CN112172959A

CN112172959A - Outdoor robot

Info

Publication number: CN112172959A
Application number: CN201910605471.8A
Authority: CN
Inventors: 贺智威; 汪才辉; 何兴联; 李峰; 谭候金
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Kandra Shenzhen Intelligent Technology Co ltd
Priority date: 2019-07-05
Filing date: 2019-07-05
Publication date: 2021-01-05
Anticipated expiration: 2039-07-05
Also published as: CN112172959B

Abstract

The invention belongs to the technical field of robots, and particularly relates to an outdoor robot which comprises a main body, a lifting mechanism, a driving mechanism and a controller, wherein the main body comprises a bearing part; one end of the lifting mechanism is arranged on the bearing part, and the other end of the lifting mechanism is used for bearing at least two goods cabinets; the driving mechanism is arranged on the main body and used for driving the main body to move; the controller is used for receiving the signal, converting the signal into a control instruction, and transmitting the control instruction to the driving mechanism so as to at least control the driving mechanism to work and move the main body below the goods cabinet or leave the lower part of the goods cabinet; and transmitting the control instruction to the lifting mechanism so as to control the lifting mechanism to work to jack up the goods cabinet when the main body moves below the goods cabinet, or to control the lifting mechanism to work to move downwards to return to the original position to be separated from the goods cabinet when the main body reaches a preset position. The robot has higher intelligent degree and higher cargo dispatching efficiency.

Description

Outdoor robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an outdoor robot.

Background

The most expensive and the least efficient link of the express industry is at the front end and the rear end, namely, the two ends closest to the sender and the receiver, because the users at the front end and the rear end are dispersed, in order to improve the efficiency, an express company needs to be provided with more couriers for meeting, as the package volume increases at a speed of 30% year by year, the later labor cost is higher, and meanwhile, as the population dividend is gradually reduced, the problems of high transportation cost and dispatch efficiency are more prominent.

Disclosure of Invention

The technical problem mainly solved by the embodiment of the invention is to provide an outdoor robot which can efficiently and automatically support, transmit and release a cargo cabinet outdoors.

In order to solve the technical problems, the invention adopts a technical scheme that: the outdoor robot comprises a main body, a lifting mechanism, a driving mechanism and a controller, wherein the main body comprises a bearing part; one end of the lifting mechanism is arranged on the bearing part, and the other end of the lifting mechanism is used for bearing at least two goods cabinets; the driving mechanism is arranged on the main body and used for driving the main body to move; the controller is used for receiving the signal, converting the signal into a control instruction, and transmitting the control instruction to the driving mechanism so as to at least control the driving mechanism to work and move the main body below the goods cabinet or leave the lower part of the goods cabinet; and transmitting the control instruction to the lifting mechanism so as to control the lifting mechanism to work to jack up the goods cabinet when the main body moves below the goods cabinet, or to control the lifting mechanism to work to move downwards to return to the original position to be separated from the goods cabinet when the main body reaches a preset position.

The invention has the beneficial effects that: different from the situation of the prior art, the outdoor robot provided by the embodiment of the invention has the advantages that the bearing part can bear at least two goods cabinets; the lifting mechanism can drive the goods cabinet to move upwards to jack the goods cabinet, the driving mechanism drives the outdoor robot to move so as to drive the goods cabinet to move to a destination, and because when the embodiment of the outdoor robot is used, the receiving, the transportation and the release of the goods cabinet are automatically completed, and the receiving and the release of the goods cabinet can be independently completed by the embodiment of the outdoor robot, the embodiment of the outdoor robot can replace the manual transportation of three links which are mutually connected, so that the embodiment of the outdoor robot can simply and efficiently complete the goods transportation outdoors, and particularly can greatly reduce the high logistics cost of the last kilometer.

Drawings

FIG. 1 is a schematic structural diagram of an outdoor robot according to an embodiment of the present invention;

FIG. 2 is a schematic side view of an outdoor robot according to an embodiment of the present invention;

FIG. 3 is a schematic top view of an outdoor robot according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a rear view structure of an outdoor robot according to an embodiment of the present invention;

FIG. 5 is a schematic side view of an outdoor robot main body moving under a cargo cabinet according to an embodiment of the present invention;

fig. 6 is a schematic side view of the outdoor robot lifting mechanism for lifting the cargo cabinet according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and 2 and fig. 4 and 5, an outdoor robot includes a main body 1, a lifting mechanism 2, a driving mechanism, and a controller (not shown).

