CN108748191A - A kind of boxlike mobile robot - Google Patents
A kind of boxlike mobile robot Download PDFInfo
- Publication number
- CN108748191A CN108748191A CN201810672667.4A CN201810672667A CN108748191A CN 108748191 A CN108748191 A CN 108748191A CN 201810672667 A CN201810672667 A CN 201810672667A CN 108748191 A CN108748191 A CN 108748191A
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- module
- robot
- support plate
- control
- boxlike
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a kind of boxlike mobile robot, including control module, robot body, universal wheel, driving wheel and chassis, and chassis includes the first support plate, and universal wheel and driving wheel are connect with chassis.Robot body includes door body, the second support plate, and the storage structures part with door body composition storage space.Door body, storage structures part are connect with the second support plate respectively, and the second support plate is connect with the first support plate by the first connector.Robot body controls boxlike mobile robot movement by the way that the control module controls the rotation direction and velocity of rotation of the driving wheel.The underrun rotational structure of storage structures part is connect with second support plate.The storage structures part and the door body are closed to form closing storage space, and storage space is avoided to be externally exposed in environment, to avoid the article placed in storage space from sliding on the ground or by artificial destruction, take away, improve the safety of robotic conveyance article.
Description
Technical field
This application involves robot fields, and in particular to a kind of boxlike mobile robot.
Background technology
With development in science and technology, modernization is accelerated, people for break away from it is simple, repeat, the need of low technical content labour
It asks and increases, robot gradually enters into helps through corresponding work among people's life.Present catering industry is typical
Labour intensive profession, work is heavy, and intensity is big, and repeatability is high, inefficiency.To solve the above-mentioned problems, many food and drink enterprises
Industry selection is replaced artificial with intelligent robot.Meal delivery robot can expedite the emergence of Restaurant Operation new model, and dining room utilizes advanced skill
Art improves efficiency of service, the interest of increase dining in restaurant, and in comparison it is more economical to employ waiter for meal delivery robot ratio
Efficiently.
Existing mobile meal delivery robot includes the pallet for carrying object to be transported, and pallet is exposed in air, is prevented
Dirt effect is poor.Robot is easy to jolt travelings because encountering barrier during advancing, the article in pallet in turn by
Lower tray is easily slid after jolting.And robot, since the article on pallet is exposed in air, is easy during traveling
Artificially taken away.Such pallet, which is exposed to the meal delivery robot in air, reduces the safety of palletized transport article.
Invention content
The problems such as the application is poor for the safety of existing meal delivery robot local environment complex transportation article, provides one
The high boxlike robot of kind reliability.
In a first aspect, the application provides a kind of boxlike mobile robot, including：It is control module, robot body, universal
Wheel, driving wheel and chassis, the chassis include the first support plate, and the universal wheel and the driving wheel are connect with the chassis；
The robot body includes man-machine interaction panel, door body, the second support plate, and the storage with door body composition storage space
Object structural member, the man-machine interaction panel setting or the outside for being embedded in the robot body, the door body, the storing knot
Component is connect with second support plate respectively, and second support plate is connected with first support plate by the first connector
It connects；The outside or inside in the robot body is arranged in the control module, and the robot body passes through the man-machine friendship
Mutual panel receives control instruction input by user, and the robot body controls turning for the driving wheel by the control module
It moves direction and velocity of rotation and controls the boxlike mobile robot movement；The upper surface of second support plate and the storing
One side in the bottom surface of structural member is arranged automatically controlled pin, another side setting pin hole corresponding with the automatically controlled pin, the automatically controlled pin and
The control module is connected by bus, the one side in the bottom surface of the upper surface of second support plate and the storage structures part
Infrared receiving tube is set, another side is provided with infrared transmitting tube corresponding with the infrared receiving tube, the infrared receiving tube with
The control module connection, the infrared receiving tube and the infrared transmitting tube when storage structures part is closed with the door body
In to the state of penetrating, the control module detects that the infrared receiving tube receives infrared signal and by the bus marco
The bolt of the automatically controlled pin is inserted into the pin hole, the underrun rotational structure of the storage structures part and second support plate
Connection, the control module are detached from the pin hole according to unlock instruction and by the bolt of automatically controlled pin described in the bus marco,
The storage structures part is rotated by the rotational structure relative to second support plate by external force.
In boxlike robot provided by the present application, the robot body includes door body, the second support plate, and with it is described
Door body constitutes the storage structures part of storage space.Door body, storage structures part are connect with the second support plate respectively, the second support plate with
First support plate is connected by the first connector, and the storage structures part is closed to form closing storage space with the door body, into
And storage space is avoided to be externally exposed in environment, it is on the ground or artificial to avoid the article placed in storage space from sliding
It destroys, take away, improve the safety of robotic conveyance article.
