Distribution robot

Abstract

The utility model provides a distribution robot. The distribution robot comprises a moving main body, an article cabin and a protruding part, the article cabin is arranged on the moving main body, is used for accommodating distributed articles and is provided with a second opening, and an openable cabin door is arranged at the second opening of the article cabin; the protruding part is arranged at the top of the moving main body and is provided with an interaction part, and the interaction part is used for interaction of article access information between a user and the distribution robot; the protrusion is located on the front side of the article compartment. Through the structural design, the interaction part is arranged on the protruding part at the top of the moving body, the arrangement height of the interaction part in the distribution robot is increased, and therefore convenience is improved when a user interacts with the distribution robot for storing and taking article information, and user experience is optimized.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of logistics transportation, in particular to a delivery robot. BACKGROUND

[0002] Nowadays, the interaction components of the delivery robot are usually arranged on the top surface or side surface of the robot body. Since the height of the delivery robot is usually lower than the height of an adult, the user needs to bend over, crouch, or even squat when using the interaction components to interact with the delivery robot for storing or taking the information of the goods, which is inconvenient and poor in experience. SUMMARY

[0003] One of the main purposes of the present disclosure is to overcome at least one of the defects of the prior art, and to provide a delivery robot.

[0004] To achieve the above-mentioned purpose, the present disclosure adopts the following technical solutions:

[0005] According to one aspect of the present disclosure, a delivery robot is provided, which comprises a moving body, an article cabin, and a protruding portion; the article cabin is arranged on the moving body and is used to accommodate delivery goods, the article cabin has a first opening, and the article cabin is provided with a cabin door which can be opened and closed at the first opening; the protruding portion is arranged on the top of the moving body, and the protruding portion is provided with an interaction component, which is used for the user to interact with the delivery robot for storing or taking the information of the goods; wherein the protruding portion is located on the front side of the article cabin.

[0006] According to one of the embodiments of the present disclosure, the cabin door moves to the rear to open the first opening, and the cabin door in the open state is at least partially located on the side of the first opening away from the protruding portion.

[0007] According to one of the embodiments of the present disclosure, the first opening is upward and located on the top of the article cabin; the cabin door exposes the top of the moving body in the closed state and closes the first opening in the horizontal direction; a connecting rod assembly is connected between the cabin door and the article cabin, and the cabin door moves to the oblique rear away from the protruding portion via the connecting rod assembly to open the first opening.

[0008] According to one of the embodiments of the present disclosure, the arrangement height of the top of the protruding portion is higher than the arrangement height of the top of the cabin door in the closed state.

[0009] According to one of the embodiments of the present disclosure, the protruding portion has a front end face which is arranged obliquely towards the front and upwards, and the interaction component comprises a screen which is arranged on the front end face, so that the user can observe the image interaction information displayed on the screen at an obliquely downward viewing angle.

[0010] According to one of the embodiments of the present disclosure, the protruding part has a front end surface arranged obliquely towards the front and upwards, the interactive component comprises a sound receiving component and / or a sound playing component, and the sound receiving component or the sound playing component is arranged on the front end surface or the top of the protruding part.

[0011] According to one of the embodiments of the present disclosure, the delivery robot further comprises a first navigation and obstacle avoidance module, which comprises a top space information acquisition unit; the top space information acquisition unit is arranged on the top of the protruding part and is used to identify the space information around the delivery robot; and the arrangement height of the top space information acquisition unit is higher than the height of the highest part of the hatch in the closed or opened state.

[0012] According to one of the embodiments of the present disclosure, the first navigation and obstacle avoidance module further comprises a distance depth acquisition unit; the distance depth acquisition unit is arranged on the front side of the moving body and comprises at least two distance depth acquisition units, which are used to identify the distance depth information in front of the delivery robot; the at least two distance depth acquisition units comprise an inclined acquisition unit and a horizontal acquisition unit; the first optical axis of the detection area of the inclined acquisition unit extends obliquely downwards, and the second optical axis of the detection area of the horizontal acquisition unit extends in the horizontal direction.

[0013] According to one of the embodiments of the present disclosure, the delivery robot further comprises a second navigation and obstacle avoidance module, which comprises a rear space information acquisition unit; the rear space information acquisition unit is arranged on the rear side of the moving body and is used to identify the space information behind the delivery robot; and the arrangement height of the rear space information acquisition unit is lower than the height of the lowest part of the hatch in the closed or opened state.

