Machine body control system of distribution robot

Abstract

The utility model discloses a machine body control system of a distribution robot. The machine body control system comprises an upper controller, a first control panel, a cabinet door motor, a cabinet lamp, an exhaust fan and an ultraviolet lamp, the upper controller is electrically connected with the first control panel, the first control panel is electrically connected with the cabinet door motor and the cabinet lamp, the cabinet door motor is used for driving a cabinet door to be opened or closed, and the cabinet lamp is used for being arranged on a storage space of a cabinet of the distribution robot to play a lighting role; the upper controller is electrically connected with the exhaust fan and the ultraviolet lamp, the exhaust fan is used for being arranged on a storage space of a cabinet of the distribution robot to achieve an exhaust effect, and the ultraviolet lamp is used for being arranged on the storage space of the cabinet of the distribution robot to achieve a disinfection effect. The exhaust fan is added, so that the problems of peculiar smell and moisture in the storage space are effectively solved, the storage environment is improved, and the disinfection function of the ultraviolet lamp is introduced, so that the sanitation safety is improved, and the public health risk is reduced.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to a body control system of a delivery robot. Background Art

[0002] Delivery robots are robotic systems designed specifically for automated delivery and distribution. Integrating advanced navigation technology, sensors, cameras, and LiDAR, they can autonomously navigate indoor and outdoor environments, accurately delivering goods to designated locations. They are widely used in the retail, e-commerce, and logistics industries to improve the efficiency and accuracy of express delivery.

[0003] After searching, Chinese patent CN206643937U discloses an intelligent delivery robot, including a shell with multiple independent storage cabinets inside, a first controller, a power supply, a pickup control mechanism and a robot walking mechanism fixed to the bottom of the shell, the first controller controls the robot walking mechanism to move to the address of the delivery person; the pickup control mechanism also includes: a second controller, an information input module and a cabinet door controller; the second controller is used to send verification information to the delivery person; the information input module is used to receive the verification information to be matched and send it to the second controller; the second controller is connected to the cabinet door controller, when the second controller sends an open signal to the cabinet door controller, the cabinet door of the delivery person's item storage cabinet opens; when the cabinet door of the delivery person's item storage cabinet is closed, the cabinet door controller sends a close signal to the second controller, the second controller sends the close signal to the first controller, and the first controller controls the intelligent delivery robot to perform the next delivery service; the first controller also has a wireless communication module, which can be connected to the background server via wireless communication.

[0004] Existing intelligent delivery robots only have the function of opening and closing cabinet doors, and are insufficient in environmental management of storage spaces. After long-term use, certain odors or moisture may accumulate. Utility Model Content

[0005] To this end, it is necessary to provide a body control system for a delivery robot to solve the problem that existing intelligent delivery robots only have the function of opening and closing cabinet doors, have deficiencies in environmental management of storage spaces, and may accumulate certain odors or moisture after long-term use.

[0006] To achieve the above-mentioned object, the present embodiment provides a body control system of a delivery robot, comprising: an upper-mounted controller, a first control board, a cabinet door motor, a cabinet light, an exhaust fan, and an ultraviolet lamp;

[0007] The upper controller is electrically connected to the first control board, and the first control board is electrically connected to the cabinet door motor and the cabinet light respectively. The cabinet door motor is used to drive the cabinet door to open or close, and the cabinet light is used to be installed in the storage space of the cabinet of the delivery robot to provide lighting.

[0008] The upper controller is electrically connected to the exhaust fan and the ultraviolet lamp respectively. The exhaust fan is used to be installed in the storage space of the cabinet of the delivery robot to perform an exhaust function, and the ultraviolet lamp is used to be installed in the storage space of the cabinet of the delivery robot to perform a disinfection function.

[0009] Furthermore, the delivery robot has a main body, a storage space is formed inside the main body, and at least one cabinet door for opening and closing the storage space is hinged on the front of the main body.

[0010] Furthermore, there are one, two, three or four cabinet doors, and one cabinet door corresponds to one cabinet door motor.

[0011] Furthermore, the two cabinet doors that are symmetrically arranged on the left and right are opened synchronously under the drive of the two cabinet door motors, and the time difference in reaching the designated position is less than or equal to 10ms.

