Following robot

Abstract

The utility model discloses a following robot, and belongs to the field of robots, the following robot comprises an AGV trolley, a control system electrically connected with the AGV trolley and a cabinet body fixedly arranged on the AGV trolley, and the control system is installed in the cabinet body; a storage structure is arranged on the AGV, the storage structure comprises a multi-layer multi-format goods shelf and a PTL control system, and a distance measurement sensing system is installed on the AGV and used for moving along with personnel and keeping the position within a certain distance range. The specific use scene is that staff wear sensors, place corresponding turnover boxes on storage goods shelves, scan vehicle numbers, walk to a warehouse and scan goods shelf channels, lamps are turned on at goods picking storage locations in the channels, the staff walk to the storage locations, the trolleys follow the storage locations, the staff place goods at the storage locations into corresponding material boxes, and single SUK picking is completed. And other goods are repeatedly picked, and picking of orders corresponding to the workbins on the trolley is completed. The trolley mainly reduces the pushing of workers on the original trolley for assembling and sorting, reduces the labor intensity of the workers, and improves the labor efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a following robot. BACKGROUND

[0002] With the rapid development of science and technology, intelligent robot technology has penetrated into all aspects of our life, from industrial production to home service, everywhere. In the field of robots, automatic guided vehicle (AGV) as a mature mobile structure is widely used in various following robots, through pre-set path or real-time navigation technology, the autonomous following of specific targets or persons is realized. The application of this technology greatly improves the flexibility and autonomy of robots, so that robots can complete complex following tasks in various scenes.

[0003] Although the existing following robots have the function of autonomous following, most of them focus on cargo handling or personnel guidance in industrial or commercial environments, and lack in-depth research and design for the personalized needs of the elderly. In particular, these robots often do not take into account the special nature of the physical condition of the elderly, and are difficult to provide effective assistance and support for the elderly in complex shopping environments, and cannot replace the elderly to carry things.

[0004] Therefore, the present application provides a following robot to solve the above problems. CONTENT OF THE INVENTION

[0005] The present application provides a following robot, which aims to solve the problem that the existing following robot cannot replace the elderly to carry things and other problems raised in the background art.

[0006] To achieve the above purpose, the present application provides the following technical solution: a following robot, comprising an AGV car, a control system electrically connected with the AGV car, and a cabinet body fixedly arranged on the AGV car, wherein the control system is installed in the cabinet body.

[0007] In order to facilitate the storage of things carried by the elderly: a storage structure is arranged on the AGV car, the storage structure comprises a storage box fixedly arranged at one end of the cabinet body away from the AGV car for storing articles, a fixed seat fixedly arranged at the side of the storage box away from the cabinet body, and a box cover sleeved on the storage box and hinged with the fixed seat for shielding the opening end of the storage box. In the shopping process, the elderly can put the purchased articles into the storage box. The open design of the storage box facilitates the elderly to quickly put in or take out articles. When the box cover is closed, the articles in the storage box will be properly stored. The following robot provides convenient, safe and efficient shopping assistance services for the elderly through its unique storage structure design, greatly improving the convenience and happiness of the elderly.

[0008] Preferably, in order to facilitate the support of the box cover when the old people sit on it for rest: the AGV trolley is provided with a support structure for supporting the box cover, the support structure comprises a lifting seat sleeved on the storage box and abutting with the bottom end of the box cover, a support rod inserted on the AGV trolley and the cabinet and fixedly connected with the lifting seat, a groove opened on the AGV trolley, a fixed plate provided in the groove and fixedly connected with the support rod, and a support spring sleeved on the support rod corresponding to the lower end of the fixed plate and between the groove for driving the fixed plate to move close to the cabinet. The design of the support structure enables the old people to comfortably sit on the box cover when they need to rest, without worrying about the stability and safety of the box cover. The robot not only meets the storage needs, but also has the function of a rest seat, further improving its value in actual use. The automatic response mechanism of the support structure enables the old people to enjoy stable support service without complex operation.

[0009] Preferably, in order to facilitate the displacement of the lifting seat lifting: a limiting groove is opened on the storage box, and a limiting plate fixedly connected with the lifting seat is arranged in the limiting groove. The design of the limiting groove and the limiting plate effectively limits the lifting displacement of the lifting seat, prevents the structure from being unstable due to excessive lifting, and improves the stability of the whole support structure.