[0014] According to one of the embodiments of the present disclosure, the hatch and the article cabin are connected via two groups of connecting rod assemblies, and the two groups of connecting assemblies are respectively arranged on the left and right side walls of the article cabin; each group of the connecting rod assemblies comprises a first connecting rod and a second connecting rod arranged at intervals in front and back; one end of the first connecting rod is rotatably connected to the side wall, the other end is rotatably connected to the hatch, the first connecting rod is connected to a hatch driving mechanism and is a driving rod; one end of the second connecting rod is rotatably connected to the side wall, the other end is rotatably and slidably connected to the hatch, and the second connecting rod is a driven rod.

[0015] According to one of the embodiments of the present disclosure, the moving body comprises an outer shell and a bottom plate; the bottom plate is arranged at the bottom of the outer shell, and the bottom plate is provided with a walking mechanism for realizing the walking function.

[0016] According to one of the embodiments of the present disclosure, the protruding part is detachably fixed to the top of the shell.

[0017] According to one of the embodiments of the present disclosure, the delivery robot comprises a plurality of cabin components, each of which is detachably fixed to the shell; the plurality of cabin components comprises an electrical cabin and the article cabin, the electrical cabin is arranged inside the shell and used for arranging electrical elements, and the electrical cabin is isolated from the article cabin.

[0018] According to one of the embodiments of the present disclosure, the electrical cabin is located in the front area inside the shell and at least partially below the protruding part, and the article cabin is located at the rear side of the electrical cabin.

[0019] According to one of the embodiments of the present disclosure, the front side of the electrical cabin has a second opening, which exposes the electrical elements; wherein the electrical cabin is provided with a detachable maintenance cover at the second opening, and the maintenance cover exposes the front side of the shell.

[0020] From the above technical solutions, the delivery robot provided by the present disclosure has the following advantages and positive effects:

[0021] The delivery robot provided by the present disclosure comprises a moving body, an article cabin and a protruding part; the article cabin is arranged in the moving body and used for accommodating delivery articles, the article cabin has a first opening, and the article cabin is provided with a cabin door which can be opened and closed at the first opening; the protruding part is arranged at the top of the moving body, the protruding part is provided with an interaction component; and the protruding part is located at the front side of the article cabin. Through the above structural design, the present disclosure arranges the interaction component on the protruding part at the top of the moving body, raises the arrangement height of the interaction component in the delivery robot, thereby improving the convenience of the user when interacting with the delivery robot to access the article information, and optimizing the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0022] The various objectives, features and advantages of the present disclosure will become more apparent from the following detailed description of the preferred embodiments of the present disclosure, taken in conjunction with the accompanying drawings. The accompanying drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numerals always designate the same or similar components. Among them:

[0023] Figure 1 is a structural schematic view of a delivery robot from one perspective according to an exemplary embodiment;

[0024] Figure 2 is Figure 1 a structural schematic view of a delivery robot from another perspective;

[0025] Figure 3 isFigure 1 Structure diagram of the delivery robot in another state;

[0026] Figure 4 is Figure 1 Detection area diagram of the delivery robot;

[0027] Figure 5 is Figure 1 Exploded diagram of the delivery robot.

[0028] The reference signs are explained as follows:

[0029] 100. Mobile body; 310. Top space information acquisition unit;

[0030] 110. Article cabin; 320. Distance-depth acquisition assembly;

[0031] 1101. First opening; 321. Inclined acquisition unit;

[0032] 111. Cabin door; 322. Horizontal acquisition unit;

[0033] 112. Link assembly; 400. Second navigation obstacle avoidance module;

[0034] 1121 First link; 410. Rear space information acquisition unit;

[0035] 1122. Second link; 500. Electrical cabin;

[0036] 130. Protruding part; 501. Second opening;

[0037] 1301. Front end face; 510. Electrical element;

[0038] 131. Interactive component; 520. Maintenance cover;

[0039] 140. Outer shell; L1. First optical axis;

[0040] 150. Bottom plate; L2. Second optical axis;

[0041] 200. Walking mechanism; S1. Detection area;

[0042] 300. First navigation obstacle avoidance module; S2. Detection area. DETAILED DESCRIPTION

[0043] The typical embodiments embodying the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes on different embodiments, which all do not deviate from the scope of the present disclosure, and the description and drawings in the essence are for illustration, not to limit the present disclosure.

