A delivery robot

Abstract

This utility model provides a delivery robot. Wheels driven by motors are mounted on opposite sides of the chassis in the width direction. The motors are configured to drive the wheels on both sides of the chassis to rotate in opposite directions. An openable takeout box frame is located at the upper end of the chassis. An inner takeout box frame is located inside the outer frame and extends through the opening. A touch screen is located on the outer side of the movable takeout box. This delivery robot uses a fusion of depth camera and LiDAR to sense the surrounding road conditions. The depth camera, combined with wheel steering, enables omnidirectional shooting. Navigation and positioning are achieved through a BeiDou positioning module for precise location. Users can retrieve their takeout by inputting a pickup code via a voice interaction module and the touch screen, meeting the needs of different users. After receiving the correct pickup code, the inner takeout box frame rises, allowing the user to easily retrieve the takeout.

Description

Technical Field

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

[0002] With the expansion of university campuses and the acceleration of students' pace of life, the demand for food delivery is growing. However, due to the special nature of university campuses, delivery personnel cannot enter the closed campus. To solve the problem of food delivery inside and outside the campus, delivery robots have emerged. Existing delivery robots are generally equipped with different sensors on their chassis to detect the surrounding environment in order to adapt to different environments.

[0003] However, the aforementioned existing technology has the following drawbacks:

[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 with a small turning radius that is not easily affected by environmental obstacles. Utility Model Content

[0006] To address the problems of large turning radius and susceptibility to environmental obstacles in existing delivery robots, this invention provides a delivery robot.

[0007] According to one objective of this utility model, this utility model provides a delivery robot, comprising:

[0008] A chassis, with a front 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, wherein the motor is configured to drive the wheels on both sides of the chassis width direction to rotate in opposite directions.

[0009] A movable takeaway box is mounted on the chassis. The movable takeaway box includes an outer frame with an openable and closable opening at the top, an inner frame inside the outer frame that can extend through the opening, and a touch screen on the outside of the movable takeaway box.

[0010] The chassis is equipped with a control component and an electric push rod. The control component controls and connects the electric push rod and the motor respectively. The electric push rod drives and connects to the inner frame of the takeout box.

[0011] The chassis is also equipped with a depth camera, a lidar, a voice dialogue module, and a BeiDou positioning module. The depth camera, the lidar, the voice dialogue module, the BeiDou positioning module, and the touch screen are electrically connected to the control components.

[0012] Preferably, the control component includes a driver, a power module, an embedded computing module, and a main control board disposed inside the chassis. The main control board is connected to the driver, the power module, the embedded computing module, and the electric push rod, respectively. The power module is powered and connected to the embedded computing module through the main control board. The power module is powered and connected to the electric push rod through the main control board. The power module is powered and connected to the motor through the driver. The electric push rod is driven and connected to the inner frame of the takeaway box.

[0013] A depth camera, a lidar, a voice interaction module, and a BeiDou positioning module are mounted on the top of the chassis. The depth camera, lidar, voice interaction module, BeiDou positioning module, and touch screen are electrically connected to the embedded computing module.

[0014] Preferably, the power module and the driver are both located at the front of the chassis in the length direction. In the length direction of the chassis, the embedded computing module is located at the rear of the power module, the main control board is located at the rear of the driver, and the electric push rod is located at the rear of the chassis in the length direction.

[0015] Preferably, the movable takeaway box includes a takeaway box hinge door that can open and close the opening of the takeaway box outer frame;

[0016] The upper end of the inner frame of the takeaway box is provided with an opening corresponding to the upper end of the outer frame of the takeaway box. The inner side of the opening of the inner frame of the takeaway box and the rear side of the inner frame of the takeaway box are provided with grooves for the hinge door of the takeaway box to move. The hinge door of the takeaway box is located in the groove of the inner frame of the takeaway box, and one end of the hinge door of the takeaway box is fixed to the outer frame of the takeaway box.

[0017] Preferably, along the length of the chassis, the depth camera is located at the front end of the chassis, the voice dialogue module is located to the left of the depth camera, the lidar is mounted on the rear side of the depth camera via a lidar elevation stud, and the BeiDou positioning module is located on the rear side of the lidar.

[0018] 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 is connected to the power module. A power switch is also installed on the operating surface and is connected to the power module.

