure are:

[0032] 1-Food delivery robot;

[0033] 10-mobile chassis; 20-supporting part; 30-eaves; 40-tray; 50-emergency stop switch; 60-return button; 70-first display screen assembly; 80-second display screen assembly; 90-visual detection assembly; 100-visual sensor; 110-top visual sensor; 120-top camera;

[0034] 11- side avoidance groove; 12- installation frame; 13- avoidance groove; 14- support platform;

[0035] 71-display screen; 72-front shell; 73-rear shell;

[0036] 91- radar; 92- camera;

[0037] A-center line; B-free end face. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] The food delivery robot is suitable for delivering food in restaurant scenarios. Since the passages in some restaurants are narrow, the passability of narrow passages is required to be high. In addition, unlike Chinese staple foods, the demand for delivering alcohol and ramen in other countries is higher, and the stability of food delivery is required to be high. Some restaurants also have advertising needs. The present application provides a food delivery robot for more restaurant usage scenarios. The robot includes: a tray for carrying items, a mobile chassis, a function controller for providing user operations, a bottom controller for map generation and path planning, and an element controller for controlling the mobile unit and the environmental detection unit. Optionally, the mobile chassis is provided with a six-wheel structure, a pair of driving wheels and two pairs of driven wheels, the connecting rod damping connects the driving wheels for shock absorption, and the driven wheels are provided with independent damping for shock absorption. The driving wheels are respectively located on one side of the mobile chassis; the element controller controls the travel speed of the driving wheels. Through the shock absorption of the mobile chassis and the speed control of the element controller, when the robot delivers soup, it is ensured that the liquid level movement is no more than 3cm during the start and stop stages.

[0043] Optionally, the robot further includes a voice module, which is electrically connected to the component controller; the component controller issues a voice prompt message at a robot task node.

[0044] The laser radar system can be set in the robot device, and the laser radar system can rotate along the set plane so that the photoelectric receiving array of the laser radar system forms a scanning cylinder. The laser radar system can be set at the slit of the robot shell, so that it is easy to send out laser signals to detect surrounding objects. The above laser radar system includes a photoelectric receiving array and a laser emitting unit array, so that when the laser radar system rotates along the set plane, the photoelectric receiving array can form a scanning cylinder, thereby increasing the scanning area, making it easier to obtain the details of the object shape and avoiding the robot device from colliding with obstacles.

[0045] See also Figure 1-Figure 8 The present embodiment provides a food delivery robot 1, comprising: a mobile chassis 10 and a support portion 20, the mobile chassis 10 comprising a front edge and a rear edge arranged opposite to each other; the support portion 20 extends vertically upward from the front edge, and a flying eave 30 extending toward the rear direction is formed on the top of the support portion 20, and the projection of the free end surface B of the flying eave 30 onto the mobile chassis 10 is in the range of 0 to 20 mm from the center position of the mobile chassis 10.

[0046] See also Figure 1 , Figure 3 and Figure 4 , schematically shows the support part 20, which extends vertically upward from the front edge of the mobile chassis 10, so as to facilitate the miniaturization of the food delivery robot 1. A tray 40 is arranged on the rear side of the support part 20, and the tray 40 is fixed on the support part 20 at intervals in the height direction.

[0047] See also Figure 1 , Figure 3 and Figure 4 , showing the cornice 30. In order to avoid the cornice extending toward the rear side being relatively long, it is inconvenient to place high-sized items on the uppermost tray 40, and the items interfere with the cornice 30. This embodiment provides a design of the cornice 30, which limits the length of the cornice 30 extending toward the rear side, that is, the distance between the projection of the free end surface B of the cornice 30 onto the mobile chassis 10 and the center position of the mobile chassis 10 is limited to 0 to 20 mm. Optionally, the cargo space formed by the top tray and the cornice can accommodate two cup containers with a diameter of 145 mm and a height of 280 mm placed side by side.

