A delivery robot

Abstract

The disclosure provides a delivery robot, which comprises a moving body, a walking mechanism and a first navigation obstacle avoidance module; the moving body is provided with a cargo compartment for accommodating delivery goods; the walking mechanism is arranged at the bottom of the moving body and is used for realizing the walking function; the first navigation obstacle avoidance module is arranged on the moving body and comprises a top space information acquisition unit and a distance depth acquisition assembly; the top space information acquisition unit is arranged at the top of the moving body and is used for identifying the space information around the delivery robot; the distance depth acquisition assembly is arranged at the front side of the moving body and comprises at least two distance depth acquisition units, and the distance depth acquisition units are used for identifying 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 downwardly and obliquely, and the second optical axis of the detection area of the horizontal acquisition unit extends along the horizontal direction.

Description

Technical Field

[0001] This disclosure relates to the field of logistics and transportation technology, and in particular to a delivery robot. Background Technology

[0002] Delivery robots are increasingly used in logistics and food delivery, but most can only operate independently indoors or outdoors. The design requirements for robots operating indoors and those operating outdoors differ significantly. The overall layout of the robot structure, center of gravity height, and detection methods all vary. When a robot designed for one scenario is deployed in another, problems such as tipping over, incomplete perception, and obstructed movement can easily occur. Therefore, existing delivery robot designs cannot bridge the delivery path between merchants and users, relying primarily on manual delivery or having a robot placed indoors and then transferred to an upper floor, resulting in low logistics efficiency. Designing a delivery robot capable of providing stable delivery functionality across both indoor and outdoor application scenarios has become a crucial issue urgently needing to be addressed in this field. Summary of the Invention

[0003] A primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above and to provide a delivery robot.

[0004] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0005] According to one aspect of this disclosure, a delivery robot is provided, comprising a mobile body, a walking mechanism, and a first navigation and obstacle avoidance module; the mobile body is provided with a cargo compartment for accommodating delivery items; the walking mechanism is disposed at the bottom of the mobile body for walking; the first navigation and obstacle avoidance module is disposed on the mobile body and includes a top spatial information acquisition unit and a distance and depth acquisition component; the top spatial information acquisition unit is disposed at the top of the mobile body for identifying spatial information around the delivery robot; the distance and depth acquisition component is disposed at the front of the mobile body and includes at least two distance and depth acquisition units, the distance and depth acquisition units being used to identify distance and depth information in front of the delivery robot; the at least two distance and depth acquisition units include an inclined acquisition unit and a horizontal acquisition unit; the first optical axis of the detection area of ​​the inclined acquisition unit extends obliquely downward, and the second optical axis of the detection area of ​​the horizontal acquisition unit extends horizontally.

[0006] According to one embodiment of this disclosure, the horizontal acquisition unit is located above the tilt acquisition unit, and the detection area of ​​the horizontal acquisition unit partially overlaps with the detection area of ​​the tilt acquisition unit.

[0007] According to one embodiment of this disclosure, the horizontal acquisition unit is located below the tilt acquisition unit.

[0008] According to one embodiment of this disclosure, the angle between the first optical axis and the horizontal plane is 30° to 60°.

[0009] According to one embodiment of this disclosure, the top space information acquisition unit is a 3D radar; and / or, the distance and depth acquisition unit is a TOF depth camera.

[0010] According to one embodiment of this disclosure, the first navigation obstacle avoidance module further includes a plurality of image acquisition units; the plurality of image acquisition units are respectively disposed on the front side, rear side and left and right sides of the moving subject.

[0011] According to one embodiment of this disclosure, the image acquisition unit is a wide-angle camera.

[0012] According to one embodiment of this disclosure, the first navigation obstacle avoidance module further includes a plurality of ranging units; the plurality of ranging units are respectively disposed on the front side, rear side and left and right sides of the moving body.

[0013] According to one embodiment of this disclosure, the ranging unit is an ultrasonic ranging sensor.

[0014] According to another aspect of this disclosure, a delivery robot is provided, comprising a mobile body, a walking mechanism, and a second navigation and obstacle avoidance module; the mobile body is provided with a cargo compartment for accommodating delivery items; the walking mechanism is disposed at the bottom of the mobile body for walking function; the second navigation and obstacle avoidance module is disposed on the mobile body and includes a rear spatial information acquisition unit; the rear spatial information acquisition unit is disposed at the rear of the mobile body for identifying spatial information behind the delivery robot.

[0015] According to one embodiment of this disclosure, the delivery robot further includes a first navigation and obstacle avoidance module; the first navigation and obstacle avoidance module is disposed on the mobile body and includes a top space information acquisition unit disposed on the top of the mobile body for identifying the space information around the delivery robot.