[0044] In the following description of various example embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various example structures, systems, and steps in which aspects of the present disclosure can be implemented. It is understood that other specific arrangements of parts, structures, example devices, systems, and steps can be utilized and structural and functional modifications can be made without departing from the scope of the present disclosure. Also, while the terms "over," "between," "among," and the like can be used in the description of the various example features and elements of the present disclosure, these terms are used in the context of the example illustrations depicted in the drawings and are not intended to limit the position of the various features and elements relative to one another. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of the present disclosure.

[0045] Referring to Figure 1 , a structural schematic diagram of a delivery robot according to the present disclosure is shown from one perspective. In this example embodiment, the delivery robot according to the present disclosure is described by way of example as a delivery robot applied to a hotel. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes can be made to the specific embodiments described below in order to apply the relevant design of the present disclosure to a delivery robot in other application scenarios, and such changes are still within the scope of the principle of the delivery robot according to the present disclosure.

[0046] As Figure 1 shown, in one embodiment of the present disclosure, the delivery robot according to the present disclosure includes a mobile body 100, an article cabin 110, and a protruding portion 130. For reference, see Figures 2 to 5 , Figure 2 , a structural schematic diagram of the delivery robot is shown from another perspective; Figure 3 , a structural schematic diagram of the delivery robot is shown in another state, in which the state when the cabin door 111 is open is specifically shown; Figure 4 , a detection area schematic diagram of the delivery robot is shown; Figure 5 , an exploded schematic diagram of the delivery robot is shown. The structure, connection mode, and functional relationship of each main component of the delivery robot according to the present disclosure will be described in detail below in combination with the above-mentioned drawings.

[0047] As Figures 1 to 5As shown, in an embodiment of the present disclosure, the article cabin 110 is arranged on the mobile body 100, and the article cabin 110 is configured to accommodate the delivery articles. The article cabin 110 is provided with a first opening 1101, and the article cabin 110 is provided with a cabin door 111 which is openable and closable at the first opening 1101. The protruding part 130 is arranged on the top of the mobile body 100, and the protruding part 130 is provided with an interactive component 131 which is configured to allow the user to interact with the delivery robot to store or take the article information, such as storing or taking the delivery articles by the delivery personnel, storing or taking the articles by the customer, taking or storing the articles by the delivery personnel or the hotel staff, etc. The protruding part 130 is located on the front side of the article cabin 110. The so-called "front side of the article cabin 110" can be understood as the side of the article cabin 110 facing forward in the front-rear direction of the delivery robot, i.e. the forward direction of the delivery robot when it is running normally, or the "front side". Through the above structural design, the interactive component 131 is arranged on the protruding part 130 on the top of the mobile body 100, and the arrangement height of the interactive component 131 in the delivery robot is raised, thereby improving the convenience of the user interacting with the delivery robot to store or take the article information, and optimizing the user experience.

[0048] As shown, Figure 3 In an embodiment of the present disclosure, the cabin door 111 moves backward to open the first opening 1101, and the cabin door 111 in the open state is at least partially located on the side of the first opening 1101 away from the protruding part 130. Through the above structural design, since the cabin door 111 moves backward during the opening process, i.e. moves away from the protruding part 130, the present disclosure can ensure that the cabin door 111 will not block the interactive component 131 arranged on the protruding part 130 during the closing, opening or switching process, and ensure that the interactive function can always be normally implemented. In addition, the existing delivery robot usually opens the door forward, which is not convenient for taking the meal, and the user needs to go around to the side of the robot to take the meal, or the robot needs to turn to face the user, but this will cause the interaction operation to be less convenient. In contrast, the design of the present disclosure that the cabin door 111 opens to the rear side can facilitate the user to put or take the goods, and is conducive to improving the convenience of the interactive operation. On this basis, when the first opening 1101 faces upward, the present disclosure can make the first opening 1101 more fully exposed to the user's field of view when the cabin door 111 opens to the rear side, so as to avoid that the cabin door 111 is not fully exposed, and the user needs to put his arm into the article cabin 110 to take the goods under the condition that he cannot fully observe visually.

