Robot

Abstract

The utility model is suitable for the technical field of meal delivery robots, and provides a robot. The robot includes: a body; the tray part is arranged on the machine body, and a containing area is arranged on the upper portion of the tray part and used for containing objects; the infrared detection part is arranged on the machine body, the infrared detection part comprises an infrared emitting part, an infrared receiving part and a shielding part, the emitting end of the infrared emitting part faces the containing area, and the receiving end of the infrared receiving part faces the containing area; the transparent cover plate is arranged outside the infrared detection part in a covering manner; the shielding part is arranged between the transparent cover plate and the infrared emission part, a light through hole is formed in the shielding part, the light through hole extends towards the containing area, and the infrared emission part is located in the light through hole. The shielding part and the light through hole in the shielding part can accurately guide the light rays emitted by the infrared emission part to the containing area, and the influence of the light rays diffusely reflected by the transparent cover plate on the detection result is reduced to the maximum extent.

Description

Technical Field

[0001] The present application belongs to the technical field of food delivery robots, and more specifically, to a robot. Background Art

[0002] At present, food delivery robots have been widely used. The food delivery robot uses laser radar positioning and navigation, and is equipped with sensor detection equipment such as depth cameras and ultrasonic sensors. Through clean route planning, autonomous navigation, fusion obstacle avoidance and other algorithm technologies, after the food tray placed on the robot tray is delivered to the designated location, the robot can judge whether the food tray on the tray is taken away or placed by judging the parameter changes of the infrared sensor installed on the fuselage, and automatically execute the next step without the need for personnel to operate the physical or virtual buttons on the robot body. However, there are some urgent problems to be solved in the actual use of existing food delivery robots. The light emitted by the infrared transmitter in the infrared detection system is easily reflected back by the transparent cover. The reflected light is basically unnecessary. This reflection phenomenon will interfere with the detection of the infrared receiver, resulting in deviations in the detection results. In particular, when some transparent covers with irregular inner walls are used, the reflection situation is more complicated, which seriously affects the accuracy of the detection of items on the tray. This may not only cause the food delivery robot to misjudge the items and affect the normal food delivery service process, but also may cause a series of subsequent problems, such as delivering the wrong food. In actual scenarios, this inaccuracy will reduce the user experience and may even affect the quality and efficiency of the entire catering service. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a robot, aiming to solve the technical problem of inaccurate detection at the tray of the food delivery robot in the prior art.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present application, a robot is provided, the robot comprising: a body; a tray portion, the tray portion is arranged on the body, the upper portion of the tray portion has a holding area for holding items; an infrared detection portion, the infrared detection portion is arranged on the body, the infrared detection portion comprises an infrared emitting portion, an infrared receiving portion and a shielding portion, the emitting end of the infrared emitting portion faces the holding area, and is used to emit infrared light to the items held in the holding area, and the receiving end of the infrared receiving portion faces the holding area, and is used to receive infrared light reflected from the items held in the holding area; a transparent cover plate, the transparent cover plate is arranged on the outside of the infrared detection portion; the shielding portion is arranged between the transparent cover plate and the infrared emitting portion, a light through hole is arranged in the shielding portion, the light through hole extends in a direction from the infrared emitting portion to the holding area, and the infrared emitting portion is located in the light through hole.

[0005] Optionally, the first end of the shielding portion abuts against the infrared detection portion, and the second end of the shielding portion abuts against the inner side wall of the transparent cover plate.

[0006] Optionally, the transparent cover plate is a curved cover plate, which is curved and raised toward the outside of the machine body, forming a concave arc on the inner wall of the transparent cover plate and a convex arc on the outer wall of the transparent cover plate.

[0007] Optionally, the infrared detection unit includes multiple infrared emitting units, multiple infrared receiving units, and multiple shielding units, the positions of the multiple infrared emitting units correspond one-to-one to the positions of the multiple infrared receiving units, and the positions of the multiple shielding units correspond one-to-one to the positions of the multiple infrared emitting units.

[0008] Optionally, the shielding portion is made of elastic material.

[0009] Optionally, the infrared detection unit includes a control board, the control board is mounted on the machine body, the control board is bent along its length direction, and the plurality of infrared emitting units are arranged at intervals along the length direction of the control board.

[0010] Optionally, there are multiple tray parts and multiple infrared detection parts, and the multiple tray parts and the multiple infrared detection parts are arranged in a one-to-one correspondence.