In this embodiment, the main body 1 includes a bearing part 11 and a first plate 12, and the first plate 12 extends upward from one end of the bearing part 11.

One end of the lifting mechanism 2 is arranged on the bearing part 11, and the other end is used for bearing at least two goods cabinets 102;

the driving mechanism is arranged on the main body 1 and used for driving the main body 1 to move; the controller is used for receiving the signal, converting the signal into a control instruction, and transmitting the control instruction to the driving mechanism so as to control the driving mechanism to work at least and move the main body 1 below the goods cabinet 102 or leave the goods cabinet 102; and transmitting a control command to the lifting mechanism 2 to control the lifting mechanism 2 to operate to jack up the cargo cabinet 102 when the main body 1 moves below the cargo cabinet 102, or to control the lifting mechanism 2 to operate to move downward to return to the original position to be detached from the cargo cabinet 102 when the main body 1 reaches a predetermined position.

The outdoor robot in the embodiment of the present invention moves the bearing part 11 of the main body 1 to the lower side of the cargo cabinet 102 through the driving mechanism, as shown in fig. 5, the bottom of the cargo cabinet 102 is provided with the support legs to form a certain space between the bottom of the cargo cabinet 102 and the ground, so that the bearing part 11 is conveniently placed at the bottom of the cargo cabinet 102; as shown in fig. 6, the lifting mechanism 2 further lifts the cargo cabinet 102 to lift the cargo cabinet 102 off the ground, so as to achieve the effect of lifting the cargo cabinet 102, the driving mechanism drives the main body 1 to move, so as to achieve the effect of transporting the cargo cabinet 102, and when the destination is reached, the lifting mechanism 2 returns to the original position, so that the lifting mechanism 2 is separated from the cargo cabinet 102.

Specifically, the lifting mechanism 2 includes a bearing driving member (not shown), an output shaft (not shown), and a bearing platform 21, the bearing driving member is disposed in the bearing component 11, the output shaft is disposed at a driving end of the bearing driving member, the bearing platform 21 is disposed on the output shaft, and at least two bearing positions 215 are disposed on the bearing platform 21 for bearing at least two cargo cabinets 102.

Specifically, in the present embodiment, the output shaft is vertically disposed and coupled to the bearing driving member, and the top end of the output shaft is fixed to the center of the bearing table 21. Through setting up the output shaft in the central authorities of plummer 21, can make plummer 21 atress even, avoid plummer 21 to take place the slope.

In one embodiment, the bearing driving member may be a motor, and the output shaft may be a threaded rod connected to the motor. In another embodiment, the carrier drive may be a cylinder and the output shaft may be a piston rod. In yet another embodiment, the carrier drive may be a hydraulic cylinder and the output shaft may be a hydraulic rod. Of course, other types of load bearing drives and output shafts may be provided, and the invention is not particularly limited.

Preferably, in this embodiment, the supporting platform 21 includes a first guiding assembly 211, and the first guiding assembly 211 is slidably engaged with a second guiding assembly (not shown) located at the bottom of the cargo cabinet 102 to facilitate supporting and positioning the cargo cabinet 102.

Specifically, the first guiding assembly 211 is two parallel sides of the supporting platform 21, the second guiding assembly includes at least one set of pulleys (not shown), and the set of pulleys includes at least two pulleys, which are respectively in sliding fit with the two parallel sides of the supporting platform 21, so that the cargo cabinet 102 is placed on the main body 1. As a variation, the first guiding assembly 211 may also be a parallel guiding rail disposed on two parallel sides of the plummer 21, and the pulley of the second guiding assembly is slidably engaged with the parallel guiding rail. Through setting up first direction subassembly 211 and second direction subassembly rather than the assorted for the position can be according to planning preferred arrangement when goods cabinet 102 accepts with plummer 21, can make goods cabinet 102 put in proper order on plummer 21, and can rationally plan the utilization space, improves space utilization.