[0010] Preferably, in order to facilitate the box cover to perform certain lifting movement to extrude the support rod to contact the ground: a vertical groove is symmetrically opened at one end of the fixed seat close to the box cover, and a hinge plate fixedly connected with the box cover is slidably arranged in the vertical groove. The lifting adjustment function of the box cover enables the robot to better adapt to different use scenarios and needs, improving its flexibility and practicality.

[0011] Preferably, in order to improve the comfort of the old people riding: an installation groove is opened at one end of the box cover away from the storage box, and an elastic pad for the old people to ride is fixedly embedded in the inside of the installation groove. The softness and resilience of the elastic pad can effectively alleviate the fatigue and discomfort of the old people caused by long-time riding, and improve the comfort of riding. The breathable fabric covering the surface of the elastic pad can effectively absorb moisture and sweat, keep the riding area dry and clean, and provide a more healthy and sanitary riding environment for the old people.

[0012] Preferably, in order to facilitate the old people to ride: handrails are fixedly connected to both sides of the elastic pad at one end of the box cover away from the storage box. The design of the handrails provides additional support points for the old people during riding, which helps to enhance their body stability and reduce the risk of falling. The reasonable installation position and height of the handrails enable the old people to easily hold and adjust their body posture during getting on and off and riding, improving the convenience of use.

[0013] The application provides a convenient storage solution for the elderly, reducing the burden of the elderly when shopping, so that they can enjoy the shopping process more easily and happily. Following the robot not only helps the elderly carry items when shopping, but also provides various convenient services for the elderly in daily life, such as taking a break, accompanying walking, etc., greatly improving the quality of life of the elderly. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a structural diagram of a following robot;

[0015] Figure 2 It is a structural diagram of a following robot; Figure 1 It is a structural diagram of a following robot;

[0016] Figure 3 It is a structural diagram of a following robot;

[0017] Figure 4 It is a structural diagram of a following robot;

[0018] Figure 5 It is a structural diagram of a following robot;

[0019] In the drawings:

[0020] 1, AGV car; 2, control system; 3, cabinet; 4, storage structure; 41, storage box; 411, limiting groove; 42, fixed seat; 421, vertical groove; 43, box cover; 431, hinge plate; 432, mounting groove; 5, support structure; 51, lifting seat; 511, limiting plate; 52, support rod; 53, groove; 54, fixed plate; 55, support spring; 6, elastic pad; 7, handrail. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0022] The embodiment provides a following robot, such as Figures 1-5As shown, the following robot includes an AGV trolley 1, a control system 2 electrically connected with the AGV trolley 1, and a cabinet 3 fixedly arranged on the AGV trolley 1, wherein the control system 2 is installed in the cabinet 3; when the elderly need to shop, the following robot can be started. After the control system 2 receives the starting instruction, it guides the AGV trolley 1 to follow the pace of the elderly through the built-in navigation algorithm and sensor data. During the entire following process, the control system 2 will monitor the distance and speed difference between the AGV trolley 1 and the elderly in real time, and adjust the movement parameters of the trolley to maintain a stable following state.

[0023] In order to facilitate the storage of things carried by the old people: the AGV trolley 1 is provided with a storage structure 4, which includes a storage box 41 fixedly arranged at the end of the cabinet 3 away from the AGV trolley 1 for storing articles, a fixed seat 42 fixedly arranged at the side of the storage box 41 away from the cabinet 3, and a box cover 43 sleeved on the storage box 41 and hinged with the fixed seat 42 for shielding the opening end of the storage box 41. By providing a convenient storage solution for the elderly, the weight-bearing pressure of the elderly when shopping is reduced, so that they can enjoy the shopping process more easily and happily. The following robot not only assists the elderly in carrying articles when shopping, but also provides various convenient services for the elderly in daily life, such as taking a break, accompanying walking, etc., greatly improving the life quality of the elderly. During the shopping process, the elderly can put the purchased articles into the storage box 41. The open design of the storage box 41 facilitates the elderly to quickly put in or take out articles. When the box cover 43 is closed, the articles in the storage box 41 will be properly stored. The following robot provides convenient, safe and efficient shopping assistance services for the elderly through its unique storage structure 4 design, greatly improving the life convenience and happiness of the elderly.