[0011] Optionally, the robot further includes a display portion and a front shell, the display portion is mounted on a side of the body away from the tray portion, and the front shell is mounted on a side of the body away from the tray portion and covers the display portion.

[0012] Optionally, the display unit includes a display screen, and the robot further includes a supporting unit, the supporting unit is mounted on the body, the display screen is mounted on the supporting unit, and a clearance opening is provided on the front shell, and a position of the clearance opening corresponds to the display screen.

[0013] Optionally, the supporting part includes an upper supporting frame and a lower supporting frame, the upper supporting frame is connected to the upper part of the display screen, and the lower supporting frame is connected to the lower part of the display screen; a first shock absorbing part is arranged between the upper supporting frame and the upper part of the display screen, and a second shock absorbing part is arranged between the lower supporting frame and the lower part of the display screen; a clamping part is arranged inside the front shell, and the clamping part extends along the circumference of the display screen and is used to clamp the edge of the display screen, and a third shock absorbing part is arranged between the edge of the display screen and the clamping part.

[0014] The beneficial effect of the robot provided by the present application is that: compared with the prior art, the present application can effectively prevent the light emitted by the infrared emitting part from being refracted and diffusely reflected by the transparent cover plate and interfering with the detection of the infrared receiving part by setting a shielding part. In practical applications, especially when some transparent cover plates with irregular inner walls are used, this refraction and diffuse reflection interference is particularly prominent. If there is no shielding part to block, the refracted and diffusely reflected light may cause the infrared receiving part to receive an erroneous signal, resulting in inaccurate detection results. The shielding part and its internal light holes can accurately guide the light emitted by the infrared emitting part to the holding area, minimizing the influence of the light diffusely reflected by the transparent cover plate on the detection results. In this way, the precision and accuracy of the detection are greatly improved, so that the robot can obtain reliable detection results in various complex environments, including when using a transparent cover plate with an irregular inner wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 An exploded schematic diagram of a robot provided in an embodiment of the present application;

[0017] Figure 2 for Figure 1 A magnified schematic diagram of the middle A area;

[0018] Figure 3 A schematic diagram of the structure of the robot provided in the embodiment of the present application;

[0019] Figure 4 A schematic diagram of a front view of a robot provided in an embodiment of the present application;

[0020] Figure 5 for Figure 4 Schematic cross-sectional view at AA in the middle;

[0021] Figure 6 for Figure 4 A schematic cross-sectional view of the middle BB;

[0022] Figure 7 for Figure 6 Schematic diagram of the enlarged area I in the middle.

[0023] The reference numerals in the above drawings are as follows:

[0024] 10. Body; 20. Tray part; 30. Infrared detection part; 31. Infrared transmitting part; 32. Infrared receiving part; 33. Shielding part; 331. Light hole; 34. Control board; 40. Transparent cover; 51. Display screen; 60. Front shell; 71. Upper support frame; 72. Lower support frame; 81. First shock absorbing part; 82. Second shock absorbing part; 83. Third shock absorbing part; 84. Longitudinal shock absorbing part; 85. Fourth shock absorbing part; 90. Metal steel frame; 91. Protective screen; 92. Fixing plate. DETAILED DESCRIPTION

[0025] 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.

[0026] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may 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 may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] 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.

[0028] 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.

[0029] As described in the background technology, at present, food delivery robots have been widely used. The food delivery robot uses laser radar positioning and navigation, and is equipped with sensor detection equipment such as depth cameras and ultrasonic sensors. Through clean route planning, autonomous navigation, fusion obstacle avoidance and other algorithm technologies, after the food tray placed on the robot tray is delivered to the designated location, the robot can judge whether the food tray on the tray is taken away or placed by judging the parameter changes of the infrared sensor installed on the fuselage, and automatically execute the next step without the need for personnel to operate the physical or virtual buttons on the robot body. However, there are some urgent problems to be solved in the actual use of the existing food delivery robot. The light emitted by the infrared transmitting part of the infrared detection system is easily reflected back by the transparent cover. The reflected light is basically unnecessary. This reflection phenomenon will interfere with the detection of the infrared receiving part, resulting in deviations in the detection results. In particular, when some transparent covers with irregular inner walls are used, the reflection situation is more complicated, which seriously affects the accuracy of the detection of items on the tray. This may not only cause the food delivery robot to misjudge the items and affect the normal food delivery service process, but also may cause a series of subsequent problems, such as delivering the wrong food. In actual scenarios, this inaccuracy will reduce the user experience and may even affect the quality and efficiency of the entire catering service.