[0048] See also Figure 5 , illustrates the center line A of the mobile chassis 10, which passes through the center position of the mobile chassis 10, and also illustrates the distance d between the free end surface B of the cornice and the center line A, and the distance d ranges from 0 to 20 mm. Specifically, the distance between the projection of the free end surface B of the cornice 30 onto the mobile chassis 10 and the center position of the mobile chassis 10 is about 10 mm.

[0049] Since electrical components and the like need to be installed on the cornice 30 , the design of the cornice 30 is not cancelled in consideration of the actual situation. Instead, the size of the cornice 30 is limited to prevent the objects on the tray 40 from interfering with the cornice 30 .

[0050] In addition, it should be noted that regarding the front side and the rear side, see Figure 5 , the right side is the front side of the food delivery robot 1, and the left side is the rear side of the food delivery robot 1. Therefore, the support part 20 is located at the front edge of the mobile chassis 10, the tray 40 is arranged on the rear side of the support part 20, and the cornice 30 extends toward the rear side. The free end surface B of the cornice 30 is the rear side of the cornice 30.

[0051] Specifically, the mobile chassis 10 is used to perform tasks such as moving, turning and stopping. The mobile chassis 10 is a motion chassis customized according to the required size. The mobile chassis 10 can be controlled and operated by a built-in controller or a mobile smart terminal (such as a mobile phone, tablet computer, smart watch, etc.).

[0052] In one embodiment, a protruding emergency stop switch 50 is provided on the side or top surface of the eaves 30 , and the emergency stop switch 50 is connected to the control component of the food delivery robot 1 .

[0053] See also Figure 1, showing the emergency stop switch 50. Usually, the emergency stop switch 50 protrudes from the installation position. Therefore, in order to avoid the emergency stop switch 50 being set on the free end surface of the cornice 30 and interfering with the items on the tray 40, the emergency stop switch 50 is set on the top surface or side surface of the cornice 30. Figure 1 , indicating that the emergency stop switch 50 is arranged on the top surface of the cornice 30. The emergency stop switch 50 is arranged on the cornice 30, so that the operator can press the emergency stop switch 50 in an emergency to stop the food delivery robot 1 in an emergency.

[0054] Specifically, in an emergency, the emergency program loaded in the control component of the food delivery robot 1 is started by pressing the emergency stop switch 50, and then a command is issued to the mobile chassis 10 through the emergency program to control the mobile chassis 10 to stop, thereby preventing direct power failure from causing damage to the control circuit.

[0055] In one embodiment, the food delivery robot 1 includes a tray 40, one end of the tray 40 is fixedly mounted on the support portion 20, the end of the tray 40 away from the support portion 20 is a free end, and the horizontal plane of the free end of the tray 40 has an open food picking area greater than 270°.

[0056] That is, the food delivery robot 1 provided in this embodiment is a unilateral support structure, that is, the tray 40 is supported by a support portion 20, which simplifies the existing bilateral support structure or box-type body (the existing bilateral support structure uses two support portions 20 to support the tray 40), so that the volume can be miniaturized and the open access is more convenient, which facilitates the food delivery robot 1 to be used in catering places with narrow passages. The horizontal plane of the free end of the tray has an open food access area greater than 270°. Optionally, the tray is fixed to the support portion, and each layer of the tray has an open space with an angle of 300°.

[0057] In one embodiment, see Figure 1 , Figure 2 and Figure 6 A mounting frame 12 is formed on the free end surface B of the eaves 30 , and a return button 60 is arranged in the mounting frame 12 . The pressing surface of the return button 60 is flush with the mounting frame 12 or the pressing surface of the return button 60 is recessed in the mounting frame 12 .

[0058] By providing a return button 60 , the function of the food delivery robot 1 is increased. When in use, by pressing the return button 60 , the food delivery robot 1 can return to the food pickup position.

[0059] For ease of operation, the return button 60 can be set on the free end surface B of the cornice 30, but in order to avoid interference between the return button 60 and items on the tray 40 as much as possible, the pressing surface of the return button 60 is set flush with the mounting frame 12 or the pressing surface of the return button 60 is recessed in the mounting frame 12, that is, the return button 60 does not protrude from the mounting frame 12. Adding a top return button improves the working efficiency of the robot.

