A delivery robot

Abstract

This utility model provides a delivery robot, including a chassis with a front and rear side on both sides along its length, and wheels mounted on opposite sides along its width. The wheels are driven by motors installed inside the chassis, and the motors are configured to drive the wheels on both sides of the chassis to rotate in opposite directions along its width. The chassis contains a driver, a power module, an embedded computing module, and a main control board, which is connected to the driver, the power module, and the embedded computing module. This delivery robot uses a depth camera to sense road conditions ahead, avoiding collisions. The motor-controlled wheel steering enables the depth camera to capture images horizontally. Since the depth camera has a large field of view in the vertical direction, the combination of the depth camera and wheel steering allows for comprehensive, blind-spot-free imaging.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a delivery robot. Background Technology

[0002] With the rapid development of e-commerce and logistics, delivery robots are being used in more and more industries. Delivery robots are generally equipped with different sensors on their chassis to detect the surrounding environment in order to adapt to different environments. Delivery robots can improve delivery efficiency, save labor costs, and protect user privacy.

[0003] However, existing delivery robots have the following drawbacks in application:

[0004] Delivery robots have limited adaptability to complex environments and struggle to adapt to complex indoor and outdoor environments. Specifically, indoor and outdoor environments are complex and changeable, with various obstacles. Delivery robots have large blind spots and are prone to collisions with obstacles. In addition, delivery robots have a large turning radius and are easily interfered with by obstacles during turning.

[0005] Therefore, in order to solve the above problems, this utility model proposes a delivery robot that can adapt to more complex environments. Utility Model Content

[0006] To address the problems existing in the use of current delivery robots, this utility model provides a delivery robot.

[0007] According to one objective of this utility model, this utility model provides a delivery robot, including a chassis, with a front side and a rear side on both sides in the length direction, and wheels mounted on opposite sides in the width direction of the chassis. The wheels are driven by a motor installed inside the chassis, and the motor is configured to drive the wheels on both sides of the chassis in the width direction to rotate in opposite directions.

[0008] The chassis is internally equipped with a driver, a power module, an embedded computing module, and a main control board. The main control board is connected to the driver, the power module, and the embedded computing module respectively. The power module supplies power to the embedded computing module through the main control board, and the power module supplies power to the motor through the driver.

[0009] A support assembly is provided above the chassis, and a cargo placement area is provided on the inner side of the support assembly. The support assembly has an opening in the horizontal direction that connects to the cargo placement area.

[0010] A depth camera and a lidar sensor are mounted on the top of the support assembly, and the depth camera and the lidar sensor are electrically connected to the embedded computing module, respectively.

[0011] Preferably, the embedded computing module and the main control board are both located in the middle of the chassis in the length direction. In the length direction of the chassis, the power module is located on the rear side of the embedded computing module, and the driver is located on the rear side of the main control board.

[0012] Preferably, the wheels are inflatable wheels, and there are 4 wheels in total. The wheels are divided into two groups, with 2 wheels in each group. The wheels in each group are respectively arranged on both sides of the chassis in the width direction. The two groups of wheels are arranged at intervals in the length direction of the chassis. Each wheel corresponds to a motor.

[0013] Preferably, the delivery robot further includes a pad installed between the output of the motor and the wheel.

[0014] Preferably, the delivery robot further includes a remote controller, which is connected to the main control board and has an image display module, which is the output of the depth camera.

[0015] Preferably, the support component includes:

[0016] Several vertically arranged supports are provided on the upper end of the chassis and around the chassis. On the circumference of the chassis, adjacent supports form an opening for the cargo placement area.

[0017] A horizontally arranged mounting plate is disposed at the upper end of the bracket, and both the lidar sensor and the depth camera are mounted on the upper end of the mounting plate.

[0018] Preferably, in the longitudinal direction of the chassis, the depth camera is located at the front end of the mounting plate, and the lidar sensor is located at the center of the mounting plate.

[0019] Preferably, the wiring harnesses on the lidar sensor and the depth camera are routed through one of the brackets to the interior of the chassis.

[0020] Preferably, the delivery robot further includes a cargo transport basket located within the cargo placement area, with the cargo transport basket corresponding to the center position of the upper end of the chassis.

[0021] Preferably, an operating surface is provided on the upper part of the rear side of the chassis. The operating surface is inclined with its upper edge close to the front side of the chassis. A voltage display is installed on the operating surface, and the voltage display is connected to the power module.

[0022] Compared with the prior art, the beneficial effects of this utility model are:

[0023] This delivery robot uses a depth camera to sense the road conditions ahead and avoid collisions. By controlling the steering of the wheels with a motor, the depth camera can take pictures in the horizontal direction. The depth camera has a large field of view in the vertical direction, so the depth camera combined with the steering of the wheels can achieve shooting without blind spots.