[0016] According to one embodiment of this disclosure, the rear space information acquisition unit is a single-line radar.

[0017] According to one embodiment of this disclosure, the rear of the mobile body is provided with a rearward-facing rear panel component, and the rear spatial information acquisition unit is disposed on the rear panel component; wherein, the rear panel component is further provided with a charging interface, the charging interface being used to connect with an external charging device to charge the battery of the delivery robot.

[0018] According to one embodiment of this disclosure, the delivery robot further includes a plurality of contact switches; the plurality of contact switches are respectively disposed on the bottom edges of the front and rear sides of the moving body, and are used to emit sensing signals when the delivery robot touches the edge.

[0019] According to one embodiment of this disclosure, the top of the mobile body is provided with a protrusion, and the top space information acquisition unit is disposed on the top of the protrusion.

[0020] According to one embodiment of this disclosure, the protrusion is located in the front end region of the top of the movable body.

[0021] According to one embodiment of this disclosure, the protrusion has a front end face facing forward, and an interactive component is provided on the front end face for users to interact with the delivery robot to access information about stored items.

[0022] According to one embodiment of this disclosure, the interactive component includes a screen, and the front surface is an inclined surface facing forward and upward, so that the user can view the image interactive information displayed on the screen from a downward angle.

[0023] According to one embodiment of this disclosure, the interactive component includes a radio component and / or a playback component.

[0024] According to one embodiment of this disclosure, the bottom of the mobile body is provided with a base plate; the walking mechanism includes omnidirectional wheels and at least two wheel sets respectively disposed on the base plate; the at least two wheel sets include a driving wheel set and a driven wheel set, and at least one of the driven wheel sets has an omnidirectional wheel; the omnidirectional wheels are driven by a steering drive mechanism and cooperate with the omnidirectional wheels to control the travel direction of the delivery robot.

[0025] According to one embodiment of this disclosure, the wheels of the drive wheel assembly are equipped with hub motors for driving the wheels of the drive wheel assembly.

[0026] According to one embodiment of this disclosure, the wheel is connected to the base plate via a swing arm; one end of the swing arm is rotatably connected to the base plate, and the wheel is disposed on the swing arm; a bracket is disposed on the base plate, the top of the bracket extends above the swing arm, and a shock-absorbing spring is connected between the top of the bracket and the swing arm.

[0027] As can be seen from the above technical solution, the advantages and positive effects of the delivery robot proposed in this disclosure are as follows:

[0028] The delivery robot disclosed herein includes a first navigation and obstacle avoidance module disposed on a mobile body. The first navigation and obstacle avoidance module includes a top spatial information acquisition unit disposed on the top of the mobile body and a distance and depth acquisition component disposed on the front side of the mobile body. The distance and depth acquisition component includes at least two distance and depth acquisition units, specifically an inclined acquisition unit and a horizontal acquisition unit. The first optical axis of the detection area of ​​the inclined acquisition unit extends downward at an angle, and the second optical axis of the detection area of ​​the horizontal acquisition unit extends horizontally. Through the above structural design, this disclosure utilizes the distance and depth acquisition units to identify the distance and depth information in front of the delivery robot. Furthermore, the optical axes of the detection areas of the inclined acquisition unit and the horizontal acquisition unit extend downward at an angle and horizontally, respectively, thereby providing a more comprehensive distance and depth perception capability. Simultaneously, in conjunction with the top spatial information acquisition unit's identification of the spatial information around the delivery robot, this disclosure enables the delivery robot to achieve obstacle avoidance perception capabilities that meet both indoor and outdoor needs, facilitating delivery paths between merchants and users, allowing the delivery robot to operate freely outdoors, indoors, and between floors requiring delivery, significantly improving logistics and delivery efficiency. Attached Figure Description

[0029] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure taken in conjunction with the accompanying drawings. The drawings are merely illustrative illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0030] Figure 1 This is a schematic diagram of the structure of a delivery robot from one perspective, according to an exemplary embodiment.

[0031] Figure 2 yes Figure 1 A schematic diagram of the delivery robot from another perspective is shown.

[0032] Figure 3 yes Figure 1 A side view of the delivery robot shown;

[0033] Figure 4 yes Figure 1 An exploded view of the delivery robot is shown.

[0034] Figure 5 yes Figure 1 A schematic diagram of the detection area of ​​the delivery robot is shown.

[0035] Figure 6 yes Figure 1 The diagram shows the structure of the walking mechanism of the delivery robot.