Based in a first aspect, in the first optional realization method, the rotational structure includes the first support base, rotation
Part and the second support base, first support base are connect with second support plate, second support base and the storing knot
The bottom surface of component connects, the inner ring close fit of first support base and the revolving part, second support base with it is described
The outer ring close fit of revolving part, the close fit include interference fit or transition cooperation.
The first optional realization method based on first aspect, in second of optional realization method, described first
Support base and second support plate are respectively arranged with corresponding first via, first support base and second support plate
It is connect by the first threaded connector coordinated with first via, the bottom of second support base and the storage structures part
Face is respectively arranged with corresponding second via, the underrun and described second of second support base and the storage structures part
The second threaded connector connection of via cooperation.
Second of optional realization method based on first aspect, in the third optional realization method, described first
Support base and second support base respectively include the first column and extend away from the center of circle with the end face of first column
First flange side, the first flange side of first support base is provided with first via, the of first support base
One flange is connect with second support plate by the first threaded connector coordinated with first via, described second
The first flange side of support seat is provided with second via, the first flange side of second support base and the storage structures part
Underrun connect with the second threaded connector that second via coordinates, the first column of first support base with
The inner ring close fit of the revolving part, the first column of second support base are closely filled with the outer ring of the revolving part
Match.
In the third optional realization method based on first aspect, in the 4th kind of optional realization method, the rotation
Rotation structure further includes the first baffle ring and the second baffle ring, first baffle ring and second baffle ring respectively include the second column and
Deviate from the second flange side that the center of circle extends with the end face of second column, the end face of second support base and described
The second flange side of first baffle ring is provided with corresponding third via, the end face of first support base and described
The second flange side of two baffle rings is provided with corresponding 4th via, and the second flange side of first baffle ring is supported with described second
The end face of seat is connect by the third threaded connector coordinated with the third via, the second flange of second baffle ring
Side is connect with the end face of first support base by the 4th threaded connector coordinated with the 4th via, and described
Second column of one baffle ring coordinates with the cycle surface of the revolving part, the second column and the rotation of second baffle ring
Turn the inner ring end face cooperation of part.
The first based on first aspect is optional at the 5th kind to any realization method in the 4th kind of optional realization method
Realization method in, between the outer ring of the revolving part and the inner ring of the revolving part row there are one or at least two rolling elements.
Any realization side in optional realization method based on the first of first aspect or first aspect to the 5th kind
Formula, in the 6th kind of optional realization method, the top and bottom of the storage structures part are distinguished with the mating surface of the door body
For arc surface.
Any realization side in optional realization method based on the first of first aspect or first aspect to the 6th kind
Formula, in the 7th kind of optional realization method, the axis of the rotational structure and the storage structures part is correspondingly arranged.
Any realization side in optional realization method based on the first of first aspect or first aspect to the 7th kind
Formula, in the 8th kind of optional realization method, the storage structures part is combined into a rectangle cylinder with the door body.
Any realization side in optional realization method based on the first of first aspect or first aspect to the 7th kind
Formula, in the 9th kind of optional realization method, the storage structures part is combined into a circular cylinder with the door body.
Based on any realization side in the first of first aspect and first aspect to the 9th kind of optional realization method
Formula, in the tenth kind of optional realization method, the storage structures part is internally provided with one or at least two pallets, adjacent institute
The storage space for stating pallet composition is provided at least one ventilation device.
Based on any realization side in the first of first aspect and first aspect to the tenth kind of optional realization method
Formula, in a kind of the tenth optional realization method, the side of the storage structures part offers ventilation hole.
Based on any realization in the first of first aspect and first aspect to a kind of the tenth optional realization method
Mode, in the 12nd kind of optional realization method, the storage structures part is internally provided with ventilation device.
Based on any realization in the first of first aspect and first aspect to the 12nd kind of optional realization method
Mode, in the 13rd kind of optional realization method, the ventilation device includes following one or more：
Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.
Based on any realization in the first of first aspect and first aspect to the 13rd kind of optional realization method
Mode, in the 14th kind of optional realization method, the boxlike mobile robot further includes being arranged in the robot body
External radar module, the radar module are connect with the control module by data line, and the radar module is with transmitting
According to the radar system from the reflected signal detection clarification of objective amount of target after laser beam, the characteristic quantity includes as follows
It is one or more：
Target range, orientation, height, speed, posture, shape.
The 14th kind of optional realization method based on first aspect, it is described in the 15th kind of optional realization method
Radar module includes following one or more：Laser radar module, microwave radar module.
Based on any realization in the first of first aspect and first aspect to the 15th kind of optional realization method
Mode, in the 16th kind of optional realization method, the automatically controlled pin, the storing is arranged in the upper surface of second support plate
The bottom surface setting pin hole corresponding with the automatically controlled pin of structural member.