[0049] As shown, Figures 1 to 5As shown, in an embodiment of the present disclosure, the first opening 1101 can be upward and located at the top of the article cabin 110. The cabin door 111 exposes the top of the mobile body 100 in the closed state, i.e., the cabin door 111 is located at the rear side of the protruding part 130, and the cabin door 111 closes the first opening 1101 in the horizontal direction. On this basis, the cabin door 111 and the article cabin 110 can be connected by a linkage assembly 112, and the cabin door 111 moves to the oblique rear side away from the protruding part 130 to open the first opening 1101. Through the above structural design, the present disclosure sets the first opening 1101 at the top of the mobile body 100 and the article cabin 110, so that the user operates above the delivery robot when taking and placing goods from the article cabin 110, avoiding the problem that the user needs to bend down, bend over, or even squat to take and place goods when taking and placing goods from the side of the delivery robot, further improving the convenience of taking and placing goods, and optimizing the user experience. On this basis, the present disclosure uses the design of the cabin door 111 moving obliquely rearward to open, which can make the upward first opening 1101 more fully exposed to the user's field of vision when the cabin door 111 is opened, avoiding the problem that the cabin door 111 is not fully exposed, and the user needs to stretch his arm into the article cabin 110 to pick up the goods under the condition that he cannot fully observe visually.

[0050] In an embodiment of the present disclosure, the arrangement height of the top of the protruding part 130 can be higher than the arrangement height of the top of the cabin door 111 in the closed state. Accordingly, the present disclosure can ensure that the cabin door 111 avoids the top space information acquisition unit 310 arranged at the top of the protruding part 130 when it is closed, and when the cabin door 111 is opened obliquely rearward, the present disclosure can ensure that the cabin door 111 avoids the top space information acquisition unit 310 when it is opened or closed, ensuring the stability and reliability of obstacle avoidance perception. In addition, the present disclosure can lift the arrangement height of the protruding part 130 as much as possible, thereby lifting the arrangement height of the interactive component 131 arranged on the protruding part 130, further improving the convenience of the user interacting with the delivery robot to access the article information, and optimizing the user experience. In addition, the present disclosure can ensure that the delivery robot has a lower center of gravity, thereby improving the stability and reliability of the delivery robot during movement, and avoiding instability or even tilting of the center of gravity.

[0051] As Figure 1As shown, in an embodiment of the present disclosure, the protruding part 130 can have a front end surface 1301 arranged obliquely towards the front and upwards, and the interactive component 131 can include a screen, which can be arranged on the front end surface 1301 of the protruding part 130, so that the user can observe the image interactive information displayed on the screen at an obliquely downward visual angle. Through the above structural design, since the height of the delivery robot is generally lower than that of an adult, i.e., the screen is below the line of sight of the person, the present disclosure adopts the front and upward inclined surface form for the front end surface 1301 for arranging the screen, which can facilitate the user to visually interact at an obliquely downward visual angle, and facilitate the user's touch operation (for example, the screen is a touch screen). In addition, in order to reduce the risk of tipping and falling of the delivery robot when it is switched between different scenes (for example, from indoor to outdoor, or from outdoor to indoor), the present disclosure can further reduce the overall height of the delivery robot, i.e., make the height of the interactive component 131 arranged on the protruding part 130 lower. For this purpose, through the structural design of arranging the screen on the inclined surface, the present disclosure can ensure the time limit of the interactive function, and avoid the influence of the reduction of the overall height of the delivery robot.

[0052] In some other embodiments of the present disclosure, the screen can also be arranged on a horizontal top surface or a vertical side surface of the protruding part 130, and is not limited to the present embodiment.

[0053] In an embodiment of the present disclosure, the interactive component 131 can include a sound receiving component and / or a sound playing component, such as a microphone array, etc., for the user to interact with the delivery robot for voice information of the accessed goods. The sound receiving component or the sound playing component can be arranged on the above-mentioned front end surface 1301 or the top of the protruding part 130. Through the above structural design, the present disclosure can make the sound receiving component or the sound playing component as much as possible to be kept towards one side of the user, i.e., towards the path of voice information interaction, so as to further improve the voice information interaction effect.