[0012] Furthermore, it also includes a cabinet door position switch, which is divided into a cabinet door open position switch and a cabinet door close position switch;

[0013] The cabinet door fully opened switch is electrically connected to the first control board, and the cabinet door fully opened switch is used to be arranged on the storage space of the cabinet of the delivery robot, and is used to detect whether the cabinet door is fully opened;

[0014] The cabinet door fully closed switch is electrically connected to the first control board, and the cabinet door fully closed switch is used to be arranged on the storage space of the cabinet of the delivery robot, and is used to detect whether the cabinet door is fully closed;

[0015] Among them, one cabinet door corresponds to one cabinet door open position switch and one cabinet door closed position switch.

[0016] Furthermore, it also includes a partition in place switch;

[0017] The partition in place switch is electrically connected to the first control panel. The partition in place switch is used to be arranged on the storage space of the cabinet of the delivery robot to detect whether the liftable shelf in the storage space is in place.

[0018] Furthermore, the shelf extends laterally along the main body to separate the storage space into upper and lower areas, and the shelf is provided with the cabinet light, the upper controller, the partition position switch, the ultraviolet lamp and the first control panel.

[0019] Furthermore, it also includes a second control board, a swing arm motor and a head motor;

[0020] The upper body controller is electrically connected to the second control board;

[0021] The second control board is electrically connected to the swing arm motor and the head motor respectively. The swing arm motor is used to drive the swing arm of the service robot to rotate, and the head motor is used to drive the head of the service robot to rotate.

[0022] Furthermore, it also includes a swing arm in place switch and a head in place switch;

[0023] The swing arm in-position switch is electrically connected to the second control board and is used to detect whether the swing arm is rotated into position;

[0024] The head in-position switch is electrically connected to the second control board and is used to detect whether the head has been rotated into position.

[0025] Furthermore, it also includes an atmosphere light, which is electrically connected to the upper body controller.

[0026] Different from the existing technology, the above technical solution has the following technical effects:

[0027] By integrating diversified functional modules, the delivery robot's body control system not only improves the delivery robot's flexibility and practicality in actual applications, but also significantly improves the environment and sanitary conditions of the storage space, providing strong guarantees for the overall quality and efficiency of delivery services.

[0028] When the cabinet door of the storage space needs to be opened or closed, the upper controller receives the corresponding instruction and sends a control signal to the cabinet door motor through the first control board to drive the cabinet door motor to perform the opening or closing action.

[0029] When lighting is needed, the upper controller receives the instruction and sends a control signal to the cabinet light through the first control board, so that the cabinet light lights up, providing sufficient lighting for the storage space, making it easier for operators to take and place items, and improving the convenience and efficiency of operation.

[0030] When there is odor or moisture in the storage space, the upper controller starts the exhaust fan according to the preset conditions or the instructions received to exhaust the air in the storage space. The addition of the exhaust fan effectively solves the problem of odor and moisture in the storage space, improves the storage environment, and extends the service life of the items in the storage space.

[0031] When the storage space needs to be disinfected, the upper controller starts the ultraviolet lamp after receiving the instruction, and disinfects the storage space to kill bacteria or viruses. The introduction of the ultraviolet lamp disinfection function improves hygiene and safety and reduces public health risks.

[0032] The above-mentioned records related to the content of the utility model are only an overview of the technical solution of this application. In order to enable ordinary technicians in this field to understand the technical solution of this application more clearly, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purposes and other purposes, features and advantages of this application easier to understand, the following is an explanation in combination with the specific implementation methods and drawings of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of this application and other related contents, and are not to be considered as limiting this application.

[0034] Figure 1 This is a connection diagram of the fuselage control system in this embodiment;

[0035] Figure 2 This is a schematic diagram of the robot body opening the cabinet door in this embodiment;

[0036] Figure 3 for Figure 2 Schematic diagram of the liftable shelf;

[0037] Figure 4 is a front view of the robot in this embodiment;

[0038] Figure 5 is a side view of the robot in this embodiment;

[0039] Figure 6 This is the cabinet door opening control logic diagram in this embodiment;

[0040] Figure 7 This is the cabinet door closing control logic diagram in this embodiment;

[0041] Figure 8 This is one of the circuit diagrams of the fuselage control system in this embodiment;

[0042] Figure 9 This is the second circuit diagram of the fuselage control system in this embodiment;

[0043] Figure 10 This is the third circuit diagram of the fuselage control system in this embodiment;

[0044] Figure 11 This is the fourth circuit diagram of the fuselage control system in this embodiment.