[0024] The motor can drive the wheels on both sides of the chassis to rotate in opposite directions along the width of the chassis, enabling the chassis to rotate in place and reducing the robot's turning radius. Combined with the lidar sensor, it can achieve autonomous navigation and obstacle avoidance in indoor and outdoor environments with insufficient light, making the delivery robot highly adaptable to more complex indoor and outdoor environments.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] Figure 1 This is an overall schematic diagram of a delivery robot according to the present invention;

[0027] Figure 2 This is a schematic diagram of the internal structure of the chassis of the delivery robot described in this utility model;

[0028] Figure 3 This is a schematic diagram of the rear side of the chassis of the delivery robot described in this utility model. Detailed Implementation

[0029] The following description is intended to provide a detailed account of the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0030] Please see Figure 1-3This utility model provides a technical solution: a delivery robot, including a chassis 5, with a front side and a rear side on both sides in the length direction of the chassis 5, and wheels 1 installed on opposite sides in the width direction of the chassis 5. The wheels 1 are driven by a motor 2. Specifically, the torque output end of the motor 2 is connected to the wheels 1. The motor 2 is installed inside the chassis 5 and is configured to drive the wheels 1 on both sides of the chassis 5 to rotate in opposite directions. The motor 2 drives a portion of the wheels 1 individually. The reverse rotation of the wheels 1 on both sides of the chassis 5 by the motor 2 can generate a rotational force around the center of the chassis 5, causing the delivery robot to rotate around its own center, realizing the chassis to rotate in place and reducing the robot's turning radius.

[0031] The chassis 5 is internally equipped with a driver 4, a power module 8, an embedded computing module 7, and a main control board 6. The main control board 6 is connected to the driver 4, the power module 8, and the embedded computing module 7 respectively. The power module 8 is powered by the main control board 6 and connected to the embedded computing module 7. The power module 8 is powered by the driver 4 and connected to the motor 2.

[0032] A support assembly is provided above the chassis 5, and a cargo placement area is provided on the inner side of the support assembly. The support assembly has an opening in the horizontal direction that connects to the cargo placement area.

[0033] A depth camera 12 and a lidar sensor 13 are provided on the top of the support assembly. The depth camera 12 and the lidar sensor 13 are electrically connected to the embedded computing module 7, respectively.

[0034] Furthermore, both the embedded computing module 7 and the main control board 6 are located in the middle of the chassis 5 along its length. Along the length of the chassis 5, the power module 8 is located behind the embedded computing module, and the driver 4 is located behind the main control board 6. By defining the positions of the driver 4, power module 8, embedded computing module 7, and main control board 6 on the chassis 5, the centralized layout brings the overall weight distribution of the device closer to the geometric center of the chassis 5, effectively lowering the overall vehicle center of gravity. Furthermore, compared to the edges of the chassis 5, placing these components at the center of the chassis 5 significantly reduces vibration amplitude during use and extends the service life of the components. The centralized layout also shortens the length of the connecting cables between components, reducing losses, and facilitating future maintenance.

[0035] To reduce vibration when the robot encounters small obstacles on the ground during delivery, the wheel 1 is further described as an inflatable wheel 1.

[0036] The delivery robot also includes a pad 3, which is installed between the output end of the motor 2 and the wheel 1.

[0037] In this embodiment, there are 4 wheels 1, which are divided into two groups, with 2 wheels 1 in each group. The wheels 1 in each group are respectively arranged on both sides of the chassis 5 in the width direction, and the two groups of wheels 1 are arranged at intervals in the length direction of the chassis 5.

[0038] The wheels 1 and motors 2 are in one-to-one correspondence. Each wheel 1 is equipped with a motor 2, that is, each wheel 1 is driven by a single motor 2. The motor 2 is equipped with a driver 4, and the power module 8 supplies power to the single motor 2 through the driver 4.

[0039] It should be noted that the delivery robot is equipped with a remote control for remote operation. The remote control is connected to the main control board 6 and has an image display module, which is the output of the depth camera 12. The image display module is used to display the scene captured by the depth camera 12. In use, the user sends operation commands to the main control board 6 through the remote control. The main control board 6 controls the motor 2 to drive the wheels 1 to rotate according to the operation instructions, so as to realize the movement of the entire device. The control method is conventional existing technology.

[0040] In this embodiment, the support component includes:

[0041] A plurality of vertically arranged supports 9 are provided on the upper end of the chassis 5 and around the chassis 5. On the circumference of the chassis 5, the supports 9 form an opening for the goods placement area between adjacent supports.

[0042] A horizontally arranged mounting plate 10 is disposed at the upper end of the bracket 9, and both the lidar sensor 13 and the depth camera 12 are mounted on the upper end of the mounting plate 10. In this embodiment, the bracket 9 is a profile bracket 9, and the mounting plate 10 is an acrylic mounting plate 10.

[0043] Along the length of the chassis 5, the depth camera 12 is located at the front end of the mounting plate 10, and the lidar sensor 13 is located at the center of the mounting plate 10.

[0044] The wiring harnesses on the lidar sensor 13 and the depth camera 12 are routed through one of the brackets 9 to the interior of the chassis 5.