[0054] As Figures 1 to 3As shown, in an embodiment of the present disclosure, the delivery robot provided by the present disclosure can further comprise a first navigation and obstacle avoidance module 300, which comprises a top space information acquisition unit 310. The top space information acquisition unit 310 is arranged on the top of the protruding portion 130, which is used to identify the space information around the delivery robot. On this basis, the arrangement height of the top space information acquisition unit 310 is higher than the height of the highest part of the hatch 111 in the closed or open state. Through the above structural design, the present disclosure utilizes the identification of the space information around the delivery robot by the top space information acquisition unit 310 to realize the obstacle avoidance perception ability of the delivery robot that meets the needs of indoor and outdoor use. In addition, the design of the arrangement height of the top space information acquisition unit 310 is higher than the hatch 111, which can avoid the obstruction of the hatch 111 to the top space information acquisition unit 310, and ensure the stability and reliability of the obstacle avoidance perception ability.

[0055] In an embodiment of the present disclosure, the top space information acquisition unit 310 can be a 3D radar. Through the above design, the present disclosure utilizes the 3D radar as the top space information acquisition unit 310 to realize the identification of the space information around the delivery robot. For example, the 3D radar can map according to the indoor and outdoor space information to realize the general identification function of indoor and outdoor. On this basis, the so-called "space information around the delivery robot identified by the top space information acquisition unit 310" can be understood as the distance between the delivery robot and the obstacle in the space scene (including indoor or outdoor scene), the position of the delivery robot in the space scene, the motion state and other space information collected by the 3D radar.

[0056] As shown in Figure 1 , Figure 2 and Figure 4 Based on the structural design that the delivery robot comprises the first navigation and obstacle avoidance module 300, in an embodiment of the present disclosure, the first navigation and obstacle avoidance module 300 can further comprise a distance depth acquisition unit. The distance depth acquisition assembly 320 is arranged on the front side of the mobile body 100, which comprises at least two distance depth acquisition units, and the distance depth acquisition unit is used to identify the distance depth information in front of the delivery robot. The at least two distance depth acquisition units comprise an inclined acquisition unit 321 and a horizontal acquisition unit 322. The first optical axis L1 of the detection area S1 of the inclined acquisition unit 321 extends obliquely downward, and the second optical axis L2 of the detection area S2 of the horizontal acquisition unit 322 extends along the horizontal direction. Through the above structural design, the present disclosure can utilize the distance depth acquisition unit and the top space information acquisition unit 310 to improve the obstacle avoidance perception ability of the delivery robot that meets the needs of indoor and outdoor use, to open up the delivery path between the merchant and the user, so that the delivery robot can freely run between the outdoor, the first floor hall indoor and the delivery floor, and significantly improve the logistics delivery efficiency.

[0057] In one embodiment of this disclosure, the distance and depth acquisition unit can be a Time-of-Flight (TOF) depth camera. Through the above design, this disclosure utilizes a TOF depth camera as the distance and depth acquisition unit to identify distance and depth information in front of the delivery robot. For example, the TOF depth camera can provide obstacle avoidance functionality based on the identified distance and depth information. Furthermore, the TOF depth camera can also work in conjunction with sensing devices such as an image acquisition unit and a ranging unit located on the moving body 100 to achieve fusion perception functionality, thereby achieving better obstacle avoidance performance.

[0058] like Figure 2 As shown, in one embodiment of this disclosure, the delivery robot proposed in this disclosure may further include a second navigation and obstacle avoidance module 400. The second navigation and obstacle avoidance module 400 is disposed on the mobile body 100, and includes a rear spatial information acquisition unit 410. The rear spatial information acquisition unit 410 is disposed on the rear side of the mobile body 100 and is used to identify spatial information behind the delivery robot. Based on this, the arrangement height of the rear spatial information acquisition unit 410 can be lower than the lowest point of the hatch 111 in the closed or open state. Through the above structural design, this disclosure can utilize the second navigation and obstacle avoidance module 400 to realize the obstacle avoidance perception function of the delivery robot for rear obstacles (such as charging piles, elevators, etc.). Furthermore, this disclosure designs the rear space information acquisition unit 410 to be positioned lower than the hatch 111, thus enabling the rear space information acquisition unit 410 to be positioned at a lower position in the delivery robot. This makes the rear space information acquisition unit 410 more suitable for outdoor applications, such as recognizing low obstacles (specifically, roadbeds, steps, etc.) and recognizing charging piles behind for docking. It can also recognize human legs and feet to avoid touching or running over them.