[0036] The annotations in the attached figures are explained as follows:

[0037] 100. Moving subject;

[0038] 110. Cargo hold;

[0039] 120. Rear panel component;

[0040] 121. Charging port;

[0041] 130. Protrusion;

[0042] 1301. Front end face;

[0043] 131. Interactive components;

[0044] 140. Outer shell;

[0045] 150. Base plate;

[0046] 200. Walking mechanism;

[0047] 210. Casters;

[0048] 220. Active wheel assembly;

[0049] 230. Driven gear set;

[0050] 240. Hub motor;

[0051] 250. Wheel;

[0052] 251. Pendulum;

[0053] 252. Bracket;

[0054] 253. Shock-absorbing spring;

[0055] 300. First navigation and obstacle avoidance module;

[0056] 310. Top space information acquisition unit;

[0057] 320. Distance and depth acquisition component;

[0058] 3201. Distance and Depth Acquisition Unit;

[0059] 321. Tilt acquisition unit;

[0060] 322. Horizontal acquisition unit;

[0061] 330. Image acquisition unit;

[0062] 340. Distance measuring unit;

[0063] 400. Second navigation and obstacle avoidance module;

[0064] 410. Rear spatial information acquisition unit;

[0065] 500. Collision buffer strip;

[0066] 600. Battery;

[0067] α. Angle;

[0068] L1. First optical axis;

[0069] L2. Second optical axis;

[0070] S1. Detection area;

[0071] S2. Detection area. Detailed Implementation

[0072] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are illustrative in nature and not intended to limit this disclosure.

[0073] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that can implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as the orientation according to the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.

[0074] See Figure 1 The illustration represents a structural schematic diagram of the delivery robot proposed in this disclosure from one perspective. In this exemplary embodiment, the delivery robot proposed in this disclosure is described using a hotel delivery robot as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of this disclosure to delivery robots in other application scenarios, and these changes are still within the scope of the principles of the delivery robot proposed in this disclosure.

[0075] like Figure 1 As shown, in one embodiment of this disclosure, the delivery robot proposed in this disclosure includes a mobile body 100, a walking mechanism 200, and a first navigation and obstacle avoidance module 300. (See also...) Figures 2 to 6 , Figure 2 The diagram shows a representative structural schematic of the delivery robot from another perspective; Figure 3 The image shows a representative side view of the delivery robot; Figure 4 The diagram shows a representative exploded view of the delivery robot; Figure 5 The diagram shows a representative example of the detection area of ​​a delivery robot. Figure 6 The diagram above shows a representative structural schematic of the walking mechanism 200. The structure, connection method, and functional relationship of the main components of the delivery robot proposed in this disclosure will be described in detail below with reference to the above-mentioned figures.

[0076] like Figures 1 to 5 As shown, in one embodiment of this disclosure, the mobile body 100 is provided with a cargo compartment 110 for accommodating delivery items. A walking mechanism 200 is disposed at the bottom of the mobile body 100 and is used to perform walking functions. A first navigation and obstacle avoidance module 300 is disposed on the mobile body 100, and includes a top spatial information acquisition unit 310 and a distance-depth acquisition component 320. The top spatial information acquisition unit 310 is disposed on the top of the mobile body 100 and is used to identify spatial information around the delivery robot. The distance-depth acquisition component 320 is disposed on the front side of the mobile body 100 and includes at least two distance-depth acquisition units 3201, which are used to identify distance-depth information in front of the delivery robot. The at least two distance-depth acquisition units 3201 include a tilt acquisition unit 321 and a horizontal acquisition unit 322. The first optical axis L1 of the detection area S1 of the tilt acquisition unit 321 extends tilted downwards, and the second optical axis L2 of the detection area S2 of the horizontal acquisition unit 322 extends horizontally. Through the above structural design, this disclosure utilizes the distance and depth acquisition unit 3201 to identify the distance and depth information in front of the delivery robot. The optical axes of the detection areas of the tilt acquisition unit 321 and the horizontal acquisition unit 322 of the distance and depth acquisition unit 3201 extend downwards and horizontally, respectively, thereby providing a more comprehensive distance and depth perception capability. At the same time, in conjunction with the top space information acquisition unit 310 to identify the space information around the delivery robot, this disclosure enables the delivery robot to achieve obstacle avoidance perception capability that meets the needs of both indoor and outdoor use, opens up the delivery path between merchants and users, and allows the delivery robot to move freely outdoors, indoors, and between floors where delivery is required, significantly improving logistics and delivery efficiency.