[0024] Specifically, in order to facilitate the support of the box cover 43 when the elderly sit on it for rest: the AGV trolley 1 is provided with a support structure 5 for supporting the box cover 43, the support structure 5 includes a lifting seat 51 fitted on the storage box 41 and abutting against the bottom end of the box cover 43, a support rod 52 inserted on the AGV trolley 1 and the cabinet 3 and fixedly connected with the lifting seat 51, a groove 53 opened on the AGV trolley 1, a fixed plate 54 provided in the groove 53 and fixedly connected with the support rod 52, and a support spring 55 sleeved on the support rod 52 and corresponding to the lower end of the fixed plate 54 and the groove 53 for driving the fixed plate 54 to move close to the cabinet 3. The design of the support structure 5 enables the elderly to comfortably sit on the box cover 43 when they need to rest, without worrying about the stability and safety of the box cover 43. Following the robot, it not only meets the storage needs, but also has the function of a rest seat, further improving its value in actual use. The automatic response mechanism of the support structure 5 enables the elderly to enjoy stable support services without complex operations. When the elderly need to sit on the box cover 43 for rest, they only need to sit down gently. As the weight of the elderly increases, the box cover 43 is subjected to downward pressure and is transmitted to the support rod 52 through the lifting seat 51. At this time, the support spring 55 starts to be compressed, generating an upward reaction force. This reaction force is transmitted to the AGV trolley 1 through the support rod 52 and the fixed plate 54, providing additional support force to the lifting seat 51 and the box cover 43. As the support spring 55 is further compressed, the support force gradually increases until a stable equilibrium state is reached (i.e. the lower end of the support rod 52 is in contact with the ground), ensuring that the elderly can safely and comfortably sit on the box cover 43 for rest.

[0025] Specifically, in order to facilitate the displacement of the lifting seat 51 to be limited: the storage box 41 is provided with a limiting groove 411, and the limiting groove 411 is provided with a limiting plate 511 fixedly connected with the lifting seat 51. The design of the limiting groove 411 and the limiting plate 511 effectively limits the lifting displacement of the lifting seat 51, prevents the problem of structural instability caused by excessive lifting, and improves the stability of the entire support structure 5. When the elderly sit on the box cover 43, causing the lifting seat 51 to be subjected to downward pressure, the supporting spring 55 begins to be compressed and generates an upward reaction force. In this process, the limiting plate 511 will move downward along the trajectory of the limiting groove 411 until it reaches the preset limiting position. At this time, the bottom limiting block of the limiting groove 411 will prevent the limiting plate 511 from continuing to move downward, thereby limiting the further downward movement of the lifting seat 51. Similarly, when the elderly leave the box cover 43, the supporting spring 55 gradually returns to its original state and pushes the lifting seat 51 upward. In this process, the limiting plate 511 will move upward along the trajectory of the limiting groove 411 until it reaches the preset upward limiting position. At this time, the top limiting block of the limiting groove 411 will prevent the limiting plate 511 from continuing to move upward, thereby ensuring that the lifting displacement of the lifting seat 51 is always within a controllable range.

[0026] Further, in order to facilitate the box cover 43 to be able to perform a certain lifting movement to press the supporting rod 52 into contact with the ground: the fixed seat 42 is symmetrically provided with a vertical groove 421 near one end of the box cover 43, and the vertical groove 421 is slidably provided with a hinge plate 431 fixedly connected with the box cover 43. The lifting adjustment function of the box cover 43 enables the following robot to better adapt to different use scenarios and needs, improving its flexibility and practicality.