[0059] In one embodiment of this disclosure, the rear spatial information acquisition unit 410 of the second navigation obstacle avoidance module 400 can be a single-line radar.

[0060] like Figure 3 and Figure 5As shown, in one embodiment of this disclosure, the hatch 111 and the cargo compartment 110 can be connected via two sets of linkage assemblies 112, which are located on the left and right sides of the cargo compartment 110, respectively. Specifically, each linkage assembly 112 includes a first linkage 1121 and a second linkage 1122 arranged at a distance from each other. One end of the first linkage 1121 is rotatably connected to the cargo compartment wall, and the other end is rotatably connected to the hatch 111. The first linkage 1121 is connected to the hatch drive mechanism and is the driving rod. This drive mechanism can be a motor, used to realize the automatic opening and closing drive of the hatch 111. One end of the second linkage 1122 is rotatably connected to the cargo compartment wall, and the other end is rotatably and slidably connected to the hatch 111. The second linkage 1122 is the driven rod. Accordingly, the drive mechanism drives the first link 1121 to rotate, which in turn causes the hatch 111 to flip. The second link 1122 follows the flipping of the first link 1121 and the hatch 111, and together they can maintain the attitude of the hatch 111 during the flipping process.

[0061] like Figure 5 As shown, in one embodiment of this disclosure, the mobile body 100 may include a housing 140 and a base plate 150. The base plate 150 is disposed at the bottom of the housing 140, and the base plate 150 is provided with a walking mechanism 200, which is used to realize the walking function. Through the above structural design, this disclosure sets the walking mechanism 200 on the base plate 150, which enables the modular design and assembly of the walking mechanism 200 in the mobile body 100, which helps to reduce structural complexity and facilitates assembly and individual maintenance and replacement.

[0062] like Figure 5 As shown, in one embodiment of this disclosure, the protrusion 130 is detachably fixed to the top of the housing 140. Through the above structural design, this disclosure enables the modular design and assembly of the protrusion 130 and its associated interactive components 131 within the mobile body 100, which helps reduce structural complexity and facilitates assembly and individual maintenance and replacement.

[0063] like Figure 5As shown, in an embodiment of the present disclosure, the delivery robot provided by the present disclosure can include a plurality of cabin components, which are respectively detachably fixed to the shell 140. The plurality of cabin components can include the electrical cabin 500 and the article cabin 110 described above, the electrical cabin 500 is arranged inside the shell 140, the electrical cabin 500 is used to arrange the electrical element 510, and the electrical cabin 500 is isolated from the article cabin 110. Among them, the electrical element 510 can include a processing unit and a control unit, the processing unit is connected to the first navigation and obstacle avoidance module 300 and the second navigation and obstacle avoidance module 400 described above, and the control unit is connected to the walking mechanism 200. Through the above structural design, the present disclosure can realize the modular design and assembly of the plurality of cabin components including the electrical cabin 500 and the article cabin 110 in the moving body 100, which is beneficial to reduce the structural complexity, facilitate assembly and separate maintenance and replacement. In addition, the present disclosure arranges the plurality of cabin components and the walking mechanism 200 inside the shell 140, which is equivalent to that the above components share the side wall of the shell 140, which can further simplify the structural complexity and reduce the number of parts. In addition, the present disclosure utilizes the shell 140 to provide a cavity structure for accommodating the plurality of cabin components, thereby reducing the layer plates arranged between adjacent cavities when arranging a plurality of cavity structures, which is beneficial to reduce the overall height, facilitate the detection effect of the top space information acquisition unit 310, and reduce the blind area below it.

[0064] As shown, Figure 5 Based on the structural design that the delivery robot includes the electrical cabin 500, in an embodiment of the present disclosure, the electrical cabin 500 can be located in the front region inside the shell 140, and the electrical cabin 500 is at least partially located below the protruding portion 130, and the article cabin 110 is located at the rear side of the electrical cabin 500. Through the above structural design, the present disclosure can further reasonably arrange each component installed on the moving body 100, arrange the electrical cabin 500 in the space below the protruding portion 130 inside the shell 140, while avoiding occupying the arrangement space of the article cabin 110, so that the delivery robot has a higher effective volume rate.