In other realization methods, the automatically controlled pin is arranged in the bottom surface of the storage structures part, second support plate
The pin hole corresponding with the automatically controlled pin is arranged in upper surface.
Optionally, the infrared transmitting tube, the upper surface of second support plate is arranged in the bottom surface of the storage structures part
It is provided with the infrared receiving tube corresponding with the infrared transmitting tube.In other realization methods, second support plate
Upper surface is arranged the infrared transmitting tube, and the bottom surface of the storage structures part is provided with corresponding with the infrared transmitting tube described
Infrared receiving tube.
Based on any realization in the first of first aspect and first aspect to the 16th kind of optional realization method
Mode, in the 17th kind of optional realization method, the boxlike robot further includes being set to the robot body appearance
The sensor acquisition module for ranging in face, the control module include computer control subsystem device, and the chassis is also wrapped
Motor control assembly is included, the computer control subsystem, the motor control assembly and the sensor acquisition module pass through
Controller local area network CAN (Controller Area Network) bus connects, and the computer control subsystem is used for basis
The information of the sensor acquisition module acquisition generates control instruction, and the active is controlled by controlling the motor control assembly
The rotation direction and velocity of rotation of wheel and control the boxlike mobile robot.
The 17th kind of optional realization method based on first aspect, it is described in the 18th kind of optional realization method
Sensor acquisition module includes following one or more：
Infrared distance measurement module；
RGBD (RGB-Depth) camera module；
Ultrasonic distance measuring module.
The 18th kind based on first aspect or the 17th kind of optional realization method, the 19th kind of optional realization side
In formula,
The chassis further includes locating module, and the locating module is controlled with the computer control subsystem, the motor
Device, the sensor acquisition module are connected by controller local area network's CAN bus, and the locating module is for realizing described
The positioning of boxlike robot.
The 19th kind of optional realization method based on first aspect, it is described in the 20th kind of optional realization method
Control module further includes power management module, and the power management module is controlled with the computer control subsystem, the motor
Device, the sensor acquisition module are connected by controller local area network's CAN bus, and the power management module is for switching
Machine management, charge control and battery detecting.Optionally, the power management module includes charge control module, power supply control
Module, switching on and shutting down management module and battery detecting module.Charge control module, power supply control in the power management module
Module, switching on and shutting down management module and battery detecting module can be realized by a control chip or multiple control chips.
Based on any realization in the first of first aspect and first aspect to the 20th kind of optional realization method
Mode, in a kind of the 20th optional realization method, the first connector setting is connected to the upper of first support plate
Supporting plate structure part, the supporting plate structure part and first connector is arranged in the lower surface on surface, second support plate
Be nested connection.
Based on any reality in the first of first aspect and first aspect to a kind of the 20th optional realization method
Existing mode, in the 22nd kind of optional realization method, the supporting plate structure part includes third support plate and the 4th support
Plate, the third support plate and the 4th support plate are nested with first connector and connect.
Based on any reality in the first of first aspect and first aspect to a kind of the 20th optional realization method
Existing mode, in the 22nd kind of optional realization method, the lower surface setting positioning column of second support plate, described first
The upper surface of support plate offers the location hole being connected with the positioning column.
The 22nd kind of optional realization method based on first aspect, in the 23rd kind of optional realization method,
The radar module is set between the upper surface and the lower surface of the robot body of first support plate, and described second
Support plate and third support plate are arranged in the same side of first support plate.
Based on any reality in the first of first aspect and first aspect to the 23rd kind of optional realization method
Existing mode, in the 24th kind of optional realization method, the universal wheel includes front-seat universal wheel and heel row universal wheel, described
Driving wheel includes middle row's driving wheel.
The 24th kind of optional realization method based on first aspect, in the 25th kind of optional realization method,
The front row universal wheel includes a universal wheel or at least two universal wheels arranged side by side.
The 24th kind based on first aspect or the 25th kind of optional realization method, it is optional at the 26th kind
In realization method, the heel row universal wheel includes a universal wheel or at least two universal wheels arranged side by side.
Based on any reality in the first of first aspect and first aspect to the 26th kind of optional realization method
Existing mode, in the 27th kind of optional realization method, driving wheel includes at least two driving wheels arranged side by side.
Based on any reality in the first of first aspect and first aspect to the 27th kind of optional realization method
Existing mode, in the 28th kind of optional realization method, one or at least two ultrasounds are arranged in the outside on the chassis
Away from module.