Further preferably, the platform 21 includes a third guiding assembly 212, the third guiding assembly 212 is connected with the first guiding assembly 211 end to end in the guiding direction, and the width of the third guiding assembly 212 is consistent at the connection position, the width of the third guiding assembly 212 is gradually reduced from one end close to the first guiding assembly 211 to the other end, and the third guiding assembly 212 moves into the lower part of the cargo cabinet 102 before the first guiding assembly 211 during the main body 1 moves to the lower part of the cargo cabinet 102. Through setting up third guide assembly 212, can be so that when main part 1 removes to goods cabinet 102 department, when third guide assembly 212 on the plummer 21 contacted with goods cabinet 102 bottom, the width of third guide assembly 212 was less than the width of the second guide of plummer 21 bottom, can allow main part 1 to arrange in before goods cabinet 102 bottom, allow to have certain error between main part 1 and the goods cabinet 102, need not absolute alignment can arrange main part 1 guide in goods cabinet 102 below through third guide assembly 212, thereby can make outdoor robot more easily bear goods cabinet 102, reduce the degree of difficulty, save time.

As a preferred scheme, the carrier 21 is provided with an electromagnetic lock 213, and the electromagnetic lock 213 is used for cooperating with the cargo cabinet 102 to fix or release the cargo cabinet 102 on the carrying position 215, so that the cargo cabinet 102 can be fixed on the carrier 21, and the cargo cabinet 102 is prevented from falling off from the carrier 21 during transportation.

Wherein, preferably, the electromagnetic lock 213 locks the cargo cabinet 102 in the power-off state to fix the cargo cabinet 102, so as to avoid the cargo cabinet 102 being unable to be fixed due to the power-off. Further, in the power-on state, the cargo cabinet 102 can be released by adjusting the current to change the magnetic force of the electromagnetic lock 213. As a preferable scheme, when the road surface is smooth, the magnetic force is reduced, when the road surface goes up and down a slope or the road surface is uneven, the magnetic force is increased, and the fixing combination strength of the electromagnetic lock 213 and the cargo cabinet 102 is increased; for example, when the outdoor robot speed is high, the magnetic force is increased, and when the outdoor robot speed is low or is suspended, the magnetic force is reduced, so that the power consumption can be reduced, and the energy can be saved. Of course, the electromagnetic lock 213 may be set to be locked in the power-on state and released in the power-off state, but the present invention is not limited thereto.

Specifically, the electromagnetic lock 213 preferably has a force of attraction with the bottom of the cargo cabinet 102 of greater than 300 kg. By selecting materials at different parts of the cargo cabinet 102 and designing the mutual position relationship, the electromagnetic lock 213 can have a large attraction force to the bottom of the cargo cabinet 102 and a small attraction force to other metals of the cargo cabinet 102.

At least two bearing positions 215 of the bearing table 21 are arranged along the length direction of the bearing table 21, if one bearing position 215 bears one first goods cabinet 102 and there is a second goods cabinet 102 to be borne, the controller transmits a control instruction to the driving mechanism to move the main body 1 to the vicinity of the second goods cabinet 102, the controller transmits a control instruction to the lifting mechanism 2 to control the lifting mechanism 2 to work to move downwards to return to the original position, the driving mechanism is controlled to drive the main body 1 to move towards the second goods cabinet 102 under the state of the bottom of the first goods cabinet 102, so that the main body 1 moves to the lower part of the second goods cabinet 102, and the lifting mechanism 2 works to simultaneously bear the first goods cabinet 102 and the second goods cabinet 102 to be located on the two bearing positions 215. Of course, when two cargo cabinets 102 are disposed side by side and along the length direction of the loading platform 21, the driving mechanism can be directly controlled to drive the main body 1 to move to the lower portion of the two cargo cabinets 102, and the lifting mechanism 2 works to load the first cargo cabinet 102 and the second cargo cabinet 102 to be located on the two loading positions 215, respectively. As a variation, multiple cargo cabinets 102 may also be carried in this manner.