[0065] As shown, Figure 1 and Figure 5As shown, based on the structural design that the electrical cabin 500 is located at the front region of the shell 140, in an embodiment of the present disclosure, the front side of the electrical cabin 500 can have a second opening 501 which exposes the electrical elements 510. On this basis, the electrical cabin 500 is provided with a detachable maintenance cover 520 at the second opening 501, and further, the maintenance cover 520 can be detachably assembled through a quick-release structure. In addition, the second opening 501 (or the maintenance cover 520) can be further located below the depth acquisition assembly 320 (for example, the horizontal acquisition unit 322). Through the above structural design, the present disclosure can realize the maintenance and replacement of the electrical elements 510 inside the electrical cabin 500.

[0066] It should be noted here that the delivery robots shown in the drawings and described in the present specification are only a few examples of many kinds of delivery robots that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are by no means limited to any details or any components of the delivery robots shown in the drawings or described in the present specification.

[0067] In summary, the delivery robot proposed by the present disclosure comprises a moving body 100, an article cabin 110 and a protruding part 130; the article cabin 110 is arranged on the moving body 100 and is used to accommodate delivery articles, the article cabin 110 has a first opening 1101, and the article cabin 110 is provided with an openable and closable cabin door 111 at the first opening 1101; the protruding part 130 is arranged on the top of the moving body 100, and the protruding part 130 is provided with an interactive component 131; and the protruding part 130 is located at the front side of the article cabin 110. Through the above structural design, the present disclosure sets the interactive component 131 on the protruding part 130 on the top of the moving body 100, raises the arrangement height of the interactive component 131 in the delivery robot, thereby improving the convenience when the user interacts with the delivery robot to access the article information and optimizing the user experience. On this basis, since the protruding part 130 and the article cabin 110 adopt a front-rear layout form, the present disclosure can avoid that the cabin door 111 of the article cabin 110 blocks the interactive component 131 when it is opened, thereby improving the rationality of the structural layout.

[0068] The exemplary embodiments of the delivery robot presented by the present disclosure are described and / or illustrated in detail above. However, the embodiments of the present disclosure are not limited to the specific embodiments described herein, but include any and all implementations of these embodiments, and any and all equivalents thereof. Each of the steps and / or components of each of the embodiments can be used individually or in combination with other steps and / or components of other embodiments. Each of the steps and / or components of one embodiment can also be used in combination with other steps and / or components of the same embodiment and / or other embodiments. The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," "having," "containing," "involving," "characterized by," "characterized into" and variations thereof herein, is meant to encompass the items listed thereafter, and any equivalents thereof as well as additional items. The use of "consisting of," "consisting essentially of," and variations thereof herein is meant to exclude any element not specified. The use of "first," "second," and variations thereof herein is meant to indicate the order of description and is not meant to indicate or imply a numerical limitation. The use of "and / or" herein is meant to encompass both items listed and the absence of one of the items.

[0069] While the delivery robot presented by the present disclosure has been described in terms of various specific embodiments, those skilled in the art will recognize that the embodiments of the present disclosure can be practiced with modifications of the described embodiments, within the spirit and scope of the claims.

Claims

1. A delivery robot, characterized by, The delivery robot comprises: a mobile body (100); an article cabin (110) arranged on the mobile body (100) and used for accommodating a delivery article, the article cabin (110) being provided with a first opening (1101), and the article cabin (110) being provided with a cabin door (111) capable of being opened and closed at the first opening (1101); a protruding part (130) arranged on a top of the mobile body (100), the protruding part (130) being provided with an interactive component (131) used for a user to interact with the delivery robot to obtain article information; wherein the protruding part (130) is located on a front side of the article cabin (110).

2. The delivery robot of claim 1, wherein, The cabin door (111) moves rearward to open the first opening (1101), and the cabin door (111) in the open state is at least partially located on a side of the first opening (1101) away from the protruding part (130).

3. The delivery robot of claim 1, wherein, The first opening (1101) faces upward and is located on a top of the article cabin (110); the cabin door (111) exposes the top of the mobile body (100) in the closed state and closes the first opening (1101) in the horizontal direction; a linkage assembly (112) is connected between the cabin door (111) and the article cabin (110), and the cabin door (111) moves to the rear obliquely away from the protruding part (130) via the linkage assembly (112) to open the first opening (1101).