[0077] like Figure 1 and Figure 3 As shown, in one embodiment of this disclosure, the horizontal acquisition unit 322 is located below the tilt acquisition unit 321. At this time, the detection area S2 of the horizontal acquisition unit 322 partially overlaps with the detection area S1 of the tilt acquisition unit 321. Through the above structural design, this disclosure specifically designs the relative positions of the horizontal acquisition unit 322 and the tilt acquisition unit 321, achieving partial overlap between the detection area S2 of the horizontal acquisition unit 322 and the detection area S1 of the tilt acquisition unit 321. This allows the distance-depth acquisition component 320 to achieve better recognition of distance-depth information and facilitates the arrangement of the horizontal acquisition unit 322 and the tilt acquisition unit 321. Furthermore, by utilizing the cooperative design of the horizontal acquisition unit 322 and the tilt acquisition unit 321, this disclosure can meet the application needs of delivery robots in indoor and outdoor scenarios, integrating the recognition and perception functions for various types of obstacles, making the distance-depth acquisition component 320 further suitable for application needs in indoor and outdoor scenarios. In other embodiments of this disclosure, the horizontal acquisition unit 322 may also be located above the inclined acquisition unit 321. Based on this, by designing the relative position or the range of the detection area of ​​the horizontal acquisition unit 322 and the inclined acquisition unit 321, it can still be ensured that the detection area S2 of the horizontal acquisition unit 322 and the detection area S1 of the inclined acquisition unit 321 partially overlap, and this embodiment is not limited to this one.

[0078] like Figure 5 As shown, in one embodiment of this disclosure, the angle α between the first optical axis L1 of the detection area S1 of the tilt acquisition unit 321 and the horizontal plane (e.g., the second optical axis L2 of the detection area S2 of the horizontal acquisition unit 322 shown in the figure) can be 30° to 60°, such as 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc. Through the above structural design, this disclosure specifically designs the first optical axis L1 of the detection area S1 of the tilt acquisition unit 321, selecting an appropriate included angle α. This avoids the angle α being too small, making it difficult for the detection area S1 of the tilt acquisition unit 321 to overlap with the detection area S2 of the horizontal acquisition unit 322, or placing the overlapping area far from the front of the delivery robot. This ensures that the distance and depth acquisition component 320 achieves better recognition of distance and depth information. Simultaneously, it avoids the angle α being too large, resulting in an excessively large overlap between the detection area S1 of the tilt acquisition unit 321 and the detection area S2 of the horizontal acquisition unit 322, thus avoiding wasted detection area and further improving the rationality of the arrangement and function of the distance and depth acquisition unit 3201. In other embodiments of this disclosure, the included angle α may also be 30° or greater than 60°, such as 29°, 61°, etc., and is not limited to this embodiment.

[0079] In one embodiment of this disclosure, the top spatial information acquisition unit 310 can be a 3D radar. Through the above design, this disclosure utilizes a 3D radar as the top spatial information acquisition unit 310 to identify spatial information around the delivery robot. For example, the 3D radar can map based on indoor and outdoor spatial information, achieving universal indoor and outdoor identification functionality. Based on this, the so-called "spatial information around the delivery robot identified by the top spatial information acquisition unit 310" can be understood as spatial information acquired by the 3D radar, such as the distance between the delivery robot and obstacles in the spatial scene (including indoor or outdoor scenes), the delivery robot's orientation in the spatial scene, and its motion state.

[0080] In one embodiment of this disclosure, the distance and depth acquisition unit 3201 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 3201 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 work together with sensing devices such as the image acquisition unit 330 and the ranging unit 340 described below to achieve fusion perception functionality, thereby achieving better obstacle avoidance performance.

[0081] like Figures 1 to 3 As shown, in one embodiment of this disclosure, the first navigation obstacle avoidance module 300 may further include multiple image acquisition units 330. The multiple image acquisition units 330 are respectively disposed on the front, rear, and left and right sides of the moving body 100. Through the above structural design, this disclosure can utilize the image acquisition units 330 in conjunction with the distance and depth acquisition units 3201 to achieve fusion perception function, thereby achieving a better obstacle avoidance effect.

[0082] Based on the structural design of the first navigation obstacle avoidance module 300, which includes an image acquisition unit 330, in one embodiment of this disclosure, the image acquisition unit 330 can be a wide-angle camera.

[0083] like Figures 1 to 3 As shown, in one embodiment of this disclosure, the first navigation obstacle avoidance module 300 may further include multiple ranging units 340. The multiple ranging units 340 are respectively disposed on the front, rear, and left and right sides of the moving body 100. Through the above structural design, this disclosure can utilize the ranging units 340 in conjunction with the distance and depth acquisition unit 3201 to achieve fusion perception function, thereby achieving a better obstacle avoidance effect.

[0084] Based on the structural design of the first navigation obstacle avoidance module 300, which includes a ranging unit 340, in one embodiment of this disclosure, the ranging unit 340 can be an ultrasonic ranging sensor. Through the above design, this disclosure can utilize an ultrasonic ranging sensor to perform ranging functions in special scenarios (such as glass).