[0030] See also Figures 1 to 7As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides a robot, the robot includes a body 10, a tray portion 20, an infrared detection portion 30 and a transparent cover plate 40, the tray portion 20 is arranged on the body 10, the upper portion of the tray portion 20 has a holding area for holding items, the infrared detection portion 30 is arranged on the body 10, the infrared detection portion 30 includes an infrared emitting portion 31, an infrared receiving portion 32 and a shielding portion 33, the emitting end of the infrared emitting portion 31 faces the holding area, and is used to emit infrared light to the items in the holding area, the receiving end of the infrared receiving portion 32 faces the holding area, and is used to receive infrared light reflected from the items in the holding area; the transparent cover plate 40 is covered on the outside of the infrared detection portion 30; the shielding portion 33 is arranged between the transparent cover plate 40 and the infrared emitting portion 31, a light-through hole is arranged in the shielding portion 33, the light-through hole extends in a direction from the infrared emitting portion to the holding area, and the infrared emitting portion 31 is located in the light-through hole. Among them, the body 10 is the main structural part of the robot, and other parts are attached or installed on the body 10. The tray part 20 is a part used to carry and place items. The holding area is a specific area on the tray part 20 specifically used to hold items. The infrared detection part 30 is a device for performing infrared detection functions. The transparent cover plate 40 is a covering plate made of a transparent material, which plays a role of protection and a certain degree of isolation. At the same time, it is set to be transparent to help the infrared detection part 30 emit infrared to the items on the tray and receive infrared emitted back from the items. The shielding part 33 is a part that blocks light in a specific direction. The light hole is a hole-like structure that allows light to pass through.

[0031] The tray part 20 of the robot provided in the embodiment of the present application and the setting of its holding area provide a stable and convenient placement space for the items, thereby effectively realizing the robot's carrying and transporting functions for various items, so that it can adapt to a variety of item handling scenarios. The combination of the infrared emitting part 31 and the infrared receiving part 32 in the infrared detection part 30 can perform extremely accurate detection of the items in the holding area. For example, it can accurately determine whether the item exists in the holding area, as well as key information such as the specific location of the item, which greatly improves the robot's perception ability and processing accuracy of the item state. The presence of the transparent cover 40 not only provides good protection for the infrared detection part 30, but also does not hinder the transmission of the infrared signal, ensuring that the detection function can be continuously and stably operated. It is particularly worth emphasizing the important role of the shielding part 33. The shielding part 33 can effectively prevent the light emitted by the infrared emitting part 31 from being refracted and diffusely reflected by the transparent cover 40 and interfering with the detection of the infrared receiving part 32. In practical applications, especially when some transparent cover plates 40 with irregular inner walls are used, this refraction and diffuse reflection interference is particularly prominent. Without the shielding part 33, the refracted and diffusely reflected light may cause the infrared receiving part 32 to receive an erroneous signal, thus resulting in inaccurate detection results. The shielding part 33 and its internal light holes can accurately guide the light emitted by the infrared emitting part 31 to the containing area, while minimizing the impact of the light diffusely reflected by the transparent cover plate 40 on the detection results. In this way, the precision and accuracy of the detection are greatly improved, so that the robot can obtain reliable detection results in various complex environments, including when using a transparent cover plate 40 with an irregular inner wall.

[0032] The first end of the shielding part 33 in the embodiment of the present application is against the infrared detection part 30, and the second end of the shielding part 33 is against the inner wall of the transparent cover plate 40. On the one hand, by the two ends of the shielding part 33 being against the infrared detection part 30 and the transparent cover plate 40 respectively, the directional guidance effect of the light of the infrared emitting part 31 is further enhanced, ensuring that the light can be more accurately emitted to the holding area through the light hole, thereby improving the accuracy and reliability of infrared detection. For example, in actual operation, it can prevent the light from scattering in other directions, so that the detection results are more focused on the items in the holding area. On the other hand, the tightly abutted structure helps to reduce the possibility of external stray light entering the infrared detection part 30 and reduce the influence of interference factors on the detection. It is like in a closed channel, only light in a specific direction is allowed to pass through, which improves the purity of the detection. When some situations where the external ambient light changes greatly are adopted, the stable environment inside the infrared detection part 30 can be better maintained to ensure the normal operation of the infrared detection function. For example, in a strong light environment, the state of the items in the holding area can still be accurately detected. At the same time, the abutment against the inner wall of the transparent cover 40 also enhances the structural stability of the entire device. During the operation of the robot, even if it encounters vibration or slight collision, the position of the shielding part 33 can be guaranteed to be stable, thereby ensuring the continuity and accuracy of infrared detection.