[0045] Description of reference numerals:

[0046] 1. Exhaust fan;

[0047] 2. Ambient lighting;

[0048] 3. Ultraviolet lamp;

[0049] 4. First control panel;

[0050] 5. Cabinet door motor;

[0051] 6. Cabinet lights;

[0052] 7. Install the controller;

[0053] 8. Cabinet door in place switch;

[0054] 9. Arm swing;

[0055] 10. Head;

[0056] 11. Cabinet door;

[0057] 12. FICM;

[0058] 13. Laminates;

[0059] 14. Second control panel;

[0060] 15. Head motor;

[0061] 16. Swing arm motor;

[0062] 17. Shelf in place switch;

[0063] 18. Swing arm in place switch;

[0064] 19. Head position switch. DETAILED DESCRIPTION

[0065] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0066] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0067] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0068] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0069] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0070] Without further limitations, in this application, the words "include", "comprise", "have" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product that includes the elements, so that the process, method or product that includes a series of elements may include not only those defined elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method or product.

[0071] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0072] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0073] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected", "fixed", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a direct connection, or an indirect connection through an intermediate medium; it can be a relationship in which two components are combined together, or an interaction relationship between two components, or a communication between two structures. For those skilled in the art of the present application, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0074] See also Figures 1 to 7 , this embodiment provides a body control system of a delivery robot, including: an upper controller 7, a first control board 4, a cabinet door motor 5, a cabinet light 6, an exhaust fan 1 and an ultraviolet lamp 3;

[0075] The upper controller 7 is electrically connected to the first control board 4, and the first control board 4 is electrically connected to the cabinet door motor 5 and the cabinet light 6 respectively. The cabinet door motor 5 is used to drive the cabinet door 11 to open or close, and the cabinet light 6 is used to be provided on the storage space of the cabinet of the delivery robot to provide lighting.

[0076] The upper controller 7 is electrically connected to the exhaust fan 1 and the ultraviolet lamp 3 respectively. The exhaust fan 1 is used to be installed in the storage space of the cabinet of the delivery robot to play an exhaust role, and the ultraviolet lamp 3 is used to be installed in the storage space of the cabinet of the delivery robot to play a disinfection role.

[0077] By integrating diversified functional modules, the delivery robot's body control system not only improves the delivery robot's flexibility and practicality in actual applications, but also significantly improves the environment and sanitary conditions of the storage space, providing strong guarantees for the overall quality and efficiency of delivery services.

[0078] See also Figure 6 and Figure 7 When the cabinet door 11 of the storage space needs to be opened or closed, the upper controller 7 receives the corresponding instruction and sends a control signal to the cabinet door motor 5 through the first control board 4 to drive the cabinet door motor 5 to perform the opening or closing action.

[0079] When lighting is needed, the upper controller 7 receives the instruction and sends a control signal to the cabinet light 6 through the first control board 4, so that the cabinet light 6 lights up, providing sufficient lighting for the storage space, making it convenient for operators to take and place items, and improving the convenience and efficiency of operation.

[0080] When there is odor or moisture in the storage space, the upper controller 7 starts the exhaust fan 1 according to preset conditions or received instructions to discharge the air in the storage space. The addition of the exhaust fan 1 effectively solves the problem of odor and moisture in the storage space, improves the storage environment, and extends the service life of items in the storage space.

[0081] When the storage space needs to be disinfected, the upper controller 7 starts the ultraviolet lamp 3 after receiving the instruction, and irradiates and disinfects the storage space to kill bacteria or viruses. The introduction of the disinfection function of the ultraviolet lamp 3 improves sanitary safety and reduces public health risks.

[0082] See also Figure 2 、 Figure 3 and Figure 4 In this embodiment, the delivery robot has a main body with a storage space formed therein. At least one door 11 for opening and closing the storage space is hingedly connected to the front of the main body. When access is required to the items in the storage space, the upper controller 7 in the body control system receives a command to open the door 11 and sends a control signal to the corresponding door motor 5 via the first control board 4. After receiving the signal, the door motor 5 drives the door 11 to rotate about the hinge point, thereby opening the storage space. Similarly, when the storage space needs to be closed, the upper controller 7 sends a closing command, causing the door motor 5 to rotate in the opposite direction, closing the door 11.