4. The delivery robot of claim 1, wherein, The arrangement height of the top of the protruding part (130) is higher than the arrangement height of the top of the cabin door (111) in the closed state.

5. The delivery robot of claim 1, wherein, The protruding part (130) has a front end face (1301) arranged obliquely toward the front and upward, and the interactive component (131) comprises a screen arranged on the front end face (1301) so that a user can observe image interaction information displayed on the screen at an obliquely downward viewing angle.

6. The delivery robot of claim 1, wherein, The protruding part (130) has a front end face (1301) arranged obliquely toward the front and upward, and the interactive component (131) comprises a sound receiving component and / or a sound playing component, and the sound receiving component or the sound playing component is arranged on the front end face (1301) or the top of the protruding part (130).

7. The delivery robot of claim 1, wherein, The delivery robot further comprises a first navigation and obstacle avoidance module (300) comprising: a top space information acquisition unit (310) arranged on the top of the protruding part (130) and used for identifying space information around the delivery robot; wherein the arrangement height of the top space information acquisition unit (310) is higher than the height of the highest part of the cabin door (111) in the closed or open state.

8. The delivery robot of claim 7, wherein, The first navigation and obstacle avoidance module (300) further comprises: A distance-depth acquisition assembly (320) is arranged on the front side of the mobile body (100) and comprises at least two distance-depth acquisition units for identifying distance-depth information in front of the delivery robot; the at least two distance-depth acquisition units comprise an inclined acquisition unit (321) and a horizontal acquisition unit (322); a first optical axis (L1) of a detection area (S1) of the inclined acquisition unit (321) extends obliquely downward, and a second optical axis (L2) of a detection area (S2) of the horizontal acquisition unit (322) extends horizontally.

9. The delivery robot of claim 1, wherein, The delivery robot further comprises a second navigation obstacle avoidance module (400), which comprises: A rear space information acquisition unit (410) is arranged on the rear side of the mobile body (100) and is used to identify space information behind the delivery robot; The arrangement height of the rear space information acquisition unit (410) is lower than the height of the lowest part of the hatch (111) in the closed or open state.

10. The delivery robot of claim 1, wherein, The hatch (111) and the article cabin (110) are connected via two groups of connecting rod assemblies (112), and the two groups of connecting assemblies are respectively arranged on the cabin walls on the left and right sides of the article cabin (110); each group of connecting rod assemblies (112) comprises a first connecting rod (1121) and a second connecting rod (1122) arranged in front of and behind each other; one end of the first connecting rod (1121) is rotatably connected to the cabin wall, and the other end is rotatably connected to the hatch (111); the first connecting rod (1121) is connected to a hatch (111) driving mechanism and is a driving rod; one end of the second connecting rod (1122) is rotatably connected to the cabin wall, and the other end is rotatably and slidably connected to the hatch (111); the second connecting rod (1122) is a driven rod.

11. The delivery robot according to any one of claims 1 to 10, characterized in that The mobile body (100) comprises: An outer shell (140); and A bottom plate (150) arranged at the bottom of the outer shell (140), wherein the bottom plate (150) is provided with a walking mechanism (200) for realizing a walking function.

12. The delivery robot of claim 11, wherein, The protruding part (130) is detachably fixed to the top of the outer shell (140).

13. The delivery robot of claim 11, wherein, The delivery robot comprises a plurality of cabin components, and the plurality of cabin components are detachably fixed to the outer shell (140); the plurality of cabin components comprise an electrical cabin (500) and the article cabin (110), the electrical cabin (500) is arranged inside the outer shell (140) and is used to arrange electrical elements (510), and the electrical cabin (500) and the article cabin (110) are isolated from each other.

14. The delivery robot of claim 13, wherein, The electrical cabin (500) is located in the front region in the outer shell (140) and at least partially below the protruding part (130), and the article cabin (110) is located at the rear side of the electrical cabin (500).

15. The delivery robot of claim 13, wherein, The front side of the electrical cabin (500) has a second opening (501), which exposes the electrical elements (510); wherein the electrical cabin (500) is provided with a detachable maintenance cover (141) at the second opening (501), which exposes the front side of the shell (140).

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