Wheeled walking delivery robot

Abstract

FIELD: mobile robotics.SUBSTANCE: wheeled walking delivery robot comprises a body on which a control system and four limbs are located, each of which has at least two sequentially connected links, each of which has an individual drive comprising a brake mechanism that stops and locks the wheel. The limb links are connected by means of drive hinges, and the distal part of each limb is equipped with a motor wheel. The control system is implemented as a distributed complex, including an environment perception system, a navigation system, a motion planning system, a stabilization system, a drive control system, and a decision-making system. The environment perception system enables the construction of a three-dimensional model of an obstacle using a technical vision system consisting of a camera, lidar, and inertial measurement devices, which are located both inside the body and on the front and rear of the body.EFFECT: high speed and high cross-country ability on various types of surfaces, including flat, rough and urban conditions.5 cl, 1 dwg

Description

[0001] The invention relates to mobile robotics, namely to robots that are designed to work in the field of logistics and can be used to deliver goods to the population over various types of surfaces, including flat, rugged and urban conditions.

[0002] From the prior art, an all-terrain transport robot is known, comprising a self-propelled chassis, at least with a land mover and a supporting body, a solar battery formed by a cup-shaped element with a concave surface lined with photovoltaic elements, and mounted on the supporting body above its level in a rotational manner relative to the supporting body, as well as a control system powered by a buffer electric battery, wherein it is made amphibious with positive buoyancy, a waterproof chassis design and a calculated waterline at the level of the cup-shaped element of the solar battery below its upper edge, that is, using part of the volume of the solar battery to create a buoyancy force for the transport robot while maintaining the operability of the solar battery and the robot as a whole afloat (RU 2615808, 11.04.2017 C1).

[0003] A wheeled walking robot for technical diagnostics is known, which is equipped with a body, four driven legs used to move the wheeled walking robot, each of which has at least two degrees of freedom, diagnostic equipment fixed to the upper surface of the body or to a rotary support device, which is fixed to the upper surface of the body, and two freely rotating support wheels, which are placed on a beam fixed to the body and perpendicular to the axis of rectilinear movement of the wheeled walking robot in such a way that each of the freely rotating support wheels is located at a distance of at least half the average length of the said driven legs from the axis of rectilinear movement of the wheeled walking robot (RU 2839028 25.04.2025 C1).

[0004] A robotic mobile courier complex is known, which includes a distribution unit (I) with a receiving and loading and discharging zones, a warehousing and storage unit (II) and a robotic unit (III), which are placed in a container or the body of a vehicle and are structurally divided into functional zones in accordance with their purpose and connected during the technological process, forming an automated courier structure, the management and control of which is carried out using a control subsystem consisting of a hardware module with a processor connected via a wireless communication module to a central controller and a cloud server for storing and transmitting data, wherein the receiving and loading zone of the distribution unit (I) contains a loading side, and the discharging zone of the distribution unit (I) contains an elevator platform moving along a transport shaft,having connections with the transition sections of the floor and ceiling compartments of the robotic unit (III), as well as with the transition section of the warehousing and storage unit (II), and at least one hatch; the warehousing and storage unit (II) includes at least one mobile rack-type structure with cells and a movable two-coordinate table equipped in the ceiling section, connected by means of a vertically oriented rack with a movable spherical support located in the floor section, wherein a movable robot manipulator is installed on the said vertical rack, configured to grip a cargo object for the purpose of its subsequent positional contact with non-separable equipment and / or air and ground robotic couriers; the mentioned floor and ceiling compartments of the robotic unit (III) are equipped with landing service sections for basing the said air and ground robotic couriers,each of which has an intelligent system for positioning and determining the navigation route to the destination, interacting with the specified control subsystem, providing the possibility of mutual information exchange with authorized users (RU 2787547 10.01.2023 C1).,

[0005] The closest technical solution known from the prior art, taken as the closest analogue (prototype), is a wheeled robot containing a housing and four wheels with individual rotation drives, wherein each of the wheels is mounted at the end of a two-link mechanism, wherein the first link of the two-link mechanism is mounted through the first hinge on the housing and has the ability to rotate relative to the housing with the help of a drive built into the first hinge, and the second link is mounted through the second hinge on the first link also with the ability to rotate relative to it with the help of a drive built into the second hinge, wherein the first and second hinges of the two two-link mechanisms each contain an elastic element installed between the output shaft of the drive and the output shaft of the hinge, as well as a locking mechanism consisting of two main elements and a drive, the first of these elements is fixedly mounted on the output shaft of the hinge,The second element is movably mounted and can be moved by the drive of the locking mechanism, providing controlled locking and unlocking of the first element of the locking mechanism (RU 2842768 01.07.2025 C1). The main drawback of the technical solutions known from the prior art is their insufficient cross-country ability on difficult terrain.

[0006] The technical result achieved through the proposed set of features is aimed at ensuring high speed and high cross-country ability on various types of surfaces, including flat, rugged and urban conditions, to reach the delivery destination of the goods.

[0007] To achieve the specified technical result, a wheeled-walking delivery robot is proposed, which comprises a body, a control system and four limbs, each of which has at least two sequentially connected links, on each of which an individual drive is located, containing a brake mechanism, wherein the limb links are connected by means of drive hinges, and the distal part of each limb is equipped with a motor-wheel; wherein the control system controlling the movement of the limb links and the motor-wheels consists of an environment perception system, a navigation system, a motion planning system, a stabilization system, a drive control system, and a decision-making system.

[0008] It is preferable that the environment perception system consists of a camera, lidar and inertial measurement units.