[0083] In this embodiment, there are one, two, three or four cabinet doors 11, and one cabinet door 11 corresponds to one cabinet door motor 5. Optionally, there are two cabinet doors, which are arranged on the left and right to form a double cabinet door form. Figure 4 As shown, there are four cabinet doors, which are divided into two groups, upper and lower, with two cabinet doors in each group arranged on the left and right, forming a four-door form.

[0084] In this embodiment, the two cabinet doors 11 symmetrically arranged on the left and right are opened synchronously under the drive of the two cabinet door motors 5, and the time difference between the doors opening in place is less than or equal to 10 ms.

[0085] When both doors need to be opened simultaneously, the upper-mounted controller 7 in the cabinet control system receives the opening command and immediately sends a synchronous opening control signal to both door motors 5 via the first control board 4. Upon receiving the signal, both door motors 5 begin operating almost simultaneously, driving their respective doors to rotate about their hinge points. To ensure synchronization, the upper-mounted controller 7 and the first control board 4 utilize a high-precision clock synchronization mechanism, ensuring that the time difference between the start and stop times of the two door motors 5 is less than or equal to 10ms.

[0086] See also Figure 2 and Figure 3In this embodiment, the body control system also includes a cabinet door position switch 8, which is divided into a cabinet door open position switch and a cabinet door closed position switch; the cabinet door open position switch is electrically connected to the first control board 4, and the cabinet door open position switch is used to be arranged on the storage space of the cabinet of the delivery robot to detect whether the cabinet door is fully opened; the cabinet door closed position switch is electrically connected to the first control board 4, and the cabinet door closed position switch is used to be arranged on the storage space of the cabinet of the delivery robot to detect whether the cabinet door is fully closed; wherein, one cabinet door corresponds to one cabinet door open position switch and one cabinet door closed position switch.

[0087] When the cabinet door moves under the drive of the motor, it triggers the corresponding in-position switch, thereby sending a signal to the first control board 4, indicating that the cabinet door has reached the predetermined position of opening or closing.

[0088] When the cabinet door moves to the fully open position, it triggers a door fully open switch mounted on the storage space. This triggers a signal to the first control board 4 indicating that the cabinet door has fully opened. Upon receiving this signal, the first control board 4 stops the door motor 5, completing the door opening operation.

[0089] Similarly, when the cabinet door moves to the fully closed position, it triggers the cabinet door fully closed switch mounted on the storage space. Once triggered, the fully closed switch sends a signal to the first control board 4, indicating that the cabinet door has fully closed. Upon receiving this signal, the first control board 4 stops the cabinet door motor 5, completing the cabinet door closing operation.

[0090] See also Figure 1 、 Figure 3 and Figure 5 In this embodiment, after the cabinet door is closed, the upper controller 7 can control the exhaust fan 1 and the UV lamp 3 to turn on. Preferably, the exhaust fan 1 can be turned on 5 seconds after the cabinet door is closed and last for 10 minutes. The UV lamp 3 can be turned on 5 seconds after the cabinet door is closed and last for 30 minutes / 2 hours.

[0091] In this embodiment, the cabinet door opening method has dual flexibility, supporting both manual direct opening and remote opening via mobile phone number. The upper-mounted controller 7 can receive and process two different commands from the FICM 12 (Android screen): one is the manual door opening command, issued when the user selects manual operation; the other is the mobile phone number door opening command, which usually involves a verification and authorization process based on the mobile phone number, allowing the user to open the cabinet door remotely.

[0092] See also Figure 1In this embodiment, the fuselage control system also includes a shelf in place switch 17; the shelf in place switch 17 is electrically connected to the first control board 4, and the shelf in place switch 17 is used to be set on the storage space of the cabinet of the delivery robot, and is used to detect whether the liftable shelf 13 in the storage space is in place. When the shelf is lifted to the specified position, the shelf in place switch 17 will be triggered, and an electrical signal will be generated. This signal will be accurately transmitted to the first control board 4 of the cabinet door along the preset circuit path. Preferably, two position limit switches can be set, namely the shelf rising in place switch and the shelf falling in place switch. These two switches are responsible for monitoring whether the shelf accurately reaches the preset limit position during the rising and falling process.