[0085] like Figures 1 to 3 As shown, in one embodiment of this disclosure, the delivery robot proposed in this disclosure may further include a collision buffer strip 500, which is disposed on the bottom edge of the moving body 100, such as the bottom edge of the front or rear side (or possibly the left and right sides). Through the above structural design, this disclosure can utilize the collision buffer strip 500 to cope with collision risks and provide a buffering effect for the delivery robot.

[0086] 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. 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.).

[0087] In an embodiment not illustrated in this disclosure, a delivery robot is proposed, comprising a mobile body 100, a walking mechanism 200, and a second navigation and obstacle avoidance module 400. The mobile body 100 is provided with a cargo compartment 110 for accommodating delivery items. The walking mechanism 200 is disposed at the bottom of the mobile body 100 and is used for walking. 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 at the rear of the mobile body 100 and is used to identify the spatial information behind the delivery robot. In other words, unlike... Figures 1 to 6 The illustrated embodiment employs a design where "the delivery robot includes a first navigation and obstacle avoidance module 300, and optionally includes a second navigation and obstacle avoidance module 400." In this embodiment, the delivery robot may include only the second navigation and obstacle avoidance module 400. Through the above structural design, this disclosure enables the delivery robot to achieve obstacle avoidance perception of rear obstacles (such as charging piles, elevators, etc.) using the second navigation and obstacle avoidance module 400.

[0088] In one embodiment of this disclosure, when the delivery robot includes the aforementioned second navigation and obstacle avoidance module 400, the rear spatial information acquisition unit 410 of the second navigation and obstacle avoidance module 400 can be a single-line radar.

[0089] like Figure 2As shown, in one embodiment of this disclosure, a rearward-facing rear panel component 120 is provided at the rear of the mobile body 100. When the delivery robot includes the aforementioned second navigation and obstacle avoidance module 400, the rear spatial information acquisition unit 410 of the second navigation and obstacle avoidance module 400 can be disposed on the rear panel component 120. Furthermore, the rear panel component 120 can also be provided with a charging interface 121, which is used to connect to an external charging device (e.g., a charging pile) to charge the delivery robot's battery 600. It should be noted that the above-described structural design of the rear panel component 120 and the charging interface 121 is not limited by whether the delivery robot is equipped with the first navigation and obstacle avoidance module 300. Through the above structural design, the present disclosure arranges the charging interface 121 and the rear space information acquisition unit 410 on a rear panel component 120 at the same time, which can simplify the structural complexity of the delivery robot, reduce assembly steps, and improve assembly efficiency. In addition, the present disclosure can arrange the internal cables of the charging interface 121 and the rear space information acquisition unit 410 on the inside of the rear panel component 120 at the same time, which facilitates the internal wiring during related processes.

[0090] like Figures 1 to 3 As shown, in one embodiment of this disclosure, the delivery robot may further include multiple contact switches. The multiple contact switches are respectively disposed on the bottom edges of the front and rear sides of the moving body 100, and are used to emit sensing signals when the delivery robot touches an edge. Through the above structural design, this disclosure can utilize contact switches to achieve early warning or automatic avoidance functions when the delivery robot touches an edge, further adapting the delivery robot to applications in both indoor and outdoor scenarios.

[0091] like Figures 1 to 4 As shown, in one embodiment of this disclosure, the top of the mobile body 100 may be provided with a protrusion 130, and the top spatial information acquisition unit 310 may be disposed on the top of the protrusion 130. Through the above structural design, this disclosure utilizes the protrusion on the top of the mobile body 100 to arrange the top spatial information acquisition unit 310, thereby facilitating the negative angle (downward) extension of the monitoring viewing angle (e.g., the lower edge of the detection area of ​​3D radar), further increasing the arrangement height of the top spatial information acquisition unit 310, reducing the monitoring blind spot caused by the mobile body 100 to the top spatial information acquisition unit 310, and improving the recognition and monitoring effect of the delivery robot on the surrounding spatial information.

[0092] like Figures 1 to 3As shown, based on the structural design of the mobile body 100 with a protrusion 130, in one embodiment of this disclosure, the protrusion 130 can be located in the front end region of the top of the mobile body 100. Through the above structural design, this disclosure enables the top spatial information acquisition unit 310 to achieve a greater negative angle extension of the monitoring angle towards the detection area in front of the delivery robot, further improving the delivery robot's recognition and monitoring effect of spatial information in front.