Based on any reality in the first of first aspect and first aspect to the 27th kind of optional realization method
Existing mode, in the 29th optional realization method, the periphery on the chassis has been alternatively arranged multiple ultrasonic distance measuring modules.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of boxlike robot provided by the embodiments of the present application；
Fig. 2 is the present invention looks up structural representation of boxlike robot provided by the embodiments of the present application；
Fig. 3 is another dimensional structure diagram of boxlike robot provided by the embodiments of the present application；
Fig. 4 is the structural schematic diagram that storage structures part provided by the embodiments of the present application is connect with the second support plate；
Fig. 5 is the exploded perspective view of rotational structure provided by the embodiments of the present application；
Fig. 6 is the rotation angle schematic diagram that boxlike robot rotates 0 degree；
Fig. 7 is the rotation angle schematic diagram that boxlike robot rotates 45 degree；
Fig. 8 is the rotation angle schematic diagram that boxlike robot is rotated by 90 °；
Fig. 9 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application；
Figure 10 is the rear view three-dimensional structure of boxlike robot provided by the embodiments of the present application；
Figure 11 is the structural schematic diagram that the circuit module of boxlike robot provided by the embodiments of the present application connects；
Figure 12 is that the storage structures part of boxlike robot provided by the embodiments of the present application looks up angle structural schematic diagram.
Specific implementation mode
Boxlike robot provided by the present application is illustrated with reference to embodiment.
A kind of boxlike robot provided in this embodiment, including：Robot body, chassis, man-machine interaction panel, control mould
Block, universal wheel and driving wheel.Fig. 1 is referred to, Fig. 1 is that a kind of stereochemical structure of boxlike robot provided by the embodiments of the present application is shown
It is intended to.As shown in Figure 1, robot body 2 is located at the top on the chassis 1.The chassis 1 includes the first support plate 1a, and first
Support plate 1a is located at the lower section of the robot body 2, and the first support plate 1a is by being arranged in the first support plate 1a
The first connector 1b of upper surface support the robot body 2.The first connection can be realized by screw locking mode
Part 1b supports the structure of the robot body 2.The robot body 2 includes the second support plate 2a and is supported with described second
The storage structures part 2b of the composition storage space of plate 2a connections, the robot body 2 further includes door body 2c.
Fig. 2 is referred to, Fig. 2 is the present invention looks up structural representation of boxlike robot provided by the embodiments of the present application.Such as Fig. 2 institutes
Show, the boxlike robot further includes front-seat universal wheel 101, heel row universal wheel 102 and middle row's driving wheel 103.Middle row's driving
Wheel 103 includes lateral two driving wheels arranged side by side.Front-seat universal wheel 101, heel row universal wheel 102 are located at arranged side by side two of transverse direction
The front and back of the middle vertical plane of the line of centres of a driving wheel.Front-seat universal wheel 101, heel row universal wheel 102 and middle row drive
Driving wheel 103 is connect with chassis 1 respectively.
In the boxlike robot, front-seat universal wheel 101, heel row universal wheel 102 quantity be respectively one.At other
In realization method, the quantity of front-seat universal wheel and heel row universal wheel can be respectively multiple, such as two front rows laterally arranged side by side
Universal wheel or two heel row universal wheels laterally arranged side by side.
As depicted in figs. 1 and 2, boxlike robot further includes man-machine interaction panel 3, the setting of the man-machine interaction panel 3 or
It is embedded in the outside of the robot body 2, the man-machine interaction panel 3 is connect with the control module.In this realization method
In, the control module is located at the inside of robot body 2.The robot body 2 passes through described in control module control
The rotation direction and velocity of rotation of driving wheel and control boxlike mobile robot movement.
In other realization methods, the control module is arranged in the outside of the robot body, can be located at machine
The top of human body or the periphery of robot body, when specific implementation, the control module can be provided in the robot
The outer surface of ontology or the outside for being embedded in the robot body.
Optionally, Fig. 3 is referred to, Fig. 3 is that another stereochemical structure of boxlike robot provided by the embodiments of the present application is illustrated
Figure shows that the chassis 1 of boxlike robot supports the structure of robot body 2.As shown in figure 3, the second support plate 2a
Supporting plate structure part is arranged in lower surface.Supporting plate structure part as shown in Figure 4 comprising third support plate 2d and the 4th support plate
2e, the third support plate 2d and the 4th support plate 2e are nested with the first connector 1b and connect.Spiral shell can be passed through
Silk locking mode is realized that the third support plate 2d and the 4th support plate 2e and the first connector 1b is nested and is connected
It connects.
Optionally, as shown in figure 3, positioning column 2f, first support plate is arranged in the lower surface of the second support plate 2a
The upper surface of 1a offers the location hole 1c being connected with the positioning column 2f.