Preferably, a long-focus camera is disposed at an end of the first board 12 away from the bearing component 11, and the long-focus camera is used for identifying a traffic light, forming an identification signal, and transmitting the identification signal to the controller, so as to form a control instruction for controlling the main body 1 to move or stop. Namely, when encountering the red light, forming an identification signal and transmitting the identification signal to the controller to form a control instruction for controlling the main body 1 to stop; when the robot meets a green light, an identification signal is formed and transmitted to the controller to form a control instruction for controlling the main body 1 to move, so that the robot provided by the embodiment of the invention can adapt to the operation of a road with a red street lamp.

Preferably, the first plate body 12 is provided with the laser radar 3 at one end close to the bearing part 11 and one end far away from the bearing part 11, the ultrasonic sensor is arranged at the middle position of the first plate body 12, the ultrasonic sensor and the laser radar 3 are used for detecting an obstacle and sending a first obstacle avoidance sensing signal to the controller when the obstacle is detected, and the controller responds to the first obstacle avoidance sensing signal and controls the main body 1 to decelerate or stop moving. Set up lidar 3 respectively through two upper and lower positions at first plate body 12 for detect the barrier, because lidar 3 has the blind area, through set up ultrasonic sensor at the intermediate position, in order to compensate the region that lidar 3 can not survey, make outdoor robot at the in-process of operation, detect the place ahead barrier, and send first obstacle-avoiding sensing signal to the controller when detecting the barrier, the controller responds first obstacle-avoiding sensing signal and controls main part 1 and slow down or stop motion. Meanwhile, the ultrasonic sensor can be used for detecting obstacles which are difficult to detect by the optical sensor, such as obstacles with good light transmission, such as glass.

As a preferable scheme, a protective cover 31 may be provided for the laser radar 3 disposed at an end of the first plate 12 away from the bearing part 11 to protect the laser radar 3, and a large and small inclination angle of the protective cover 31 is matched with a scanning angle of the laser radar 3, so that the protective cover 31 does not affect the operation of the laser radar 3; the protective cover 31 is made of transparent material to avoid influencing the use effect.

Preferably, the first plate 12 is provided with a binocular vision camera 41, a driving recorder 42 and an ultrasonic sensor (not shown), the binocular vision camera 41 and the ultrasonic sensor are used for detecting obstacles, the driving recorder 42 is used for acquiring monitoring pictures in real time, and the controller is used for acquiring the monitoring pictures and positioning and navigating the movement path of the main body 1. The binocular vision camera 41 is used for detecting depth information; ultrasonic waves are used for auxiliary detection, and are mainly used for identifying transparent obstacles such as glass and the like.

In this embodiment, set up long burnt camera and short burnt camera on the first plate body 12, wherein the short burnt camera is binocular vision camera 41, can realize the cooperation work of long burnt camera and short burnt camera, for example: when the long-focus camera recognizes the red light, the binocular vision camera 41 immediately recognizes the zebra crossing so that the outdoor robot can accurately stop on the zebra crossing. In other embodiments, the short focus camera may be other types of cameras.

Preferably, the battery box comprises a first battery 5, a first battery box 6 and a second battery, the first battery box 6 is arranged in the bearing part 11, the first battery box 6 comprises at least three horizontal groove bodies, the groove bodies are used for containing the first battery 5, one side of the first battery box 6, which is close to the side of the bearing part 11, is provided with a baffle, and the baffle can be opened or closed, so that the first battery 5 is in the first battery box 6 or the first battery 5 is taken out of the first battery box 6; the second battery is detachably disposed in the first board 12, as shown in the figure, the set position of the second battery in the first board 12 is a second battery set position 7, the second battery is connected in parallel with the first battery 5 and serves as a standby power supply, or/and the second battery is connected in series with the first battery 5 and provides power for the driving mechanism. As a modification, the first battery case 6 may be provided at the bottom of the carrier member 11.

Preferably, a handle 51 may be provided on a side of the first battery 5 adjacent to the baffle plate to facilitate the first battery 5 to be pulled out from the first battery case 6 when the first battery 5 is replaced.

Starting a second battery of the standby battery when the electric quantity of the battery is insufficient; or when the outdoor robot carries out high-power operation, the second battery is started to be used as a standby battery. And detecting the current working power of the outdoor robot, and starting the standby battery when the power reaches a set value. Or detecting the current moving speed of the outdoor robot, and starting the standby battery when the moving speed is greater than a set speed threshold. Or detecting whether the current outdoor robot is in an uphill state, and if so, starting the standby battery.