[0033] See also Figure 1 and Figure 2 As shown, in order to make the whole present a unique and smooth visual form, the transparent cover plate 40 in the embodiment of the present application is a curved cover plate, which is bent and raised toward the outside of the body 10, forming a concave curvature on the inner wall of the transparent cover plate 40, and forming a convex curvature on the outer wall of the transparent cover plate 40. In particular, the external structure of the body 10 can be designed as a convex structure, which is consistent with the curved convex curvature of the curved cover plate, so that the shape of the outward curvature increases the overall three-dimensional sense and dynamic sense, making the appearance of the robot more attractive and artistic. It should be pointed out that, in the case of not setting the shielding portion 33 of the present application, the concave curvature of the inner wall tends to aggravate the range of diffuse reflection, and by setting the shielding portion 33 in the present application, no matter what the structural shape of the transparent cover plate 40 is, it will not affect the operation of the infrared detection unit 30, so that the shape of the transparent cover plate 40 can be designed more flexibly.

[0034] The infrared detection unit 30 in the embodiment of the present application includes a plurality of infrared emitting units 31, a plurality of infrared receiving units 32, and a plurality of shielding units 33. The positions of the plurality of infrared emitting units 31 correspond to the positions of the plurality of infrared receiving units 32 one by one, and the positions of the plurality of shielding units 33 correspond to the positions of the plurality of infrared emitting units 31 one by one. By setting a plurality of infrared emitting units 31, an infrared receiving unit 32 and a corresponding shielding unit 33, a more precise and comprehensive infrared signal coverage is achieved. The plurality of infrared emitting units 31 can emit infrared signals from different angles and positions, and cooperate with the corresponding infrared receiving units 32 to construct a dense and blind-angle-free infrared detection network, ensuring that the infrared signal can evenly and comprehensively cover the tray area, and even the edges and corners of the tray, which were prone to detection blind spots in the past, can be effectively monitored. In this way, accurate identification can be achieved for small-volume dinner plates, and there will be no missed detection due to the small size of the dinner plates and being in a certain specific position. The arrangement of multiple shielding parts 33 corresponding to the infrared emitting parts 31 further optimizes the emission path and range of the infrared signal, effectively avoids interference and confusion between signals, and makes infrared detection more accurate and reliable. The sensitivity and resolution of the entire infrared detection system are improved, and the subtle changes in the tray area can be accurately captured. Whether a small-volume dinner plate is placed or moved, it can be detected in time and accurately identified and responded to, greatly improving the efficiency and accuracy of infrared detection.

[0035] The shielding part 33 in the embodiment of the present application is made of elastic material. The shielding part 33 made of elastic material has good buffering performance. When it is impacted or collided by external force, it can play a buffering role, reduce damage to related components such as the infrared emitting part 31 and the infrared receiving part 32, and improve the stability and durability of the entire system. The elasticity enables the shielding part 33 to better adapt to different installation environments and working conditions. Even if there is a certain degree of dimensional deviation or inaccurate installation, it can be compensated by its own elastic deformation to ensure the normal operation of the infrared detection system. In daily use, the shielding part 33 of elastic material generates a pre-tightening force through elastic force, which can reduce loosening or displacement caused by factors such as vibration, maintain the accuracy and stability of its position, and thus continue to effectively play a shielding role. Among them, the elastic material can be elastic foam or rubber.

[0036] The infrared detection unit 30 in the embodiment of the present application includes a control board 34, which is mounted on the body 10, and the control board 34 is bent along its length direction, and multiple infrared emitting units 31 are arranged at intervals along the length direction of the control board 34. The control board 34 can better fit the shape of the above-mentioned body 10 and the transparent cover 40, improve the stability and compactness of the installation, and reduce the waste of space. The bending of the control board 34 along the length direction increases the uniqueness and adaptability of its structure. Multiple infrared emitting units 31 are arranged at intervals along the length direction of the control board 34, so that the infrared signal is evenly distributed in a larger range. This helps to cover the detection area more comprehensively, avoid the occurrence of detection blind spots, and improve the accuracy and reliability of the detection. The curved control board 34 cooperates with the infrared emitting units 31 arranged at intervals, so that the infrared signal can be emitted at a more reasonable angle and density, enhancing the effect of infrared detection. The number and intervals of the infrared emitting units 31 can be flexibly adjusted according to actual needs to meet the requirements for detection accuracy and range in different scenarios.