[0093] like Figure 1 As shown, based on the structural design of the mobile body 100 with a protrusion 130, in one embodiment of this disclosure, the protrusion 130 has a front end face 1301 facing forward. An interactive component 131 can be provided on the front end face 1301. The interactive component 131 is used for users to interact with the delivery robot to exchange information about storing and retrieving items, such as delivery capacity storage, customer storage and return of items, customer retrieval of items, and retrieval and return of items by delivery personnel or hotel staff. Through the above structural design, this disclosure utilizes the interactive component 131 to improve the interactive convenience of the delivery robot. Furthermore, since the interactive component 131 and the top space information acquisition unit 310 are respectively located on the protrusion 130, this disclosure also enables a more reasonable and compact arrangement of different components on the mobile body 100, avoiding space occupation and waste.

[0094] like Figure 1 As shown, based on the structural design of the front surface 1301 of the protrusion 130, an interactive component 131 is provided. In one embodiment of this disclosure, the interactive component 131 may include a screen. The front surface 1301 of the protrusion 130 is a sloping surface facing forward and upward, so that the user can observe the image interaction information displayed on the screen from a downward angle. Through the above structural design, since the height of the delivery robot is usually shorter than that of an adult, that is, the screen is below the user's line of sight, this disclosure adopts a forward and upward sloping shape for the front surface 1301 used to arrange the screen, which facilitates visual interaction by the user from a downward angle, and also facilitates the user's touch operation (e.g., the screen is a touch screen). In addition, in order to reduce the probability of the delivery robot tipping over when switching between different scenarios (e.g., moving from indoors to outdoors, or from outdoors to indoors), this disclosure can further reduce the overall height of the delivery robot, so that the height of the interactive component 131 provided on the protrusion 130 is even lower. In this regard, by adopting a structural design that arranges the screen on a sloping surface, this disclosure can ensure the time limit of the interactive function and avoid the impact of the reduction in the overall height of the delivery robot.

[0095] In other embodiments of this disclosure, the screen may also be disposed on a horizontal top surface or a vertical surface of the protrusion 130, and is not limited to this embodiment.

[0096] Based on the structural design of the protrusion 130 with the interactive component 131, in one embodiment of this disclosure, the interactive component 131 may include a sound receiving component and / or a sound playing component, such as a microphone array. Through the above structural design, this disclosure enables users to interact with delivery robots using voice information for storing and retrieving items, utilizing the interactive component 131.

[0097] like Figure 4 and Figure 6 As shown, in one embodiment of this disclosure, the bottom of the mobile body 100 may be provided with a base plate 150. For example, the mobile body 100 may include a housing 140 with an opening at the bottom, and the base plate 150 is disposed at the opening at the bottom of the housing 140. The walking mechanism 200 may include omnidirectional wheels 210 respectively disposed on the base plate 150 and at least two wheel sets, such as, but not limited to, the two wheel sets shown in the figures. The two wheel sets are spaced apart along the front-rear direction of the delivery robot, and each wheel set includes two wheels 250 spaced apart along the left-right direction of the delivery robot. The at least two wheel sets include a driving wheel set 220 and a driven wheel set 230, such as one driving wheel set 220 and one driven wheel set 230 shown in the figures. In other embodiments of this disclosure, there may be two or more driving wheel sets 220, and two or more driven wheel sets 230. Furthermore, the wheels 250 of at least one driven wheel set 230 may be omnidirectional wheels. Accordingly, the omnidirectional wheel 210 is driven by a steering drive mechanism (not shown in the attached diagram), and the omnidirectional wheel 210 cooperates with the omnidirectional wheel to control the direction of travel of the delivery robot. Through the above structural design, this disclosure adopts a combination design of "omnidirectional wheel 210 + omnidirectional wheel" to realize the steering function of the delivery robot, which enables the delivery robot to turn in place around the center position between the two wheels 250 of the active wheel set 220 as the axis. At the same time, it can reduce the wear of the wheels 250 during turning and extend the service life of the wheels 250.

[0098] like Figure 6 As shown, based on the structural design of the walking mechanism 200 including the active wheel set 220, in one embodiment of this disclosure, the wheel 250 of the active wheel set 220 can be equipped with a hub motor 240, which drives the wheel 250 of the active wheel set 220. Through the above structural design, this disclosure utilizes the form of "hub motor 240 + wheel 250" to realize the driving function of the wheel 250 of the active wheel set 220, avoiding the space occupation when setting an additional driving mechanism inside the mobile body 100 (e.g., on the base plate 150), which is beneficial to increasing the proportion of space used by the delivery robot to accommodate goods, while simplifying structural complexity. In other embodiments of this disclosure, the wheel 250 of the active wheel set 220 can also realize the driving function through other driving mechanisms set inside the mobile body 100, and is not limited to this embodiment.