[0093] See also Figure 2 and Figure 3 In this embodiment, the shelf 13 extends laterally along the main body, dividing the storage space into upper and lower areas. The shelf 13 is equipped with a cabinet light 6, a top-mounted controller 7, a shelf position switch 17, a UV lamp 3, and a first control board 4. The shelf 13 is liftable and can be driven by a linear motion mechanism (such as a pneumatic cylinder or oil cylinder) to achieve the lifting function.

[0094] See also Figure 1 、 Figure 4 and Figure 5 In this embodiment, the body control system further includes a second control board 14, an arm motor 16, and a head motor 15; the upper controller 7 is electrically connected to the second control board 14; and the second control board 14 is electrically connected to the arm motor 16 and the head motor 15, respectively. The arm motor 16 is used to rotate the service robot's arm 9, and the head motor 15 is used to rotate the service robot's head 10. The rotation of the arm 9 can change the robot's posture, enabling more flexible interaction with the user, such as delivering items and indicating directions. The rotation of the head 10 allows the robot to better observe its surroundings, identify the user's position and movements, and thus respond more accurately.

[0095] When the service robot needs to rotate its arm 9 or head 10, the upper body controller 7 calculates parameters such as the required rotation angle and speed based on user instructions or pre-programmed data. The upper body controller 7 then transmits these parameters to the second control board 14 via electrical signals. Upon receiving these instructions, the second control board 14 controls the arm motor 16 and head motor 15 to rotate at the appropriate speed and angle based on its internal algorithms and logic.

[0096] See also Figure 1In this embodiment, the fuselage control system also includes an arm-in-place switch 18 and a head-in-place switch 19. The arm-in-place switch 18 is electrically connected to the second control board 14 and is used to detect whether the arm 9 has fully rotated. The arm-in-place switch 18 is a sensor or switch installed in the rotation path of the arm 9 and is used to detect whether the arm 9 has rotated to the predetermined position. When the arm 9 touches the in-place switch, the switch generates an electrical signal, indicating that the arm 9 has fully rotated. The head-in-place switch 19 is electrically connected to the second control board 14 and is used to detect whether the head 10 has fully rotated. The head-in-place switch 19 is a sensor or switch installed in the rotation path of the head 10 and is used to detect whether the head 10 has fully rotated to the predetermined position. When the head 10 touches the in-place switch, the switch also generates an electrical signal, indicating that the head 10 has fully rotated. The second control board 14 not only receives commands from the upper body controller 7 but also receives feedback signals from the arm-in-place switch 18 and the head-in-place switch 19. Based on these signals, the second control board 14 can precisely control the operation of the arm motor 16 and the head motor 15 to ensure that they accurately reach the predetermined positions.

[0097] See also Figure 1 and Figure 5 In this embodiment, the robot body control system further includes an ambient light 2, which is electrically connected to the upper body controller 7. The ambient light 2 is a lighting device that emits soft, multicolored light and is typically installed on the robot's housing or key locations. The ambient light 2 not only serves as a decorative aesthetic but can also convey different messages or emotions through varying colors, brightness, and flashing patterns.

[0098] See also Figure 8 , Figure 8 Shows the circuit connections between the FICM, the first control board, the second control board, and the bodywork controller.

[0099] In this embodiment, there are a total of 2 PWM atmosphere lights 2 , 4 exhaust fans 1 , 4 cabinet lights 6 , and 4 ultraviolet lamps 3 . Figure 5 As shown, the atmosphere lamp 2 can be installed on the side of the swing arm 9. The connection circuit diagram of the atmosphere lamp can be referred to Figure 9 shown. Figure 9 The connection circuit diagram of the UV lamp and the upper controller is also shown.

[0100] See also Figure 10 In this embodiment, the +5V, GND, and signal terminals of the in-position switch are electrically connected to corresponding ports on the control board. The motor's M+ (the motor's DC positive output terminal), M- (the motor's DC negative input terminal), A, B, +5V, and GND terminals are also electrically connected to corresponding ports on the control board.

[0101] See also Figure 11, showing the connection circuit diagram of the exhaust fan and the body controller.

[0102] In this embodiment, the software and hardware of the first control board 4 and the second control board 14 have protection functions such as short circuit, motor overcurrent, open circuit, power reverse connection, and motor stall. The fault signal is sent to FICM12 (Android screen) via RS-485.