[0019] Preferably, the touch screen is connected to the front side of the outer frame of the takeout box via the screen fixing rod.

[0020] Preferably, the wheels are divided into two groups, with two wheels in each group. The wheels in each group are respectively arranged on both sides of the chassis in the width direction, and the two groups of wheels are arranged at intervals in the length direction of the chassis. Each wheel corresponds to a motor.

[0021] Preferably, the wheel is an inflatable wheel.

[0022] Preferably, the delivery robot further includes an elastic pad installed between the output end of the motor and the wheel.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] This delivery robot uses a fusion of depth camera and LiDAR to sense the surrounding road conditions and avoid collisions. By controlling the wheel steering with motors, the depth camera can capture images horizontally. The depth camera has a large field of view in the vertical direction, so the depth camera combined with the wheel steering can achieve shooting without blind spots. The LiDAR can also achieve 360° scanning by controlling the wheel steering with motors, so the LiDAR combined with the wheel steering can achieve scanning without blind spots.

[0025] The motor can drive the wheels on both sides of the chassis to rotate in opposite directions in the width direction, so that the chassis can rotate in place, reducing the robot's turning radius. Combined with the fused depth camera, lidar and Beidou positioning module, it can achieve autonomous navigation and obstacle avoidance, making the delivery robot more adaptable to the complex closed campus environment of universities.

[0026] The delivery robot receives voice commands for pickup codes from users via a voice dialogue module. Users can also use a touchscreen to enter a pickup code to retrieve their takeout, catering to the needs of different users. After the robot receives the correct pickup code, the electric push rod will lift the inner frame of the takeout box. At this time, since one end of the takeout box hinge door is fixed to the outer frame, the hinge door will open automatically, making it convenient for users to take out their takeout. After the user has finished taking out their takeout, they can also lower the inner frame of the takeout box and close the hinge door by voice control or the touchscreen.

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the delivery robot described in this utility model;

[0029] Figure 2 This is a schematic diagram of the internal structure of the chassis of the delivery robot described in this utility model;

[0030] Figure 3 This is a schematic diagram of the left side of the chassis of the delivery robot described in this utility model;

[0031] Figure 4 This is a schematic diagram of the front side of the chassis of the delivery robot described in this utility model;

[0032] Figure 5 This is a schematic diagram of the takeout box opening of the delivery robot described in this utility model;

[0033] Figure 6 A left-side sectional view of the takeout box of the delivery robot described in this utility model. Detailed Implementation

[0034] 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.

[0035] Please see Figure 1-6 This utility model provides a technical solution: a delivery robot that can be used for campus takeout, including a chassis 4. The chassis 4 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 4. The wheels 1 are driven by a motor 3. Specifically, the torque output end of the motor 3 is connected to the wheels 1. The motor 3 is installed inside the chassis 4. The motor 3 is configured to drive the wheels 1 on both sides of the chassis 4 to rotate in opposite directions. The motor 3 drives a portion of the wheels 1 individually. The motor 3 controls the wheels 1 on both sides of the chassis 4 to rotate in opposite directions, which can generate a rotational force around the center of the chassis 4, so that the delivery robot rotates around its own center, realizes the rotation of the chassis 4 in place, and reduces the turning radius of the robot.

[0036] The chassis 4 is internally equipped with a driver 5, a power module 8, an embedded computing module 7, a main control board 6, and an electric actuator 9. The main control board 6 is connected to the driver 5, the power module 8, the embedded computing module 7, and the electric actuator 9. 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 main control board 6 and connected to the electric actuator 9. The power module 8 is powered by the driver 5 and connected to the motor 3.

[0037] A movable takeaway box is provided on the top of the chassis 4. The takeaway box outer frame 19, the takeaway box inner frame 20 and the takeaway box hinge door 21 are combined to form the movable takeaway box. The movable takeaway box is provided with the touch screen 17.

[0038] A depth camera 14, a lidar 15, a voice dialogue module 12, and a Beidou positioning module 13 are disposed on the top of the chassis 4. The depth camera 14, the lidar 15, the voice dialogue module 12, the Beidou positioning module 13, and the touch screen 17 are electrically connected to the embedded computing module 7.