[0009] The wheeled walking delivery robot is shown in Fig. 1, where 1 is the body; 2 is a limb; 3 is a link; 4 is a joint; 5 is a motor-wheel.

[0010] The wheeled, walking delivery robot consists of a body (1) housing a control system and four limbs (2). Each limb has at least two sequentially connected links (3), each of which has an individual drive containing a brake mechanism that stops and locks the wheel. The limb links are connected to each other and to the body via drive hinges, and the distal portion of each limb is equipped with a motorized wheel (5). The nodes are connected to each other using bolted connections.

[0011] The control system, which is installed on the body and is designed to control the movement of the links (3), limbs (2) and motor wheels (5), is designed as a distributed complex and consists of an environment perception system, a navigation system, a motion planning system, a stabilization system, a drive control system, and a decision-making system.

[0012] The environment perception system includes a vision system, such as cameras, lidar, and inertial measurement units, and enables spatial mapping and detection of obstacles, slopes, and steps. The navigation system receives the coordinates of the target destination from an external delivery system, uses GPS / GLONASS, odometry, and inertial system data to determine the current position, and plots the optimal route and transmits control commands to the motion planning system. Based on the perception subsystem's data, the motion planning system determines the required movement mode: wheeled or walking. In wheeled mode, it generates control signals for the motorized wheels, and in walking mode, it calculates the trajectories of the limb links and synchronizes their movement. The stabilization system compensates for body tilt and prevents rollover when moving on uneven surfaces.The drive control system converts control inputs into signals for the servo drives of the limb joints and the wheel motors and provides feedback on the position and torque of each drive, ensuring precise movement. The decision-making system integrates data from all systems, determines the optimal movement mode based on operating conditions, and automatically switches between wheeled and walking modes or a combination of both.

[0013] The control system contains position sensors, inertial measuring units and a vision system located both inside the body and on the front and rear parts of the body of the wheeled walking robot.

[0014] In walking mode, the robot adapts the position of its limb links to overcome obstacles, steps, slopes and other complex terrain elements.

[0015] In wheeled mode, the robot locks its multi-link limbs into a stable configuration, after which the motorized wheels provide rapid movement on flat surfaces.

[0016] Switching between modes is carried out automatically or by operator command, based on current operating conditions, information from sensors and the robot's target task.

[0017] An example of the implementation of the proposed device is the delivery of goods.

[0018] When a delivery order is received, the delivery robot's control system transmits the destination coordinates via a wireless communication channel. The control system generates a route using electronic maps and data from navigation sensors, such as a GPS / GLONASS module, an inertial measurement system, and odometry. The robot then sets off on the preset route.

[0019] While moving along a set route, the robot passes through areas with different terrain.

[0020] On smooth surfaces, the control system moves the robot's limbs into a fixed, stable position and activates the motorized wheels, enabling high-speed wheeled movement.

[0021] When an obstacle is detected, such as a curb, stairwell, pothole, or uneven surface, the camera and lidar combine to create a 3D model of the obstacle and transmit it to the motion planning system. The control system analyzes the received data and decides whether to switch to walking mode.

[0022] In walking mode, the control system unlocks the limb joints and generates link trajectories based on received data, such as height, tilt angle, and obstacle geometry. The stabilization system uses data from inertial sensors located both inside and outside the body of the wheeled walking robot to adjust the body's position and maintain the robot's center of gravity within the stability limits.

[0023] For example, when crossing a curb, the control system raises the distal parts of the forelimbs, performs a stepping motion with support on the hind limbs, and alternately shifts the body to a predetermined height. After the forelimbs are stabilized, the control system initiates the lifting and shifting of the hind limbs. Similarly, when moving on an inclined surface, the position of the limb joints and the body tilt angle are adjusted, maintaining stability.

[0024] Once the maneuver is completed, the control system returns the limbs to a fixed position and reactivates the motor wheels, ensuring further movement in wheeled mode.

[0025] Thus, the intelligent control system ensures the consistent execution of the entire delivery cycle: from receiving an order and plotting a route to overcoming obstacles and reaching the destination, automatically switching the robot from wheeled to walking mode and back depending on environmental conditions.

Claims

1. A wheeled walking delivery robot, characterized in that it contains a body on which a control system and four limbs are located, each of which has at least two sequentially connected links, on each of which an individual drive is located, containing a brake mechanism that stops and locks the wheel, wherein the limb links are connected by means of drive hinges, and the distal part of each limb is equipped with a motor wheel; the control system is designed as a distributed complex, including an environmental perception system, a navigation system, a motion planning system, a stabilization system, a drive control system and a decision-making system, At the same time, the environmental perception system ensures the construction of a three-dimensional model of the obstacle using a technical vision system consisting of a camera, lidar and inertial measuring devices, which are located both inside the housing and on the front and rear parts of the housing.

2. A wheeled-walking delivery robot according to paragraph 1, characterized in that the motion planning system ensures the determination of the operating mode of the robot, while in the wheeled mode it generates control signals for the motor wheels, and in the walking mode it determines the trajectories of the limb links and synchronizes their movement.

3. A wheeled-walking delivery robot according to paragraph 1, characterized in that the decision-making system provides the ability to automatically switch between wheeled and walking modes.

4. A wheeled walking delivery robot according to paragraph 1, characterized in that the stabilization system provides compensation for tilts of the body and prevents it from tipping over using data from inertial sensors located both inside the body and on the outside of the body.

5. A wheeled walking delivery robot according to paragraph 1, characterized in that the navigation system ensures determination of the current position using GPS / GLONASS, odometry, and inertial system data.

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