Fig. 4 is referred to, Fig. 4 is the structural representation that storage structures part provided by the embodiments of the present application is connect with the second support plate
Figure.As shown in figure 4, the underrun rotational structure 40 of storage structures part 2b provided by the embodiments of the present application is supported with described second
Plate 2a connections, the storage structures part 2b are rotated by the rotational structure 40 relative to the second support plate 2a by external force.
Fig. 5 is referred to, Fig. 5 is the exploded perspective view of rotational structure provided by the embodiments of the present application.As shown in figure 5, this Shen
Please embodiment provide rotational structure include the first support base 41, revolving part 42 and the second support base 43, first support base
41 connect with the second support plate 2a, and second support base 43 is connect with the bottom surface of the storage structures part 2b, and described
The inner ring close fit of one support base 41 and the revolving part 42, second support base 43 are tight with the outer ring of the revolving part 42
Close assembly, the close fit include interference fit or transition cooperation.
Optionally, first support base 41 and the second support plate 2a are respectively arranged with corresponding first via, institute
It states the first support base 41 to connect by the first threaded connector coordinated with first via with the second support plate 2a, institute
It states the second support base 43 and is respectively arranged with corresponding second via, second support base with the bottom surface of the storage structures part 2b
43 connect with the underrun of the storage structures part 2b with the second threaded connector that second via coordinates.
Optionally, first support base 41 and second support base 43 respectively include the first column Y1 and with it is described
The end face of first column Y1 deviates from the first flange side F1 that the center of circle extends, and the first flange side F1 of first support base 41 is set
It is equipped with first via, the first flange side F1 of first support base 41 and the second support plate 2a is by with described the
The first threaded connector connection of one via cooperation, the first flange side F1 of second support base 43 are provided with second mistake
The underrun in hole, the first flange side F1 of the second support base 43 and storage structures part 2b is matched with second via
The the second threaded connector connection closed, the inner ring of the first column Y1 and the revolving part 42 of first support base 41 are close
Assembly, the outer ring close fit of the first column Y1 and the revolving part 42 of second support base 43.
The rotational structure 40 further includes the first baffle ring 44 and the second baffle ring 45, first baffle ring 44 and the second gear
Circle 45 respectively includes the second column Y2 and deviates from the second flange side F2 of center of circle extension with the end face of the second column Y2,
The second flange side F2 of the end face of second support base 43 and first baffle ring 44 is provided with corresponding third
The second flange side F2 of via, the end face of first support base 41 and second baffle ring 45 is provided with the corresponding 4th
Via, the end face of the second flange side F2 of first baffle ring 44 and second support base 43 by with the third mistake
The third threaded connector connection of hole cooperation, the institute of the second flange side F2 of second baffle ring 45 and first support base 41
It states end face to connect by the 4th threaded connector coordinated with the 4th via, the second column Y2 of first baffle ring 44
Coordinate with the cycle surface of the revolving part 42, the inner ring end of the second column Y2 and the revolving part of second baffle ring 45
Face coordinates.
Between the outer ring of the revolving part 42 and the inner ring of the revolving part 42 row there are one or at least two rolling elements.
Optionally, as shown in figure 4, the top and bottom of the storage structures part 2b and the mating surface of the door body 2c are distinguished
For cambered surface.The cambered surface can be arc surface.Revolving part and the cambered surface of door body cambered surface and storage structures part are concentric.The storing
The top surface of structural member 2b is cambered surface to bottom surface and with the mating surface of the door body 2c.In other realization methods, storage structures part
The revolving part 42 of 2b is to the top surface of the storage structures part 2b to bottom surface and small with the horizontal distance of the mating surface of the door body 2c
In the mating surface to the horizontal distance of the revolving part, the storage structures part 2b is by can be freely relatively described after external force
Door body 2c rotations, and the storage structures part 2b can be with the door body 2c clearance fits.
Optionally, the top surface of the storage structures part and at least two wheel contacts being fixed in door body, each wheel
Wheel shaft it is parallel with the central shaft of revolving part.
Fig. 6-Fig. 8 is referred to, the rotation angle that Fig. 6-Fig. 8 is followed successively by 0 degree, 45 degree and 90 degree of boxlike robot rotation is shown
It is intended to.
Optionally, as shown in figure 4, the axis of the rotational structure and the storage structures part is correspondingly arranged.
Optionally, as shown in figure 4, the storage structures part is combined into a rectangle cylinder with the door body.
In other realization methods, the storage structures part is combined into a circular cylinder or other shapes with the door body
The cylinder of shape.
Fig. 9 is referred to, Fig. 9 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application.
As shown in figure 9, the storage structures part 2b's of boxlike robot provided by the embodiments of the present application is internally provided with ventilation device A, lead to
Wind apparatus A is electric fan.As shown in figure 9, the storage structures part 2b is internally provided with one or at least two pallet B, phase
There are one the storage space C settings that the adjacent pallet B is constituted or at least two ventilation device A.Such as the adjacent pallet B is constituted
Storage space C two ventilation devices are set, it may be considered that both sides opposite storage space C or adjacent both sides are respectively set one
A ventilation device.