[0060] For mounting frame 12, see Figure 2 A mounting hole is provided on the eaves 30, and a frame is provided on the circumferential edge of the mounting hole, namely, the mounting frame 12. By forming the mounting frame 12 on the eaves 30, it is convenient to install the return button 60 on the eaves 30.

[0061] In addition, the installation position of the return button 60 is preferably the installation position described in this embodiment, but is not limited to the above embodiment. For example, the return button 60 can also be set on the side or top surface of the cornice 30. The return button 60 is preferably set at the rear end surface of the cornice 30. In this way, when the customer picks up the meal by himself, the machine body faces away from the customer, making it inconvenient for the customer to press the screen. The rear return button 60 is used with a reminder sign to remind the user to press the button to pick up the meal by himself.

[0062] In one embodiment, see Figure 1 , Figure 5 and Figure 6 A top camera 120 is provided on the top surface of the eaves 30 to capture features on the ceiling for auxiliary positioning. The top camera 120 is connected to the control component of the food delivery robot 1. Optionally, the top camera uses a vslam camera to collect feature images of the restaurant ceiling. When the food delivery robot returns to charge to determine the location of the charging pile, it can be positioned through the vslam camera.

[0063] Specifically, the eaves 30 provide sufficient installation positions for the top camera 120 to be installed in a horizontal state, thereby ensuring that the top camera 120 faces upward to obtain the maximum shooting range and an image without deformation. In actual use, the mobile chassis 10 is positioned by the top camera 120 collecting positioning tags arranged in the direction of the ceiling, so that the food delivery robot 1 can walk intelligently on a pre-designed path.

[0064] When the emergency stop switch 50 is disposed on the top surface of the eaves 30, in this embodiment, the emergency stop switch 50 may be disposed on the left or right side of the top camera 120, or on the front or rear side of the top camera 120. Figure 1 , illustrating that the emergency stop switch 50 is set on the left side of the top camera 120.

[0065] In one embodiment, the food delivery robot 1 includes a tray detection unit for detecting the information of the tray on the tray 40. When the function of the tray detection unit is turned off, the food delivery robot 1 can control the mobile chassis 10 to perform a return action through the command input by the return button 60.

[0066] Regarding the meal tray detection unit, it is arranged at the bottom of the upper layer of tray and is used to detect the items on the bearing surface of the adjacent lower layer of tray. The meal tray detection unit detects the meal tray on the tray 40. When the meal tray detection unit is in the function-on state, when the meal tray detection unit detects that there is no meal tray on the tray 40, that is, when the meal tray on the tray 40 is taken away by the customer, the meal tray detection unit transmits the detection information to the control component of the food delivery robot 1, and the control component sends a return command to the mobile chassis 10, and the mobile chassis 10 moves and returns.

[0067] In this embodiment, the priority of the plate detection unit and the return button 60 is designed. Optionally, when the plate detection unit is in the off state, that is, the plate detection unit no longer detects the information of the plate on the tray 40, at this time, the customer presses the return button 60, and after the control component of the food delivery robot 1 receives the information of the return button 60, the control component sends a return command to the mobile chassis 10, and the mobile chassis 10 moves and returns.

[0068] When the meal tray detection unit is turned off, the meal delivery robot 1 can issue a voice reminder after moving to the target meal delivery position. For example, when the customer has taken all the meals on the tray 40, the meal delivery robot 1 can issue a reminder "Please press the return button" to remind the customer to operate the return button 60. At this time, an indicator light can be set on the meal delivery robot 1 to remind the customer of the location of the return button 60, or the meal delivery robot 1 can directly issue a voice reminder to remind the customer of the location of the return button 60. When the meal tray detection unit is not turned off, the meal delivery robot 1 can automatically return when the customer has taken all the meals on the tray 40.