[0037] See also Figure 3 As shown, the tray part 20 and the infrared detection part 30 in the embodiment of the present application are both multiple, and the multiple tray parts 20 are set one by one with the multiple infrared detection parts 30. The above settings make the operation of the entire system more efficient and flexible. Each pallet has a corresponding infrared detection part 30, which ensures that each tray of goods can be accurately monitored and identified during transportation, effectively avoiding confusion and errors. Multiple pallets can transport multiple trays at a time, greatly improving the throughput and efficiency of transportation, and meeting the needs of large-scale rapid circulation of goods. The one-to-one corresponding infrared detection part 30 can obtain the status information of each pallet in real time, such as location, cargo integrity, etc., which provides reliable guarantee for the simultaneous transportation of multiple trays, and timely discovers any abnormal situation and handles it accordingly. During the multi-tray transportation process, the transportation between different pallets can be carried out synchronously, reducing waiting time and improving the fluency of the overall operation. At the same time, the independent detection of each pallet also facilitates refined management and scheduling, and personalized arrangements are made according to the characteristics and needs of different pallets.

[0038] The robot in the embodiment of the present application also includes a display unit and a front shell 60. The display unit is installed on the side of the body 10 away from the tray unit 20, and the front shell 60 is installed on the side of the body 10 away from the tray unit 20 and covers the display unit. The display unit, as an information display window, can clearly and intuitively convey a variety of rich and important information to the user. Specifically, it can accurately display the detailed information of the dishes carried by the robot, such as the name of the dish, the composition of the ingredients, the cooking method, etc., so that the user has a clear reference when choosing the dish, and improves the ordering experience; it can also scroll to display advertising information, such as special dish recommendations, preferential activities, etc., to attract the user's attention and promote consumption; at the same time, it can also present interactive information in real time, such as user operation feedback, interactive communication content with the user, etc., to further enhance the closeness and fun of human-computer interaction. The front shell 60 is covered on the display unit, which can prevent the display unit from being damaged by external collisions, scratches, etc., ensure the safety and stability of the display unit, and extend its service life.

[0039] The display unit is installed on the side of the body 10 away from the tray unit 20, so that the user can easily and clearly view the displayed information from a specific angle, which improves the convenience and intuitiveness of human-computer interaction. The front shell 60 can play a certain role in dustproof and waterproof, reduce the impact of external environmental factors on the display unit, and ensure that its normal display function is not disturbed.

[0040] Specifically, the display unit in the embodiment of the present application includes a display screen 51, and the robot also includes a support unit, the support unit is mounted on the body 10, the display screen 51 is mounted on the support unit, and a clearance port is provided on the front shell 60, and the position of the clearance port corresponds to the display screen 51. The display screen 51 included in the display unit is installed on the body 10 through the support unit, which ensures the stability and reliability of the installation of the display screen 51, so that it can stably present various information during the working process, and reduce the impact of shaking or displacement on the display effect. The support unit provides strong support and fixation for the display screen 51, ensures the normal working posture of the display screen 51, and makes the information display clearer and more accurate. The clearance port corresponding to the display screen 51 provided on the front shell 60 ensures that the display screen 51 can be normally exposed without being blocked, so that the user can obtain the information on the display screen 51 without hindrance. By providing a protective screen 91 at the clearance port, the display screen 51 can be protected to a certain extent, and external objects are prevented from directly colliding with the display screen 51. The protective screen 91 and the front shell 60 are bonded together by a dispensing process. Among them, the display screen 51 can be a 21.5-inch super large display screen 51.