Optionally, in other realization methods, the ventilation device includes following one or more：
Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.
Optionally, the upper surface of storage structures part 2b and the pallet B structure adjacent with the upper surface of storage structures part 2b
At storage space C setting there are one or at least two ventilation device A.
Optionally, the realization method of support holder structure can refer to Fig. 8 storage structures part 2b be rotated by 90 ° after exposure storing
The multiple layer tray structure of the inside of structural member 2b.
Figure 10 is referred to, Figure 10 is the rear view three-dimensional structure of boxlike robot provided by the embodiments of the present application.Such as
Shown in Figure 10, ventilation hole 301 is offered behind the storage structures part 2b.It optionally, for example, can be in the storage structures part
The upper surface and/or lower surface of 2b and/or side open up ventilation hole.
Figure 11 is referred to, Figure 11 is the structural representation that the circuit module of boxlike robot provided by the embodiments of the present application connects
Figure.As shown in figure 11, boxlike robot includes man-machine interaction panel 3 and control module 4, the man-machine interaction panel 3 with it is described
Control module 4 connects, and the outside or inside in the robot body 2, the robot body 2 is arranged in the control module 4
Control instruction input by user is received by the man-machine interaction panel 3, the robot body 2 passes through the control module 4
Control the driving wheel rotation direction and velocity of rotation and control boxlike mobile robot movement.
Optionally, as shown in figure 11, the boxlike mobile robot further includes being arranged outside the robot body 2
Radar module 5, the radar module 5 are connect with the control module 4 by data line, and the radar module 5 is to be swashed with emitting
According to the radar system from the reflected signal detection clarification of objective amount of target after light beam, the characteristic quantity includes following
It is one or more：
Target range, orientation, height, speed, posture, shape.
Optionally, the radar module 5 includes following one or more：Laser radar module, microwave radar module.
Optionally, the radar module 5 is set to the lower surface of the upper surface and the robot body 2 on the chassis 1
Between, the third support plate 2d and the 4th support plate 2e are arranged in the same side of the second support plate 2a.
Refer to Figure 12, Figure 12 is that the storage structures part of boxlike robot provided by the embodiments of the present application looks up angle knot
Structure schematic diagram.Optionally, as shown in Fig. 4, Figure 11 and Figure 12, the boxlike mobile robot further includes automatically controlled pin 6 and infrared connects
One side in the bottom surface of closed tube 7a and infrared transmitting tube 7b, the upper surface of the second support plate 2a and the storage structures part 2b
Automatically controlled pin 6 is set, and pin hole corresponding with the automatically controlled pin 6 is arranged in another side, and the automatically controlled pin 6 passes through with the control module 4
Bus connects, and infrared receiver is arranged in the one side in the bottom surface of the upper surface of the second support plate 2a and the storage structures part 2b
Pipe 7a, another side are provided with infrared transmitting tube 7b corresponding with the infrared receiving tube 7a, the infrared receiving tube 7a and described
Infrared transmitting tube 7b is connect with the control module 4 respectively, and the storage structures part 2b is described red when being closed with the door body 2c
The outer reception pipe 7a and infrared transmitting tube 7b is in the state of penetrating, and the control module 4 detects the infrared receiving tube 7a
It receives infrared signal and the pin hole, the control module 4 is inserted by the bolt of automatically controlled pin 6 described in the bus marco
The pin hole is detached from by the bolt of automatically controlled pin 6 described in the bus marco according to unlock instruction.
Optionally, the automatically controlled pin 6, the bottom surface of the storage structures part 2b is arranged in the upper surface of the second support plate 2a
The setting pin hole corresponding with the automatically controlled pin 6.
In other realization methods, the automatically controlled pin 6, second support plate is arranged in the bottom surface of the storage structures part 2b
The pin hole corresponding with the automatically controlled pin 6 is arranged in the upper surface of 2a.
Optionally, the infrared transmitting tube 7b is arranged in the bottom surface of the storage structures part 2b, the second support plate 2a's
Upper surface is provided with the infrared receiving tube 7a corresponding with the infrared transmitting tube 7b.In other realization methods, described
The upper surface of two support plate 2a is arranged the infrared transmitting tube 7b, the bottom surface of the storage structures part 2b be provided with it is described infrared
The corresponding infrared receiving tube 7a of transmitting tube 7b.