[0039] Further, see Figure 2 The power module 8 and the driver 5 are both located at the front of the chassis 4 along its length. Along the length of the chassis 4, the embedded computing module 7 is located behind the power module 8, the main control board 6 is located behind the driver 5, and the electric push rod 9 is located at the rear of the chassis 4 along its length. By defining the positions of the driver 5, power module 8, embedded computing module 7, and main control board 6 on the chassis 4, the centralized layout brings the overall weight distribution of the device closer to the geometric center of the chassis 4, effectively lowering the vehicle's center of gravity. Furthermore, placing these components at the center of the chassis 4, compared to the edges, significantly reduces vibration amplitude during use and extends the lifespan of the components. The centralized layout also shortens the length of connecting cables between components, reducing losses, and facilitates future maintenance.

[0040] 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.

[0041] The delivery robot also includes an elastic pad 2, which is installed between the output end of the motor 3 and the wheel 1.

[0042] 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 4 in the width direction, and the two groups of wheels 1 are arranged at intervals in the length direction of the chassis 4.

[0043] See also Figure 2 Each wheel 1 corresponds to a motor 3, and each wheel 1 is equipped with a motor 3. That is, each wheel 1 is driven by a single motor 3. The motor 3 is equipped with a driver 5, and the power module 8 supplies power to the single motor 3 through the driver 5.

[0044] 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 via Bluetooth. The remote control is equipped with an image display module, which is the output terminal of the depth camera 14. The image display module is used to display the scene captured by the depth camera 14. 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 3 to drive the wheels 1 to rotate according to the operation instructions, thereby realizing the movement of the entire device. The control method is conventional existing technology. In addition, the delivery robot can move autonomously by sending commands to the embedded computing module 7 through the computer. Then, the embedded computing module 7 sends operation commands to the main control board 6. The main control board 6 controls the motor 3 to drive the wheels 1 to rotate according to the operation instructions, thereby realizing the movement of the entire device.

[0045] In this embodiment, see Figure 1 , 5 And 6, the movable takeaway box includes:

[0046] The takeaway box hinge door 21 is located in the groove of the inner frame 20 of the takeaway box, and the inner frame 20 of the takeaway box is located in the outer frame 19 of the takeaway box. One end of the takeaway box hinge door 21 is fixed to the outer frame 19 of the takeaway box. The bottom center of the outer frame 19 of the takeaway box has a circular hole through which an electric push rod 9 can pass. The outer frame 19 of the takeaway box is located on the chassis 4.

[0047] The inner frame 20 of the takeout box is connected to the electric push rod 9, and the touch screen 17 is mounted on the outer frame 19 of the takeout box via the screen fixing rod 18.

[0048] See Figure 3 and 4 Along the length of the chassis 4, the depth camera 14 is located at the front end of the chassis 4, the voice dialogue module 12 is located to the left of the depth camera 14, the lidar 15 is located behind the depth camera 14 via the lidar elevation stud 16, and the Beidou positioning module 13 is located behind the lidar 15.

[0049] See Figure 5 An operating surface is provided on the upper part of the rear side of the chassis 4. The operating surface is inclined with its upper edge close to the front side of the chassis 4. A voltage display 10 is installed on the operating surface. The voltage display 10 is connected to the power module 8. The voltage display 10 is used to display the voltage of the power module 8. A power switch 11 is also provided on the operating surface. The power switch 11 is connected to the power module 8.

[0050] In summary, this delivery robot uses the fusion of depth camera 14 and lidar 15 to sense the surrounding road conditions and avoid collisions. The steering of the wheels 1 by motor 3 enables the depth camera 14 to capture images in the horizontal direction. The depth camera 14 has a large field of view in the vertical direction. Therefore, the depth camera 14, together with the steering of the wheels 1, can achieve shooting without blind spots. At the same time, the lidar 15, together with the steering of the wheels 1, can also achieve scanning without blind spots.

[0051] 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 14 and the scanning effect of lidar 15. With the help of Beidou positioning module 13, it can achieve autonomous navigation and obstacle avoidance, making the delivery robot more adaptable to the complex closed campus environment of universities.

[0052] The delivery robot receives voice commands for pickup codes from users via the voice dialogue module 12. Users can also use the touchscreen 17 to input the pickup code to retrieve their takeout, catering to different user needs. Upon receiving the correct pickup code, the electric push rod 9 raises the inner frame 20 of the takeout box. Since one end of the hinge door 21 is fixed to the outer frame 19, the hinge door 21 automatically opens, facilitating the user's pickup. After the user has retrieved the takeout, they can also lower the inner frame 20 and close the hinge door 21 via voice control or the touchscreen.