[0027] Further, in order to improve the comfort of the elderly passengers: the end of the box cover 43 away from the storage box 41 is provided with a mounting groove 432, and the inside of the mounting groove 432 is fixedly embedded with an elastic pad 6 for the elderly passengers. The elastic pad 6 is made of high-elasticity and high-density materials, such as memory foam (also known as slow-rebound sponge), which has good resilience and durability. The surface of the elastic pad 6 is covered with soft and breathable fabric, such as cotton, silk, synthetic fiber, etc. which not only has a comfortable touch, but also can effectively absorb moisture and sweat, keeping the seating area dry and clean. The softness and resilience of the elastic pad 6 can effectively alleviate the fatigue and discomfort of the elderly passengers caused by long-time sitting, and improve the comfort of sitting. The breathable fabric covering the surface of the elastic pad 6 can effectively absorb moisture and sweat, keeping the seating area dry and clean, and providing a healthier and more hygienic seating environment for the elderly passengers. When the elderly passengers sit on the box cover 43, their body weight will be transmitted to the box cover 43 and the support structure 5 below through the elastic pad 6. Because the elastic pad 6 has good resilience and support, it can adaptively adjust according to the body size and sitting posture of the elderly passengers, providing personalized support and comfort. At the same time, the soft touch of the elastic pad 6 can effectively alleviate the discomfort of the elderly passengers when their bodies come into contact with hard objects, reducing fatigue and stress caused by long-time sitting. In addition, the breathability and moisture absorption of the elastic pad 6 can also keep the seating area dry and clean, providing a healthier and more comfortable riding experience for the elderly passengers.

[0028] Further, in order to facilitate the elderly passengers: the end of the box cover 43 away from the storage box 41 is fixedly connected with handrails 7 corresponding to the two sides of the elastic pad 6. The design of the handrails 7 provides additional support points for the elderly passengers during the riding process, which helps to enhance their body stability and reduce the risk of falling. The reasonable installation position and height of the handrails 7 make it easy for the elderly passengers to hold and adjust their body posture during boarding and riding, improving the convenience of use. When the elderly passengers need to ride the box cover 43, they can easily hold the handrails 7 and use the support force provided by the handrails 7 to stabilize their bodies and adjust their sitting posture. During the riding process, the presence of the handrails 7 helps the elderly passengers to maintain body balance and reduce the risk of falling due to unstable posture. When the elderly passengers need to get up and leave, they can also rely on the handrails 7 to support their bodies and assist the getting-up action. In this way, the handrails 7 not only improve the comfort and safety of riding, but also make the whole riding process more convenient and easy.

[0029] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent substitutions or changes within the technical scope disclosed in the present application according to the technical solution and concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A following robot, comprising an AGV trolley (1), a control system (2) electrically connected with the AGV trolley (1), and a cabinet (3) fixedly arranged on the AGV trolley (1), wherein, The control system (2) is installed in the cabinet body (3); The AGV trolley (1) is provided with a storage structure (4), the storage structure (4) comprises a storage box (41) fixedly arranged at one end of the cabinet body (3) away from the AGV trolley (1) and used for storing articles, a fixed seat (42) fixedly arranged at one side of the storage box (41) away from the cabinet body (3), and a box cover (43) sleeved on the storage box (41) and hinged to the fixed seat (42) and used for shielding the opening end of the storage box (41).

2. The following robot of claim 1, wherein: The AGV trolley (1) is provided with a supporting structure (5) for supporting the box cover (43), the supporting structure (5) comprises a lifting seat (51) sleeved on the storage box (41) and abutting against the bottom end of the box cover (43), a supporting rod (52) inserted on the AGV trolley (1) and the cabinet body (3) and fixedly connected with the lifting seat (51), a groove (53) formed on the AGV trolley (1), a fixed plate (54) arranged in the groove (53) and fixedly connected with the supporting rod (52), and a supporting spring (55) sleeved on the supporting rod (52) and corresponding to the lower end of the fixed plate (54) and the groove (53) and used for driving the fixed plate (54) to move close to the cabinet body (3).

3. The following robot of claim 2, wherein: The storage box (41) is provided with a limiting groove (411), and the limiting groove (411) is provided with a limiting plate (511) fixedly connected with the lifting seat (51).

4. The following robot of claim 1, wherein: The fixed seat (42) is symmetrically provided with a vertical groove (421) at one end close to the box cover (43), and the vertical groove (421) is slidably provided with a hinged plate (431) fixedly connected with the box cover (43).

5. The following robot of claim 1, wherein: The box cover (43) is provided with a mounting groove (432) at one end away from the storage box (41), and the mounting groove (432) is fixedly embedded with an elastic pad (6) for the elderly to ride.

6. The following robot of claim 5, wherein: The box cover (43) is provided with a handrail (7) fixedly connected at one end away from the storage box (41) and corresponding to both sides of the elastic pad (6).

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