[0099] like Figure 4 and Figure 6 As shown, in one embodiment of this disclosure, the wheel 250 can be connected to the base plate 150 via a swing arm 251. One end of the swing arm 251 is rotatably connected to the base plate 150, and the wheel 250 is disposed on the swing arm 251. A bracket 252 is disposed on the base plate 150, the top of the bracket 252 extends above the swing arm 251, and a shock-absorbing spring 253 is connected between the top of the bracket 252 and the swing arm 251. Through the above structural design, this disclosure can utilize the shock-absorbing spring 253 to provide a buffering and shock-absorbing function between the wheel 250 and the base plate 150, thereby improving the chassis shock absorption performance of the delivery robot.

[0100] It should be noted that the delivery robots shown in the accompanying drawings and described in this specification are merely a few examples among many delivery robots capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the delivery robots shown in the accompanying drawings or described in this specification.

[0101] In summary, the delivery robot proposed in this disclosure includes a first navigation and obstacle avoidance module 300 disposed on the mobile body 100. The first navigation and obstacle avoidance module 300 includes a top space information acquisition unit 310 disposed on the top of the mobile body 100 and a distance and depth acquisition component 320 disposed on the front side of the mobile body 100. The distance and depth acquisition component 320 includes at least two distance and depth acquisition units 3201, specifically including an inclined acquisition unit 321 and a horizontal acquisition unit 322. The first optical axis L1 of the detection area of ​​the inclined acquisition unit 321 extends downward at an angle, and the second optical axis L2 of the detection area of ​​the horizontal acquisition unit 322 extends in the horizontal direction. Through the above structural design, this disclosure utilizes the distance and depth acquisition unit 3201 to identify the distance and depth information in front of the delivery robot. The optical axes of the detection areas of the tilt acquisition unit 321 and the horizontal acquisition unit 322 of the distance and depth acquisition unit 3201 extend downwards and horizontally, respectively, thereby providing a more comprehensive distance and depth perception capability. At the same time, in conjunction with the top space information acquisition unit 310 to identify the space information around the delivery robot, this disclosure enables the delivery robot to achieve obstacle avoidance perception capability that meets the needs of both indoor and outdoor use, opens up the delivery path between merchants and users, and allows the delivery robot to move freely outdoors, indoors, and between floors where delivery is required, significantly improving logistics and delivery efficiency.

[0102] Specifically, for indoor applications, existing standalone outdoor robots often struggle to perform in-situ turns or U-turns (e.g., within an elevator), while existing standalone indoor robots lack the sensing capabilities to handle situations that might occur in outdoor applications, such as crossing ditches or obstacles, or pedestrians or vehicles suddenly appearing. To address this, this disclosure employs a tilt acquisition unit 321 to handle situations involving crossing ditches or obstacles in outdoor applications, and an image acquisition unit 330 and a ranging unit 340 to handle situations where pedestrians or vehicles suddenly appear in outdoor applications. Furthermore, this disclosure utilizes a combination of "universal wheels 210 + omnidirectional wheels" to handle in-situ turning or U-turns in indoor applications.

[0103] The delivery robot disclosed herein can achieve autonomous movement in indoor and outdoor scenarios, and can specifically perform functions such as route planning, navigation, and obstacle avoidance. Accordingly, the delivery robot disclosed herein is suitable for delivering goods and takeout in indoor and outdoor scenarios. In particular, by integrating multiple sensing components, this disclosure can solve the problem of indoor and outdoor compatible navigation and obstacle avoidance. The top spatial information acquisition unit 310 can provide a global field of view, the rear spatial information acquisition unit 410 can handle high-precision passing scenarios, the distance and depth acquisition component 320 can supplement blind spots, the 360° full-vehicle image (i.e., the image acquisition units 330 set on the front, rear, left and right sides of the moving body 100) provides richer visual information, ultrasonic obstacle avoidance (i.e., the ranging unit 340) can handle special scenarios such as glass, and the collision buffer strip 500 can deal with collision hazards.

[0104] The exemplary embodiments of the delivery robot proposed in this disclosure have been described and / or illustrated in detail above. However, the embodiments of this disclosure are not limited to the specific embodiments described herein; rather, components and / or steps of each embodiment may be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment may also be used in combination with other components and / or steps of other embodiments. In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” and “the above” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and to mean that additional elements / components / etc. may exist in addition to those listed. Furthermore, the terms “first” and “second” in the claims and description are used only as illustrative marks and are not intended to limit the numerical scope of the subject matter.

[0105] Although the delivery robot proposed in this disclosure has been described with respect to different specific embodiments, those skilled in the art will recognize that modifications may be made to the implementation of this disclosure within the spirit and scope of the claims.