[0069] In one embodiment, see Figure 3 and Figure 4 The food delivery robot 1 also includes a first display screen assembly 70, and the support portion 20 includes a front side and a rear side that are relatively arranged, the rear side is mounted with a tray of the food delivery robot 1, and the front side is mounted with the first display screen assembly 70.

[0070] That is, the first display screen assembly 70 is disposed on the opposite side of the tray 40, and there is more space on the front side of the support portion 20 to facilitate the installation of a display screen with a large area, so that customers can watch the advertising content on the display screen.

[0071] Regarding the first display screen assembly 70, specifically, see Figure 8, including a display screen 71, a front shell 72 and a rear shell 73, the display screen 71 is fixedly connected to the front shell 72 through a colloid (such as 3M glue) on the back, the rear shell 73 is fixedly connected to the support part 20 through bolts, the front shell 72 is connected to the rear shell 73 through a structural slide buckle or buckle, and the front shell 72 and the rear shell 73 are fastened by bolts after being installed in place. Optionally, the installation width of the first display screen assembly is within 400 mm and not greater than the maximum rotation diameter of the whole machine.

[0072] In one embodiment, see Figure 3 and Figure 4 The food delivery robot 1 also includes a second display screen assembly 80, which is arranged above the first display screen assembly 70 and connected to the support portion 20. The angle between the display interface of the first display screen assembly 70 and the horizontal direction is different from the angle between the human-computer interaction surface of the second display screen assembly 80 and the horizontal direction.

[0073] The first display screen assembly 70 is mainly used for advertising, and since the second display screen assembly 80 is arranged above the first display screen assembly 70, its position is convenient for consumers to operate its interface. In addition, according to the different main functions of the two display screens, the first display screen assembly 70 and the second display screen assembly 80 are arranged at different angles to meet the usage needs of consumers.

[0074] Preferably, the angle between the display interface of the first display screen assembly 70 and the horizontal direction is in the range of 80 to 90 degrees, so that customers can easily watch the content displayed on the first display screen assembly 70 .

[0075] Preferably, the human-computer interaction interface of the second display screen assembly 80 faces upward and forms an angle of 30 to 60 degrees with the horizontal direction, preferably an angle of 45 degrees, so that the layout of the touch screen of the second display screen assembly 80 is more ergonomic and facilitates the operator to enter input command operations on the human-computer interaction interface.

[0076] Preferably, according to specific circumstances and needs, the user can fix the second display screen assembly 80 on the support portion 20 for use, or can hold the second display screen assembly 80 for operation, which is beneficial to improving the user experience.

[0077] In one embodiment, the area of ​​the second display screen assembly 80 is not less than twice the area of ​​the second display screen assembly 80. Optionally, the second display screen assembly adopts a 10.1-inch display screen, and the first display screen assembly adopts an 18.5-inch display screen.

[0078] The first display screen assembly 70 is mainly used for advertising. Preferably, the area of ​​the second display screen assembly 80 is larger than the area of ​​the second display screen assembly 80. Due to the installation position of the first display screen assembly 70, it is also possible to design the first display screen assembly 70 into a large-screen display screen.

[0079] According to the overall layout of the food delivery robot 1, the area of ​​the first display screen assembly 70 can be designed to be no less than twice the area of ​​the second display screen assembly 80, so that the first display screen assembly 70 can provide customers with a better display effect.

[0080] In one embodiment, when the food delivery robot 1 rotates along the central axis (center line A) of the food delivery robot 1 except for the first display screen component, it is projected in the horizontal direction to form a rotating projection area, and the projection of the first display screen component in the horizontal direction when it rotates along the central axis (center line A) of the food delivery robot 1 falls into the rotating projection area.

[0081] Since the food delivery robot 1 provided by the present invention is mainly a small robot that can pass through narrow passages, it is best to strictly design the size of the first display screen assembly 70. The size of the first display screen assembly 70 is limited by designing the projection of the first display screen assembly in the horizontal direction rotated along the center line A to fall into the rotation projection area. That is, the size of the first display screen assembly 70 will not affect the food delivery robot 1 from passing through narrow passages.