[0041] The support part of the embodiment of the present application includes an upper support frame 71 and a lower support frame 72, wherein the upper support frame 71 is connected to the upper part of the display screen 51, and the lower support frame 72 is connected to the lower part of the display screen 51; a first shock absorbing part 81 is arranged between the upper support frame 71 and the upper part of the display screen 51, and a second shock absorbing part 82 is arranged between the lower support frame 72 and the lower part of the display screen 51; a clamping part is arranged inside the front shell 60, and the clamping part extends along the circumference of the display screen 51, and is used to clamp the edge of the display screen 51, and a third shock absorbing part 83 is arranged between the edge of the display screen 51 and the clamping part. The upper support frame 71 and the lower support frame 72 are respectively connected to the upper part and the lower part of the display screen 51 for the support part, so that the display screen 51 is fixed more firmly and the force is evenly applied, which can effectively prevent the display screen 51 from shaking or shifting when the robot moves or is slightly impacted by the outside world, thereby ensuring the stability of the display. The first shock absorbing part 81 disposed between the upper part of the display screen 51 and the upper support frame 71 and the second shock absorbing part 82 disposed between the lower part of the display screen 51 and the lower support frame 72 can significantly reduce the vibration and impact force transmitted from the body 10 or the external environment to the display screen 51, protect the display screen 51 from physical damage, extend its service life, and ensure that the displayed content is always clear and stable, and will not appear blurry or flicker due to vibration. The internal clamping part of the front shell 60 extends along the circumference of the display screen 51 and clamps the edge of the display screen 51, further enhancing the stability of the installation of the display screen 51, making its position more fixed and less prone to loosening or misalignment. The third shock absorbing part 83 between the edge of the display screen 51 and the clamping part can play a buffering role when a strong vibration or impact occurs, reduce the potential risk of damage to the edge of the display screen 51, and ensure the sealing.

[0042] A metal bracket is provided on the body 10 to provide a stable installation foundation for the upper and lower support frames 72, thereby ensuring the stability of the entire display structure. The upper support frame 71 and the lower support frame 72 are fixed to the metal steel frame 90 by screws, and the connection method is firm and reliable, which can ensure that the display screen 51 can maintain a stable position under various working conditions and will not easily shake or shift.

[0043] Shock-absorbing foam is used as the first shock-absorbing part 81 and the second shock-absorbing part 82, and a fourth shock-absorbing part 85 is also installed between the display screen 51 and the upper and lower support frames 72 and the metal steel frame 90, which greatly enhances the shock-absorbing effect on the display screen 51. The fourth shock-absorbing part 85 can also be made of shock-absorbing foam. When the robot is running or encountering external vibrations, these shock-absorbing foams can effectively absorb and buffer the impact force, prevent the display screen 51 from being damaged by vibration, and effectively extend the service life of the display screen 51. At the same time, a clear and stable display effect is always maintained, and there will be no problems such as image blur or flickering due to vibration. The clamping part, i.e., the reinforcing rib position, set inside the front shell 60 can accurately embed the display screen 51, further ensuring the accuracy and stability of the installation of the display screen 51. The third shock absorbing part 83 is pasted on the reinforcing ribs and the inner side periphery of the display screen 51. The third shock absorbing part 83 includes long and short dustproof foams. A longitudinal shock absorbing part 84 is arranged between the third shock absorbing part 83 and the display screen 51, which not only plays a good sealing and dustproof role to prevent dust from entering the screen and affecting the display effect, but also has a shock absorbing function to protect the edge of the display screen 51 when it is subjected to vibration and shock, reducing the risk of damage. The longitudinal shock absorbing part 84 can be made of shock absorbing foam, wherein the shock absorbing foam in this application is connected to the outside by bonding.

[0044] In a specific embodiment, the food delivery robot has four trays, each of which is provided with an infrared detection unit 30, the control board 34 has a thickness of 0.6 mm, the control board 34 is mounted on a fixed plate 92, and the fixed plate 92 is mounted on the body 10. The control board 34 can be in an arc state after installation according to the shape of the fixed plate 92. There are five groups of infrared emitting units 31 (emitting infrared lamp beads) and infrared receiving units 32 (receiving infrared lamp beads) on each control board 34. The single emission and receiving angles of the infrared lamp beads are both 20°, and the signals emitted by the five groups can just cover the holding area on the tray surface. In order to improve the recognition accuracy of the dinner plate on the tray, a shielding part 33 is used on each group of infrared emitting lamp beads, that is, a shielding foam (length × width × height: 9.5mm × 9.5mm × 11.5mm) with a φ7 through hole in the middle, that is, a light hole 331. The emitting lamp beads are put into the hole. One end of the shielding foam is backed with glue and glued to the control board 34. The other end is assembled and compressed, and its top surface can be completely fitted with the inner wall of the transparent cover 40. The transparent cover 40 is made of special PC material, the light-transmitting surface is required to be a mirror surface, the thickness is 1mm and the transmittance at a wavelength of 940nm is greater than 89%. Increasing the infrared transmittance can reduce the interference of the signal after the infrared diffuse reflection.