Claims

1. A delivery robot, characterized in that, include: The mobile body (100) is provided with a cargo compartment (110) for accommodating delivered goods; A walking mechanism (200) is disposed at the bottom of the moving body (100) and is used to realize the walking function; as well as A first navigation and obstacle avoidance module (300), disposed on the mobile body (100), includes: A top spatial information acquisition unit (310) is disposed on the top of the mobile body (100) and is used to identify spatial information around the delivery robot; A distance depth acquisition component (320) is disposed on the front side of the mobile body (100) and includes at least two distance depth acquisition units (3201), the distance depth acquisition units (3201) being used to identify distance depth information in front of the delivery robot; At least two of the distance and depth acquisition units (3201) include an inclined acquisition unit (321) and a horizontal acquisition unit (322); The first optical axis (L1) of the detection area (S1) of the tilted acquisition unit (321) extends tilted downward, and the second optical axis (L2) of the detection area (S2) of the horizontal acquisition unit (322) extends horizontally.

2. The delivery robot according to claim 1, characterized in that, The horizontal acquisition unit (322) is located above the inclined acquisition unit (321), and the detection area (S2) of the horizontal acquisition unit (322) partially overlaps with the detection area (S1) of the inclined acquisition unit (321).

3. The delivery robot according to claim 1, characterized in that, The horizontal acquisition unit (322) is located below the inclined acquisition unit (321).

4. The delivery robot according to claim 1, characterized in that, The angle between the first optical axis (L1) and the horizontal plane is 30°~60°.

5. The delivery robot according to claim 1, characterized in that: The top space information acquisition unit (310) is a 3D radar; and / or The distance and depth acquisition unit (3201) is a TOF depth camera.

6. The delivery robot according to claim 1, characterized in that, The first navigation obstacle avoidance module (300) also includes: Multiple image acquisition units (330) are respectively disposed on the front, rear and left and right sides of the moving body (100).

7. The delivery robot according to claim 6, characterized in that, The image acquisition unit (330) is a wide-angle camera.

8. The delivery robot according to claim 1, characterized in that, The first navigation obstacle avoidance module (300) also includes: Multiple ranging units (340) are respectively disposed on the front, rear and left and right sides of the moving body (100).

9. The delivery robot according to claim 8, characterized in that, The ranging unit (340) is an ultrasonic ranging sensor.

10. The delivery robot according to claim 1, characterized in that, The delivery robot also includes: Multiple contact switches are respectively disposed on the bottom edges of the front and rear sides of the moving body (100) to emit sensing signals when the delivery robot touches the edge.

11. The delivery robot according to claim 1, characterized in that, The top of the mobile body (100) is provided with a protrusion (130), and the top space information acquisition unit (310) is disposed on the top of the protrusion (130).

12. The delivery robot according to claim 11, characterized in that, The protrusion (130) is located in the front end region of the top of the moving body (100).

13. The delivery robot according to claim 11, characterized in that, The protrusion (130) has a front end face (1301) facing forward, and an interactive component (131) is provided on the front end face (1301) for users to interact with the delivery robot to retrieve and store item information.

14. The delivery robot according to claim 13, characterized in that, The interactive component (131) includes a screen, and the front surface (1301) is a sloping surface facing forward and upward, so that the user can observe the image interactive information displayed on the screen from a downward angle.

15. The delivery robot according to claim 13, characterized in that, The interactive component (131) includes a radio component and / or a playback component.

16. The delivery robot according to claim 1, characterized in that, The bottom of the moving body (100) is provided with a base plate (150); The walking mechanism (200) includes casters (210) respectively disposed on the base plate (150) and at least two wheel sets; At least two of the wheel sets include a driving wheel set (220) and a driven wheel set (230), and at least one of the driven wheel sets (230) has a wheel (250) that is an omnidirectional wheel; The omnidirectional wheel (210) is driven by a steering drive mechanism and works in conjunction with the omnidirectional wheel to control the direction of travel of the delivery robot.

17. The delivery robot according to claim 16, characterized in that, The wheels (250) of the drive wheel assembly (220) are equipped with hub motors (240), which are used to drive the wheels (250) of the drive wheel assembly (220).

18. The delivery robot according to claim 16, characterized in that, The wheel (250) is connected to the base plate (150) via a rocker arm (251); One end of the swing arm (251) is rotatably connected to the base plate (150), and the wheel (250) is disposed on the swing arm (251); A bracket (252) is provided on the base plate (150), the top of the bracket (252) extends above the swing rod (251), and a shock-absorbing spring (253) is connected between the top of the bracket (252) and the swing rod (251).

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