[0045] The delivery robot also includes a cargo transport basket 11, which is located in the cargo placement area and corresponds to the center position of the upper end of the chassis 5.

[0046] An operating surface is provided on the upper part of the rear side of the chassis 5. The operating surface is inclined with its upper edge close to the front side of the chassis 5. A voltage display 14 is installed on the operating surface. The voltage display 14 is connected to the power module 8 and is used to display the voltage of the power module 8. A power switch 15 is also provided on the operating surface and is connected to the power module 8.

[0047] In summary, this delivery robot uses the depth camera 12 to sense the road conditions ahead and avoid collisions. The motor 2 controls the steering of the wheels 1, which enables the depth camera 12 to capture images in the horizontal direction. The depth camera 12 has a large field of view in the vertical direction. Therefore, the depth camera 12, in conjunction with the steering of the wheels 1, can achieve shooting without blind spots.

[0048] Wheel 1 uses large-sized pneumatic tires, which reduces vibration when the robot encounters small obstacles on the ground during delivery, thereby reducing the adverse effects on the shooting effect of depth camera 12. Together with lidar sensor 13, it can achieve autonomous navigation and obstacle avoidance in indoor and outdoor environments with insufficient light, making the delivery robot more adaptable to more complex indoor and outdoor environments.

[0049] The embodiments described above are only used to illustrate the technical ideas and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. The scope of patent application of this utility model should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in this utility model still fall within the patent scope of this utility model.

Claims

1. A delivery robot, characterized in that, include: The chassis (5) has a front side and a rear side on both sides in the length direction. Wheels (1) are installed on opposite sides in the width direction of the chassis (5). The wheels (1) are driven by a motor (2) installed inside the chassis (5). The motor (2) is configured to drive the wheels (1) on both sides in the width direction of the chassis (5) to rotate in opposite directions. The chassis (5) is equipped with a driver (4), a power module (8), an embedded computing module (7) and a main control board (6). The main control board (6) is connected to the driver (4), the power module (8) and the embedded computing module (7) respectively. The power module (8) is powered by the main control board (6) and connected to the embedded computing module (7). The power module (8) is powered by the driver (4) and connected to the motor (2). A support assembly is provided above the chassis (5), and a cargo placement area is provided on the inner side of the support assembly. The support assembly has an opening in the horizontal direction that connects to the cargo placement area. A depth camera (12) and a lidar sensor (13) are provided on the top of the support assembly. The depth camera (12) and the lidar sensor (13) are electrically connected to the embedded computing module (7), respectively.

2. A delivery robot according to claim 1, characterized in that: The embedded computing module (7) and the main control board (6) are both located in the middle of the chassis (5) in the length direction. In the length direction of the chassis (5), the power module (8) is located on the rear side of the embedded computing module (7), and the driver (4) is located on the rear side of the main control board (6).

3. A delivery robot according to claim 1, characterized in that: The wheel (1) is an inflatable wheel (1), and there are 4 wheels (1). The wheels (1) are divided into two groups, and there are 2 wheels (1) in each group. The wheels (1) in each group are respectively set on both sides of the width direction of the chassis (5). The two groups of wheels (1) are arranged at intervals in the length direction of the chassis (5). The wheels (1) and the motor (2) correspond one-to-one.

4. A delivery robot according to claim 1, characterized in that: The delivery robot also includes a pad (3) which is installed between the output end of the motor (2) and the wheel (1).

5. A delivery robot according to claim 1, characterized in that: Also includes: The remote controller is connected to the main control board (6) and is equipped with an image display module, which is the output terminal of the depth camera (12).

6. A delivery robot according to claim 1, characterized in that: The support components include: Several vertically arranged supports (9) are provided on the upper end of the chassis (5) and around the chassis (5). On the circumference of the chassis (5), adjacent supports (9) form an opening for the cargo placement area. A horizontally arranged mounting plate (10) is disposed on the upper end of the bracket (9), and the laser radar sensor (13) and the depth camera (12) are both mounted on the upper end of the mounting plate (10).

7. A delivery robot according to claim 6, characterized in that: Along the length of the chassis (5), the depth camera (12) is located at the front end of the mounting plate (10), and the lidar sensor (13) is located at the center of the mounting plate (10).

8. A delivery robot according to claim 6, characterized in that: The wiring harnesses on the lidar sensor (13) and the depth camera (12) are routed through one of the brackets (9) to the interior of the chassis (5).

9. A delivery robot according to claim 1, characterized in that: The delivery robot also includes a cargo transport basket (11), which is located in the cargo placement area and corresponds to the center position of the upper end of the chassis (5).

10. A delivery robot according to claim 1, characterized in that: An operating surface is provided on the upper part of the rear side of the chassis (5). The operating surface is inclined with its upper edge close to the front side of the chassis (5). A voltage display (14) is installed on the operating surface. The voltage display (14) is connected to the power module (8).

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