[0045] In summary, the robot provided by this embodiment has at least the following beneficial technical effects:

[0046] The shielding part can effectively prevent the light emitted by the infrared emitting part from being refracted and diffusely reflected by the transparent cover plate, thereby interfering with the detection of the infrared receiving part. In practical applications, this refraction and diffuse reflection interference is particularly prominent, especially when some transparent cover plates with irregular inner walls are used. If there is no shielding part to block it, the refracted and diffusely reflected light may cause the infrared receiving part to receive an erroneous signal, resulting in inaccurate detection results. The shielding part and its internal light holes can accurately guide the light emitted by the infrared emitting part to the holding area, while minimizing the impact of the light diffusely reflected by the transparent cover plate on the detection results. In this way, the precision and accuracy of the detection are greatly improved, so that the robot can obtain reliable detection results in various complex environments, including when using transparent cover plates with irregular inner walls.

[0047] The above are only preferred embodiments of the present application and are 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 robot, characterized in that: The robot comprises: Body; A tray portion, the tray portion is arranged on the machine body, and the upper portion of the tray portion has a holding area for holding articles; An infrared detection unit, the infrared detection unit is arranged on the body, and the infrared detection unit includes an infrared emitting unit, an infrared receiving unit and a shielding unit, the emitting end of the infrared emitting unit faces the containing area, and is used to emit infrared light to the contained items in the containing area; the receiving end of the infrared receiving unit faces the containing area, and is used to receive infrared light reflected from the contained items in the containing area; A transparent cover plate, the transparent cover plate is arranged to cover the outside of the infrared detection part; The shielding portion is arranged between the transparent cover plate and the infrared emitting portion, a light through hole is arranged in the shielding portion, the light through hole extends in a direction from the infrared emitting portion to the containing area, and the infrared emitting portion is located in the light through hole.

2. The robot according to claim 1, characterized in that: The first end of the shielding portion abuts against the infrared detection portion, and the second end of the shielding portion abuts against the inner side wall of the transparent cover plate.

3. The robot according to claim 2, characterized in that: The transparent cover plate is a curved cover plate, which is curved and raised toward the outside of the body, forming a concave arc on the inner side wall of the transparent cover plate and a convex arc on the outer side wall of the transparent cover plate.

4. The robot according to claim 1, characterized in that: The infrared detection unit includes multiple infrared emitting units, multiple infrared receiving units, and multiple shielding units. The positions of the multiple infrared emitting units correspond one-to-one to the positions of the multiple infrared receiving units, and the positions of the multiple shielding units correspond one-to-one to the positions of the multiple infrared emitting units.

5. The robot according to claim 1, characterized in that: The shielding portion is made of elastic material.

6. The robot according to claim 4, characterized in that: The infrared detection unit comprises a control board, the control board is mounted on the machine body, the control board is bent along the length direction thereof, and a plurality of the infrared emitting units are arranged at intervals along the length direction of the control board.

7. The robot according to claim 3, characterized in that: There are multiple tray parts and multiple infrared detection parts, and the multiple tray parts and the multiple infrared detection parts are arranged in a one-to-one correspondence.

8. The robot according to claim 1, characterized in that: The robot further comprises a display part and a front shell. The display part is mounted on a side of the body away from the tray part. The front shell is mounted on a side of the body away from the tray part and covers the display part.

9. The robot according to claim 8, characterized in that: The display unit includes a display screen, and the robot also includes a support unit, the support unit is mounted on the body, the display screen is mounted on the support unit, and a clearance opening is provided on the front shell, the position of the clearance opening corresponds to the display screen.

10. The robot according to claim 9, characterized in that: The support part includes an upper support frame and a lower support frame, wherein the upper support frame is connected to the upper part of the display screen, and the lower support frame is connected to the lower part of the display screen; a first shock absorbing part is arranged between the upper support frame and the upper part of the display screen, and a second shock absorbing part is arranged between the lower support frame and the lower part of the display screen; A clamping portion is arranged inside the front shell, and the clamping portion extends along the circumference of the display screen and is used to clamp the edge of the display screen. A third shock absorbing portion is arranged between the edge of the display screen and the clamping portion.

Images