[0103] In this embodiment, the head motor 15 has a left-right rotation range of -180° to +180° (divided into 25 steps, each 15°). The head motor 15 has a vertical rotation range of -15° to 15° (divided into 7 steps, each 5°). The arm motor has a rotation range of -135° to +135° (divided into 19 steps, each 15°).

[0104] In this embodiment, the upper body controller 7 is UCM230510.

[0105] In this embodiment, the ambient light 2 is 5V / 3A.

[0106] In this embodiment, if it is detected that the cabinet door 11 is closed or opened to the limit, the upper installation controller 7 can report the status to the FICM 12 via RS-485.

[0107] In this embodiment, Figure 6 Shows the cabinet door opening control logic, Figure 7 The figure shows the cabinet door closing control logic. TSP refers to the telematics service provider platform, which can include the operation platform Web, monitoring platform Web, mini-programs, and mobile apps, and is connected to FICM through the network. FICM refers to the Android screen carried by the robot, which also serves as a control center for the robot and can receive and execute related instructions. The upper controller is mainly responsible for receiving instructions from FICM, controlling peripheral components such as lights and sensors after processing, and sending instructions to the driver board for control.

[0108] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concepts of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A body control system for a delivery robot, characterized in that: include: Upper controller, first control board, cabinet door motor, cabinet light, exhaust fan and UV lamp; The upper controller is electrically connected to the first control board, and the first control board is electrically connected to the cabinet door motor and the cabinet light respectively. The cabinet door motor is used to drive the cabinet door to open or close, and the cabinet light is used to be installed in the storage space of the cabinet of the delivery robot to provide lighting. The upper controller is electrically connected to the exhaust fan and the ultraviolet lamp respectively. The exhaust fan is used to be installed in the storage space of the cabinet of the delivery robot to perform an exhaust function, and the ultraviolet lamp is used to be installed in the storage space of the cabinet of the delivery robot to perform a disinfection function.

2. The airframe control system according to claim 1, wherein: The delivery robot has a main body, a storage space is formed inside the main body, and at least one cabinet door for opening and closing the storage space is hinged on the front of the main body.

3. The airframe control system according to claim 2, wherein: There are one, two, three or four cabinet doors, and one cabinet door corresponds to one cabinet door motor.

4. The airframe control system according to claim 3, wherein: The two cabinet doors symmetrically arranged on the left and right are opened synchronously under the drive of the two cabinet door motors, and the time difference in reaching the designated position is less than or equal to 10ms.

5. The airframe control system according to claim 1 or 2, characterized in that: The cabinet door is also provided with a door position switch, which is divided into a door opening position switch and a door closing position switch; The cabinet door fully opened switch is electrically connected to the first control board, and the cabinet door fully opened switch is used to be arranged on the storage space of the cabinet of the delivery robot, and is used to detect whether the cabinet door is fully opened; The cabinet door fully closed switch is electrically connected to the first control board, and the cabinet door fully closed switch is used to be arranged on the storage space of the cabinet of the delivery robot, and is used to detect whether the cabinet door is fully closed; Among them, one cabinet door corresponds to one cabinet door open position switch and one cabinet door closed position switch.

6. The airframe control system according to claim 1, wherein: Also includes a bulkhead in place switch; The partition in place switch is electrically connected to the first control panel. The partition in place switch is used to be arranged on the storage space of the cabinet of the delivery robot to detect whether the liftable shelf in the storage space is in place.

7. The airframe control system according to claim 6, wherein: The layer plate extends laterally along the main body to separate the storage space into upper and lower areas. The layer plate is provided with the cabinet light, the upper controller, the partition in place switch, the ultraviolet lamp and the first control board.

8. The airframe control system according to claim 1, wherein: Also included is a second control board, a swing arm motor, and a head motor; The upper body controller is electrically connected to the second control board; The second control board is electrically connected to the swing arm motor and the head motor respectively. The swing arm motor is used to drive the swing arm of the service robot to rotate, and the head motor is used to drive the head of the service robot to rotate.

9. The airframe control system according to claim 8, wherein: It also includes a swing arm in place switch and a head in place switch; The swing arm in-position switch is electrically connected to the second control board and is used to detect whether the swing arm has rotated into position; The head in-place switch is electrically connected to the second control board and is used to detect whether the head has been rotated into place.

10. The airframe control system according to claim 1, wherein: It also includes an atmosphere light, which is electrically connected to the upper body controller.

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