Optionally, as shown in figure 3, the robot body receives control input by user by the man-machine interaction panel 3
System instruction, for example, unlock instruction, the inserting according to unlock instruction and by automatically controlled pin 6 described in the bus marco of control module 4
Pin is detached from the pin hole.It, can be by passing through with 3 independent solution lock control of human-computer interaction interface switch in other realization methods
Controlling bus is connect with control module 4 or automatically controlled pin 6, and solution lock control switch sends unlock instruction to control module 4 or automatically controlled pin
6, and then the pin hole is detached from by the bolt of automatically controlled pin 6 described in the bus marco.
Optionally, as shown in figure 11, the boxlike robot further includes sensor acquisition module 8, for example, being set to described
The sensor acquisition module 8 for ranging and avoidance of 2 outer surface of robot body, the control module 4 are controlled including computer
Subsystem assembly 4a, the chassis further include motor control assembly 4b, the computer control subsystem 4a, motor control dress
It sets 4b and the sensor acquisition module 8 and passes through controller local area network CAN (Controller Area Network) bus
Connection, the computer control subsystem 4a are used to generate control instruction according to the information that the sensor acquisition module 8 acquires, lead to
Cross control the motor control assembly 4b control the driving wheel rotation direction and velocity of rotation and control boxlike movement
Robot.
Optionally, as shown in figure 11, the chassis further includes locating module 4c, the locating module 4c and the computer control
Subsystem 4a, the motor control assembly 4b, the sensor acquisition module 8 are connected by controller local area network's CAN bus
Connect, the locating module 4c for realizing the boxlike robot positioning.
Locating module 4c includes gyroscope and/or magnetic coder and/or photoelectric encoder.
In other realization methods, gyroscope can be arranged in center chassis.Magnetic coder and/or photoelectric encoder can be with
It is arranged at the back of driving wheel.
Optionally, as shown in figure 11, the control module 4 further includes power management module 4d, the power management module
4d passes through controller local with the computer control subsystem 4a, the motor control assembly 4b, the sensor acquisition module 8
Network C AN buses connect, and the power management module 4d is used for switching on and shutting down management, charge control and battery detecting.
In other realization methods, power management module can be placed on chassis.
Optionally, the power management module 4d includes charge control module, power control module, switching on and shutting down management module
And battery detecting module.Charge control module, power control module, switching on and shutting down in the power management module 4d manage mould
Block and battery detecting module can be realized by a control chip or multiple control chips.
Optionally, the sensor acquisition module 8 includes as follows one or more：
Infrared distance measurement module；
RGBD (RGB-Depth) camera module；
Ultrasonic distance measuring module.
Optionally, one or at least two ultrasonic distance measuring modules are arranged in the outside on the chassis 1.
Optionally, as shown in figure 3, the periphery on the chassis 1 has been alternatively arranged multiple ultrasonic distance measuring module 1d.
Optionally, control module further includes human-computer interactive control module, and the human-computer interactive control module is for controlling people
Machine interactive panel, the human-computer interactive control module are connect with man-machine interaction panel, the human-computer interactive control module, the electricity
Source control module passes through controller with the computer control subsystem, the motor control assembly, the sensor acquisition module
Local area network CAN bus connects.
Optionally, the control module further includes first sensor control module, and the first sensor control module is used
It is arranged in the sensor acquisition module of the robot body and/or automatically controlled pin and/or infrared receiving tube and/or infrared in control
Sending tube, the first sensor control module pass through controller with the power management module, the computer control subsystem
Local area network CAN bus connects.
Optionally, the chassis further includes second sensor control module, and the second sensor acquisition module is for controlling
It sets up and sets in the sensor acquisition module on the chassis and/or automatically controlled pin and/or infrared receiving tube and/or infrared sending tube, institute
It states second sensor acquisition module and passes through controller local area network with the power management module, the computer control subsystem
CAN bus connects.
Optionally, the modules in the control module can in a circuit control panel, in other realization methods,
At least two modules in different circuit boards or the control module can also be arranged to be arranged in a circuit control panel,
Specific implementation is not limited by the embodiment of the present application.
Optionally, the front of the man-machine interaction panel is provided with one group of RGB-D camera.
Optionally, front setting 1 or at least two ultrasonic distance measuring modules of the man-machine interaction panel.
Obviously, above-described embodiment is only intended to clearly illustrate the application example, and is not to the application
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this Shen
Among the obvious changes or variations that spirit please is extended out are still in the protection domain of the application.