[0082] In one embodiment, a visual detection component 90 for detecting obstacles in the horizontal range is disposed on the front side of the mobile chassis 10, and a visual sensor 100 having a field of view including a horizontal preset angle and a vertical preset angle is disposed on the left side and / or right side of the mobile chassis 10. Both the visual detection component 90 and the visual sensor 100 are connected to the control component of the food delivery robot 1.

[0083] Regarding the visual detection component 90, in particular, see Figure 7 The visual detection component 90 includes a radar 91 and two cameras 92, wherein the radar 91 and the two cameras 92 are located on the front side of the mobile chassis 10, and the two cameras 92 are located on the left and right sides of the radar 91. In this embodiment, the radar 91 is preferably a photoelectric radar, whose detection surface is exposed to the external environment. The radar 91 can detect obstacles and the two cameras 92 can capture images of obstacles, which is conducive to the mobile chassis 10 to identify and avoid obstacles.

[0084] Specifically, an avoidance groove 13 is opened on the side wall of the mobile chassis 10, the radar 91 is accommodated in the avoidance groove 13, and the two cameras 92 are respectively embedded in the local side walls located at the bottom side of the avoidance groove 13, so that the radar 91 and the two cameras 92 will not protrude from the side wall, thereby avoiding increasing the volume of the mobile chassis 10 and making the appearance of the mobile chassis 10 more beautiful.

[0085] In order to further facilitate the food delivery robot 1 to pass through narrow passages and avoid the possibility of collision, a visual sensor 100 is arranged on the left side and / or right side of the mobile chassis 10 .

[0086] See also Figure 3 and Figure 4 , preferably, the visual sensor 100 is symmetrically arranged on the left and right sides of the mobile chassis 10, and the field of view of the visual sensor 100 includes a preset horizontal angle and a preset vertical angle to better realize the lateral obstacle avoidance function. Optionally, the visual sensor 100 is a depth vision camera, and the depth camera has a horizontal viewing angle of 83.1° and a vertical viewing angle of 56.9°, which collects images of obstacles on the side of the food delivery robot 1, and through the radar 91, two cameras 92 and two depth vision cameras, it is further beneficial for the mobile chassis 10 to identify and avoid obstacles.

[0087] Preferably, see Figure 3 and Figure 4 A side avoidance groove 11 is provided on the rounded circumferential edge of the top of the mobile chassis 10, and the visual sensor 100 is arranged in the side avoidance groove 11, so that the visual sensor 100 does not protrude from the side wall of the mobile chassis 10, thereby avoiding increasing the volume of the mobile chassis 10 and making the appearance of the mobile chassis 10 more beautiful.

[0088] In one embodiment, a top vision sensor 110 is disposed on the front side of the support portion 20 , the top vision sensor 110 is close to the top area of ​​the support portion 20 and the top vision sensor 110 detects toward the lower side, and the top vision sensor 110 is connected to the control component of the food delivery robot 1 .

[0089] The top visual sensor 110 is used to identify obstacles ahead, and cooperates with the visual detection component 90 and the visual sensor 100 to facilitate the mobile chassis 10 to identify and avoid obstacles.

[0090] Preferably, the top vision sensor 110 is a depth vision camera that captures images of obstacles in front of the food delivery robot 1 .

[0091] Specifically, see Figure 4 The support portion 20 is formed with a support platform 14, which is disposed on the back of the second display screen assembly 80, and the second display screen assembly 80 is fixed on the support platform 14. The top visual sensor 110 is disposed on the lower side of the support platform 14, so that the top visual sensor 110 detects downward.

[0092] The mobile chassis is used to support the frame, which has an upper plate and a lower plate. The space formed by the upper plate and the lower plate is used to accommodate the controller, radar, power supply unit, etc. The support part is connected to the front end of the upper plate through a longitudinal support frame. In order to ensure the center of gravity stability of the food delivery robot, the frame is provided with a first rod and a second rod supported between the upper plate and the lower plate. The median line of the distance between the first rod and the second rod is on the rear side of the center line A of the mobile chassis, that is, the first rod and the second rod are located on the side away from the longitudinal support frame.