The first battery 5 and the second battery are provided with battery interfaces (not shown) at the outer sides thereof, and the battery interfaces can be coupled with power line plugs.

The battery interface is matched with the pins of the data line and the plugs of the positive and negative power lines, so that the first battery 5 and the second battery can be connected with the data line and the positive and negative power lines.

Preferably, the front anti-collision sensor 81 is disposed at an end of the bearing component 11 close to the first board 12, and the rear anti-collision sensor 82 is disposed at an end of the bearing component 11 far from the first board 12 for preventing collision.

Preferably, the bottom of the end of the bearing part 11 far from the first plate 12 may be provided with a laser radar 3, or may be provided with an upward or oblique ultrasonic sensor for detecting a rear obstacle during reversing. A tachograph 42 may also be provided as a variant.

As another preferred scheme, the laser radar 3 is respectively disposed at one end of the bearing component 11 away from the first board 12 and one end of the bearing component close to the first board 12, and is used for avoiding obstacles.

One end of the bearing part 11, which is far away from the first plate body 12, is provided with a camera 43 and an ultrasonic sensor for detecting obstacles and avoiding the obstacles;

wherein, the one end of first plate body 12 is kept away from to load-bearing part 11, adopts the inclined plane setting, and laser radar 3 and ultrasonic sensor set up on the inclined plane, damage when preventing the striking.

Cameras (not shown) and ultrasonic sensors are arranged on two sides of the bearing part 11 and used for detecting obstacles and avoiding the obstacles.

More preferably, the end of the bearing part 11 close to the first plate 12 is provided with a buffer 83 for buffering when in collision, and the physical buffer 83 is provided to reduce the damage caused by collision. In the embodiment of the invention, the front anti-collision sensor 81, the buffer member 83, the laser radars 3 arranged at the upper end and the lower end of the first plate body and the ultrasonic sensor arranged in the middle of the first plate body are arranged on the main body 1, and the three are combined, so that a triple anti-collision effect can be achieved, and triple anti-collision protection for the outdoor robot can be realized.

Preferably, a coil sensor 214 is disposed on the carrier 21 for detecting the position of the cargo cabinet 102, so that the cargo cabinet 102 triggers the control command transmitted to the lifting mechanism 2 when the cargo cabinet is located at the carrying position 215.

As shown in fig. 3, in this embodiment, the outdoor robot is provided with a side camera and a tail camera 43 for collecting, maintaining and transmitting the monitoring image to the server, and the server issues an instruction according to the monitoring image. For example, the number of loaded cargo cabinets 102 may be monitored, whether the number is consistent with the number recorded in the cloud is determined, and if not, an alarm is given.

Specifically, in this embodiment, the driving mechanism includes four wheels 9 mounted on the bottom surface of the bearing part 11, a wheel bearing driving part, a steering driving part, a brake driving part, and a main circuit board, in this embodiment, the number of the wheels 9 may also be changed in other embodiments, and is not limited herein; the wheel bearing driving piece is used for driving the wheel 9 to rotate, the steering driving piece is used for driving the wheel 9 to rotate, the brake driving piece is used for driving the wheel 9 to decelerate or stop, and the main circuit board is used for enabling the wheel bearing driving piece, the steering driving piece and the brake driving piece to be electrically connected with the first battery 5 and the second battery.

Preferably, the housing 10 is disposed on the periphery of the first plate 12 to protect the first plate 12; preferably, the first board 12 is provided with a display 101 for displaying interactive information.

The embodiment of the invention also comprises path planning, in the embodiment of the invention, a path planning taking a map as a core can be realized, the map system is built on the main body 1, the map information is imported into the map system, the map system plans the path according to the origin and the destination and transmits a path planning signal to the control system, and the control system sends out a control instruction to drive the driving mechanism to drive the main body 1 to move; when an obstacle is encountered, the map system can replan the path and transmits a path planning signal to the control system, the control system controls the outdoor robot to pause and return, or after the outdoor robot identifies the obstacle, the photographing information of the obstacle is transmitted to the server, and the server replans the map according to the obstacle. When a place (such as an indoor place, an underground parking lot, etc.) with a possibly weak GPS or 4G signal is encountered, the outdoor robot may determine its own position according to the stored map information and the surrounding environment identified by the sensor, and move according to the path of the map.