Claims (10)
1. a kind of boxlike mobile robot, which is characterized in that including：
Control module, robot body, universal wheel, driving wheel and chassis, the chassis include the first support plate, the universal wheel
It is connect with the driving wheel with the chassis；The robot body includes man-machine interaction panel, door body, the second support plate, with
And the storage structures part of storage space is constituted with the door body, the man-machine interaction panel is arranged or is embedded in the robot sheet
The outside of body, the man-machine interaction panel are connect with the control module, the door body, the storage structures part respectively with it is described
Second support plate connects, and second support plate is connect with first support plate by the first connector；The control module
Outside or inside in the robot body is set, and the robot body is defeated by man-machine interaction panel reception user
The control instruction entered, the robot body control the rotation direction and velocity of rotation of the driving wheel by the control module
And control the boxlike mobile robot；One side in the upper surface of second support plate and the bottom surface of the storage structures part
Automatically controlled pin is set, and another side setting pin hole corresponding with the automatically controlled pin, the automatically controlled pin and the control module pass through bus
Infrared receiving tube is arranged in one side in the bottom surface of connection, the upper surface of second support plate and the storage structures part, another
Face is provided with infrared transmitting tube corresponding with the infrared receiving tube, and the infrared receiving tube is connect with the control module, institute
The infrared receiving tube and the infrared transmitting tube when storage structures part is closed with the door body is stated to be in the state of penetrating, the control
Molding block detects that the infrared receiving tube receives infrared signal and inserted by the bolt of automatically controlled pin described in the bus marco
Enter the pin hole, the underrun rotational structure of the storage structures part is connect with second support plate, the control module
The pin hole is detached from by the bolt of automatically controlled pin described in the bus marco according to unlock instruction, the storage structures part by
External force is rotated by the rotational structure relative to second support plate.
2. boxlike robot as described in claim 1, which is characterized in that the boxlike mobile robot further includes being arranged in institute
The radar module outside robot body is stated, the radar module is connect with the control module by data line, the radar
Module is to emit after laser beam according to the radar system from the reflected signal detection clarification of objective amount of target, the spy
Sign amount includes following one or more：
Target range, orientation, height, speed, posture, shape.
3. boxlike robot as claimed in claim 2, which is characterized in that the radar module includes following one or more：
Laser radar module, microwave radar module.
4. boxlike robot as described in any one of claims 1-3, which is characterized in that the boxlike robot further includes being set to
The sensor acquisition module for ranging of the robot body outer surface, the control module includes computer control subsystem
Device, the chassis further include motor control assembly, the computer control subsystem, the motor control assembly and the biography
Sensor acquisition module is connected by controller local area network CAN (Contro l l er Area Network) bus, the electricity
Brain control subsystem is used to generate control instruction according to the information that the sensor acquisition module acquires, by controlling the motor
Control device control the driving wheel rotation direction and velocity of rotation and control the boxlike mobile robot.
5. boxlike robot as claimed in claim 4, which is characterized in that the chassis further includes locating module, the positioning
Module passes through controller LAN with the computer control subsystem, the motor control assembly, the sensor acquisition module
Network CAN bus connect, the locating module for realizing the boxlike robot positioning.
6. boxlike robot as claimed in claim 5, which is characterized in that the control module further includes power management module,
The power management module passes through with the computer control subsystem, the motor control assembly, the sensor acquisition module
Controller local area network's CAN bus connection, the power management module is for switching on and shutting down management, charge control and battery inspection
It surveys.
7. boxlike robot as claimed in claim 6, which is characterized in that the sensor acquisition module includes following one kind
Or it is a variety of：
Infrared distance measurement module；
RGBD (RGB-Depth) camera module；
Ultrasonic distance measuring module.
8. boxlike robot as claimed in claim 7, which is characterized in that the electricity is arranged in the upper surface of second support plate
Control of sailing, the bottom surface setting pin hole corresponding with the automatically controlled pin of the storage structures part.
9. boxlike robot as claimed in claim 8, which is characterized in that the bottom surface setting of the storage structures part is described infrared
The upper surface of transmitting tube, second support plate is provided with the infrared receiving tube corresponding with the infrared transmitting tube.
10. boxlike robot as claimed in claim 9, which is characterized in that the rotational structure includes the first support base, rotation
Part and the second support base, first support base are connect with second support plate, second support base and the storing knot
The bottom surface of component connects, the inner ring close fit of first support base and the revolving part, second support base with it is described
The outer ring close fit of revolving part, the close fit include interference fit or transition cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810672667.4A CN108748191A (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810672667.4A CN108748191A (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748191A true CN108748191A (en) | 2018-11-06 |
Family
ID=63977896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810672667.4A Withdrawn CN108748191A (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN108748191A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376274A (en) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot |
| WO2022262816A1 (en) * | 2021-06-18 | 2022-12-22 | 深圳市普渡科技有限公司 | Delivery robot |
-
2018
- 2018-06-26 CN CN201810672667.4A patent/CN108748191A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376274A (en) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot |
| WO2022262816A1 (en) * | 2021-06-18 | 2022-12-22 | 深圳市普渡科技有限公司 | Delivery robot |
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Application publication date: 20181106 |