This invention discloses a dual-wheeled legged end-of-life delivery
robot, comprising a leg linkage
system and a vehicle body. The leg linkage
system is a parallel mechanism, forming a seven-bar linkage with the vehicle body. The vehicle body is equipped with a front-facing camera, below which is an
ultrasonic sensor. A
robotic arm is housed within the vehicle body, and a
lidar transmitter is located on the upper rear of the vehicle body. A storage box is located below the
robotic arm's base, and an ESC board, a development board, and a
Raspberry Pi development board are located above the storage box. This invention employs a combination of
lidar and vision to detect changes in the external environment in real time, enabling the
robot to avoid obstacles and perform reasonable path planning during delivery. The
robotic arm, in conjunction with the camera, autonomously presses
elevator buttons, achieving precise button presses by calculating the distance from the control lever to the button. The height-adjustable dual-wheeled legs maintain the
robot's balance and stability at all times through
gyroscope detection, meeting the end-of-life delivery needs of delivery service robots for
food delivery, express delivery, and other similar services.