In another embodiment, a map may be imported by a client, the map imported by the client may be integrated with a map in a map system, and a route may be planned based on the integrated map (where a route that cannot be traveled may be specified by the user, for example, a robot in a particular area cannot reach, and the particular area is avoided during route planning); a plurality of paths can be designated, the priority is respectively determined, and if the first priority path encounters an obstacle and cannot walk, a second priority path is selected; when the path is planned again according to the obstacle, the obstacle information can be uploaded to the server, and the server forwards the obstacle information to other outdoor robots to prevent the other outdoor robots from passing through the path again.

In other embodiments, for example, outside the cell, the user can use an existing map (high, hundred degree, etc.) for positioning by using GPS to walk along the navigation route, and when the user reaches the cell, the user triggers the switching of the map and walks along the preset route.

Preferably, the road type can be determined according to GPS positioning and the existing map, the vehicle cannot back up on the motor vehicle road, and the current lane type can be judged according to the recognized types of surrounding vehicles or rear vehicles, so that traffic faults are avoided; for example, in a building lane, reversing can be performed by recognizing the surroundings.

The outdoor robot of the embodiment of the present invention, for example, needs to receive the cargo cabinet 102 from the garden, can plan the operation path by self-navigation, and transmit the signal of the planned operation path to the controller, the controller converts the signal into a control instruction, and transmits the control instruction to the driving mechanism, so as to control the driving mechanism to operate, so as to move the outdoor robot to the place where the garden receives the cargo cabinet 102, and control the driving mechanism to move the main body 1 to the lower side of the cargo cabinet 102, the driving mechanism stops driving the main body 1 to move, the controller outputs the control instruction, and transmits the control instruction to the lifting mechanism 2, and the lifting mechanism 2 lifts up the cargo cabinet 102, i.e., the purpose of receiving the cargo cabinet 102 at the specified place is completed; the outdoor robot performs self-navigation, plans a running path, transmits a signal of the planned running path to the controller, converts the signal into a control instruction by the controller, transmits the control instruction to the driving mechanism to control the driving mechanism to work, and moves the outdoor robot and the goods cabinet 102 to a designated putting place; the control machine outputs an instruction to control the driving mechanism to stop driving the main body 1 to move, control the lifting mechanism 2 to descend and return to the original position, and control the cargo cabinet 102 to contact the ground to achieve the purpose of moving the cargo cabinet 102 to the appointed release place.

The outdoor robot according to the embodiment of the present invention is used for transporting an outdoor cargo cabinet, and may also be used for transporting an indoor cargo cabinet.

The above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes performed by the content of the present specification and the attached drawings, or applied to other related technical fields directly or indirectly, are included in the scope of the present invention.

Claims

1. An outdoor robot, comprising:

a body comprising a load bearing member;

one end of the lifting mechanism is arranged on the bearing part, and the other end of the lifting mechanism is used for bearing at least two goods cabinets;

the driving mechanism is arranged on the main body and used for driving the main body to move;

the controller is used for receiving signals, converting the signals into control instructions and transmitting the control instructions to the driving mechanism so as to control the driving mechanism to work at least and move the main body below the goods cabinet or leave the goods cabinet; and

and transmitting the control instruction to the lifting mechanism so as to control the lifting mechanism to work to jack up the goods cabinet when the main body moves below the goods cabinet, or to control the lifting mechanism to work to move downwards to return to the original position to be separated from the goods cabinet when the main body reaches a preset position.

2. The outdoor robot of claim 1,

the lifting mechanism comprises a bearing driving part, an output shaft and a bearing table, the bearing driving part is arranged in the bearing part, the output shaft is arranged at the driving end of the bearing driving part, the bearing table is arranged on the output shaft, and the bearing table is provided with at least two bearing positions for bearing at least two goods cabinets;

the plummer includes first direction subassembly, first direction subassembly and the second direction subassembly sliding fit who is located the goods cabinet bottom to bear and fix a position the goods cabinet.