[0053] 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 (4) 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 (4). The wheels (1) are driven by a motor (3) installed inside the chassis (4). The motor (3) is configured to drive the wheels (1) on both sides in the width direction of the chassis (4) to rotate in opposite directions. A movable takeaway box is set above the chassis (4). The movable takeaway box includes an outer frame (19) with an opening that can be opened and closed at the top, an inner frame (20) of the takeaway box located inside the outer frame (19) and extending through the opening, and a touch screen (17) is set on the outside of the movable takeaway box. The chassis (4) is provided with a control component and an electric push rod (9). The control component controls and connects the electric push rod (9) and the motor (3) respectively. The electric push rod (9) drives and connects to the inner frame (20) of the takeaway box. The chassis (4) is also equipped with a depth camera (14), a lidar (15), a voice dialogue module (12), and a Beidou positioning module (13). The depth camera (14), the lidar (15), the voice dialogue module (12), the Beidou positioning module (13), and the touch screen (17) are electrically connected to the control components.

2. A delivery robot according to claim 1, characterized in that, The control components include a driver (5), a power module (8), an embedded computing module (7), and a main control board (6) disposed inside the chassis (4). The main control board (6) is connected to the driver (5), the power module (8), the embedded computing module (7), and the electric push rod (9), respectively. The power module (8) supplies power to the embedded computing module (7) through the main control board (6), supplies power to the electric push rod (9) through the main control board (6), supplies power to the motor (3) through the driver (5), and the electric push rod (9) drives the inner frame (20) of the takeaway box. A depth camera (14), a lidar (15), a voice dialogue module (12), and a Beidou positioning module (13) are arranged on the top of the chassis (4). The depth camera (14), the lidar (15), the voice dialogue module (12), the Beidou positioning module (13), and the touch screen (17) are electrically connected to the embedded computing module (7).

3. A delivery robot according to claim 2, characterized in that, The power module (8) and the driver (5) are both located at the front of the chassis (4) in the length direction. In the length direction of the chassis (4), the embedded computing module (7) is located at the rear of the power module (8), the main control board (6) is located at the rear of the driver (5), and the electric push rod (9) is located at the rear of the chassis (4) in the length direction.

4. A delivery robot according to claim 1, characterized in that, The movable takeaway box includes a takeaway box hinge door (21) that can open and close the opening of the takeaway box outer frame (19); The upper end of the inner frame (20) of the takeaway box is provided with an opening corresponding to the upper end of the outer frame (19) of the takeaway box. The inner side of the opening of the inner frame (20) and the rear side of the inner frame (20) of the takeaway box are provided with grooves for the hinge door (21) of the takeaway box to move. The hinge door (21) of the takeaway box is located in the groove of the inner frame (20) of the takeaway box, and one end of the hinge door (21) of the takeaway box is fixed to the outer frame (19) of the takeaway box.

5. A delivery robot according to claim 1, characterized in that, Along the length of the chassis (4), the depth camera (14) is located at the front end of the chassis (4), the voice dialogue module (12) is located to the left of the depth camera (14), the lidar (15) is set on the rear side of the depth camera (14) through the radar heightening stud (16), and the Beidou positioning module (13) is located on the rear side of the lidar (15).

6. A delivery robot according to claim 2, characterized in that, An operating surface is provided on the upper part of the rear side of the chassis (4). The operating surface is inclined with its upper edge close to the front side of the chassis (4). A voltage display (10) is installed on the operating surface. The voltage display (10) is connected to the power module (8). A power switch (11) is also installed on the operating surface. The power switch (11) is connected to the power module (8).

7. A delivery robot according to claim 1, characterized in that: The touch screen (17) is connected to the front side of the takeaway box frame (19) via a screen fixing rod (18).

8. A delivery robot according to claim 1, characterized in that, The wheels (1) are divided into two groups, with two wheels (1) in each group. The wheels (1) in each group are respectively located on both sides of the chassis (4) in the width direction. The two groups of wheels (1) are arranged at intervals in the length direction of the chassis (4). The wheels (1) and the motor (3) correspond one-to-one.

9. A delivery robot according to claim 1, characterized in that, The wheel (1) is an inflatable wheel (1).

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

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