[0093] In one embodiment, the food delivery robot 1 is projected in the horizontal direction to form a projection area, the length of the projection area at the longest point is 40 to 48 centimeters, and the width of the projection area at the widest point is 35 to 40 centimeters.

[0094] The food delivery robot 1 provided in this embodiment is suitable for use in restaurants with narrow passages. Specifically, the longest length of the projection area can be set to 46 cm, and the widest width of the projection area can be set to 38 cm, so that it can pass through a 49 cm narrow passage. The single-sided food delivery robot is more suitable for narrow passages. The newly added mobile chassis is equipped with an anti-collision function. The depth vision combined sensing module with depth vision on both sides of the front, depth sensors on both sides of the chassis, and depth vision detection on the head of the fuselage facing downward can ensure that the robot can pass through a 49 cm narrow passage to assist in passing through narrow passages. In order to facilitate the taking of high-sized items, the head extension structure is adjusted as a whole to leave enough space for taking and placing while placing the operating key.

[0095] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A food delivery robot, characterized in that: include: A movable chassis, comprising a front side edge and a rear side edge arranged opposite to each other; A support portion extends vertically upward from the front edge, a top of the support portion is formed with an eave extending toward the rear side, and a distance between a projection of a free end of the eave on the mobile chassis and a center position of the mobile chassis is in a range of 0 to 20 mm; The food delivery robot further comprises a first display screen assembly, the support portion comprises a front side surface and a rear side surface which are arranged opposite to each other, the rear side surface is provided with a tray of the food delivery robot, and the front side surface is provided with the first display screen assembly; The food delivery robot also includes a second display screen assembly, which is arranged above the first display screen assembly and connected to the support portion. The angle between the display interface of the first display screen assembly and the horizontal direction is different from the angle between the human-computer interaction surface of the second display screen assembly and the horizontal direction.

2. The food delivery robot according to claim 1, characterized in that: The food delivery robot comprises a tray, one end of which is fixedly mounted on the support portion, an end of the tray away from the support portion is a free end, and a horizontal plane of the free end of the tray has an open food picking area of ​​more than 270°.

3. The food delivery robot according to claim 1, characterized in that: A mounting frame is formed on the free end surface of the flying eaves, and a return button is arranged in the mounting frame. The pressing surface of the return button is flush with the mounting frame or the pressing surface of the return button is recessed in the mounting frame.

4. The food delivery robot according to claim 3, characterized in that: The food delivery robot comprises a tray detection unit for detecting information of a tray on a tray. When the function of the tray detection unit is turned off, the food delivery robot can control the mobile chassis to perform a return action through the instruction input by the return button.

5. The food delivery robot according to claim 1, characterized in that: The area of ​​the first display screen assembly is not less than twice the area of ​​the second display screen assembly.

6. The food delivery robot according to claim 1, characterized in that: When the food delivery robot rotates along the central axis of the food delivery robot except for the first display screen component, a horizontal projection is formed to form a rotating projection area, and the horizontal projection of the first display screen component along the central axis of the food delivery robot falls into the rotating projection area.

7. The food delivery robot according to claim 1, characterized in that: The front side of the mobile chassis is provided with a visual detection component for detecting obstacles in the horizontal range, and the left side and / or right side of the mobile chassis is provided with a visual sensor with a field of view including a preset horizontal angle and a preset vertical angle, and the visual detection component and the visual sensor are both connected to the control component of the food delivery robot; and / or, A top vision sensor is arranged on the front side of the support part, the top vision sensor is close to the top area of ​​the support part and the top vision sensor detects downward, and the top vision sensor is connected to the control component of the food delivery robot.

8. The food delivery robot according to any one of claims 1 to 7, characterized in that: The food delivery robot is projected in a horizontal direction to form a projection area, the longest length of the projection area is 40 to 48 centimeters, and the widest width of the projection area is 35 to 40 centimeters.

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