3. The outdoor robot of claim 2, wherein the first guiding assembly is two parallel sides of the carrying platform or parallel guide rails disposed on the two parallel sides of the carrying platform; the second guide assembly comprises at least one group of pulleys, and the group of pulleys comprises at least two pulleys which are respectively in sliding fit with the two parallel sides or the parallel guide rails of the bearing table, so that the cargo cabinet is arranged on the main body.

4. The outdoor robot of claim 2, wherein the loading platform includes a third guide member connected end-to-end with the first guide member in a guide direction and having a width that is uniform at the connection, the third guide member having a width that gradually decreases away from the first guide member, the third guide member moving into the lower side of the cargo cabinet prior to the first guide member during the movement of the main body to the lower side of the cargo cabinet.

5. The outdoor robot as claimed in claim 2, 3 or 4, wherein an electromagnetic lock is provided on the loading platform, the electromagnetic lock being adapted to cooperate with the cargo cabinet to secure or release the cargo cabinet to the loading position;

the electromagnetic lock locks the goods cabinet in a power-off state so as to fix the goods cabinet; under the power-on state, the current can be adjusted to change the magnetic force of the electromagnetic lock, and the goods cabinet is released.

6. The outdoor robot of claim 5, wherein at least two of the carrying positions of the carrying platform are arranged along a length direction of the carrying platform, if one of the carrying positions carries a first cargo cabinet and a second cargo cabinet is to be carried, the controller transmits a control command to the driving mechanism to move the main body to a side of the second cargo cabinet, the controller transmits a control command to the lifting mechanism to control the lifting mechanism to operate to move downward to return to a home position, the driving mechanism is controlled to drive the main body to move toward the second cargo cabinet in a state under the first cargo cabinet, so that the main body moves under the second cargo cabinet, and the lifting mechanism operates to jack up the first cargo cabinet and the second cargo cabinet to be located on the two carrying positions, respectively.

7. The outdoor robot of claim 5, wherein the main body comprises a first plate extending upwardly from at least one end of the load bearing member;

one end, far away from the bearing part, of the first plate body is provided with a long-focus camera, the long-focus camera is used for identifying traffic lights and forming identification signals, and the identification signals are transmitted to the controller to form the control instruction for controlling the main body to move or stop;

the first plate body is close to one end of the bearing part and one end of the first plate body far away from the bearing part are respectively provided with a laser radar, the middle position of the first plate body is provided with an ultrasonic sensor, and the laser radar and the bearing part are respectively provided with an ultrasonic sensor

The ultrasonic sensor is used for detecting an obstacle and sending a first obstacle avoidance sensing signal to the controller when the obstacle is detected, and the controller responds to the first obstacle avoidance sensing signal and controls the main body to decelerate or stop moving;

set up binocular vision camera, vehicle event data recorder and ultrasonic sensor on the first plate body, binocular vision camera and ultrasonic sensor are used for the barrier to detect, vehicle event data recorder is used for gathering the control picture in real time, the controller is used for acquireing control picture and location and navigation the motion path of main part.

8. The outdoor robot of claim 7, comprising a first battery, a first battery box and a second battery, wherein the first battery box is arranged at the bottom of the bearing part or in the bearing part, the first battery box comprises at least three horizontal grooves, the grooves are used for containing the first battery, one side of the first battery box, which is close to the side of the bearing part, is provided with a baffle plate, and the baffle plate can be opened or closed, so that the first battery is in the first battery box or is used for taking the first battery out of the first battery box; the second battery can be detachably arranged in the first plate body, and the second battery is connected with the first battery in parallel and serves as a standby power supply, or/and is connected with the first battery in series and provides power for the driving mechanism.

9. The outdoor robot as claimed in claim 7, wherein the bearing part is provided with a front anti-collision sensor at one end close to the first plate body, and a rear anti-collision sensor at one end far away from the first plate body for preventing collision;

one end of the bearing part, which is close to the first plate body, is provided with a buffer part which plays a role in buffering when in collision;

the loading platform is provided with a coil sensor for detecting the position of the cargo cabinet, so that the cargo cabinet triggers the control instruction transmitted to the lifting mechanism when being positioned at the loading position.

10. The outdoor robot of claim 1 or 7, comprising side and rear cameras for monitoring the acquisition, maintenance and transmission of images to the server.