CN112256015A - Outdoor robot - Google Patents
Outdoor robot Download PDFInfo
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- CN112256015A CN112256015A CN201910703115.XA CN201910703115A CN112256015A CN 112256015 A CN112256015 A CN 112256015A CN 201910703115 A CN201910703115 A CN 201910703115A CN 112256015 A CN112256015 A CN 112256015A
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 22
- 241000283070 Equus zebra Species 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses an outdoor robot, which is used for distributing distribution cabinets and comprises a main body, a driving mechanism, a sensor assembly and a controller, wherein the main body is provided with a plurality of driving mechanisms; the main body comprises a bearing part and a plate body part, and the driving mechanism is arranged on the bearing part and used for driving the main body to move; the sensor assembly is arranged on the bearing part and the plate body part and used for detecting obstacles around the outdoor robot so as to obtain obstacle information; and the controller is used for receiving the obstacle information and generating a control command according to the obstacle information to control the driving mechanism so that the driving mechanism drives the main body to avoid the obstacle. Through the mode, the outdoor robot provided by the invention can realize good obstacle avoidance in the distribution process.
Description
Technical Field
The invention relates to the field of distribution, in particular to an outdoor robot.
Background
The most expensive link of express delivery industry cost and the link that efficiency is the lowest are front and back both ends, namely the both ends that are closest to addresser and addressee, because the user of front and back both ends is more dispersed, for raising the efficiency, express delivery company need join in marriage more express delivery person and just can satisfy, among the prior art, in order to reduce the human cost, begin to adopt the robot to deliver, but current robot can't be in the good roadblock of avoiding of delivery link.
Disclosure of Invention
The invention mainly provides an outdoor robot, which aims to solve the problem that the robot in the prior art cannot avoid roadblocks.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided an outdoor robot for distributing distribution cabinets, the outdoor robot comprising: the main body comprises a bearing part and a plate body part, wherein the plate body part is vertically arranged at one end of the bearing part;
the driving mechanism is arranged on the bearing part and used for driving the main body to move;
the sensor assembly comprises an emission type sensor assembly, the emission type sensor assembly comprises a first emission type sensor, a second emission type sensor and a third emission type sensor, the first emission type sensor is arranged at one end of the bearing part, the second emission type sensor is arranged at the other end of the bearing part, the third emission type sensor is arranged at one end, far away from the bearing part, of the plate body part, and the sensor assembly is used for detecting obstacles around the outdoor robot to obtain obstacle information;
a controller for receiving the obstacle information and generating a control instruction according to the obstacle information to control the driving mechanism so that the driving mechanism drives the main body to avoid the obstacle.
According to an embodiment of the present invention, the emissive sensor assembly comprises means for detecting an obstacle in the first detection zone.
According to an embodiment of the present invention, the first transmitting sensor, the second transmitting sensor and the third transmitting sensor are all lidar.
According to an embodiment of the present invention, the sensor assembly further includes an ultrasonic radar disposed on the plate body portion and/or the carrier, the ultrasonic radar being configured to detect an obstacle in a second detection area, the second detection area being at least partially misaligned with the first detection area.
According to an embodiment of the present invention, two ends of the bearing portion are respectively provided with an avoiding inclined surface, and the first emission sensor and the second emission sensor are arranged on the avoiding inclined surfaces.
According to an embodiment of the present invention, two ends of the bearing part are respectively provided with a buffer member for buffering the outdoor robot when the outdoor robot is impacted.
According to an embodiment of the present invention, a protective cover is disposed on the third emission sensor, the protective cover is used for protecting the third emission sensor, and a large and small inclination angle of the protective cover matches with a scanning angle of the third emission sensor.
According to an embodiment provided by the invention, the sensor assembly further comprises a camera assembly, the camera assembly comprises a long-focus camera and a short-focus camera, the long-focus camera is arranged at one end of the plate body part far away from the bearing part, the short-focus camera is arranged at one end of the plate body part close to the bearing plate, the long-focus camera is used for detecting traffic light information and sending the traffic light information to the controller, the controller controls the short-focus camera to detect zebra crossing information according to the traffic light information, and then the controller controls the driving mechanism to drive the main body to be positioned on a zebra crossing according to the zebra crossing information and controls the driving mechanism to drive the main body to stop or move according to the traffic light information.
According to an embodiment of the invention, the outdoor robot further comprises an automobile data recorder, the automobile data recorder is arranged on the plate body part and/or the bearing part and is used for collecting monitoring pictures in real time, and the controller receives and stores the monitoring pictures or/and uploads the monitoring pictures to the server.
According to an embodiment of the present invention, the sensor assembly further includes at least two sets of impact detection assemblies, the at least two sets of impact detection assemblies are disposed on the carrying portion, and send an impact signal to the controller when the outdoor robot collides with the obstacle, and the controller controls the driving mechanism to drive the main body to move backward or stop moving according to the impact signal.
The invention has the beneficial effects that: the invention provides an outdoor robot, which is different from the prior art, and is characterized in that a sensor assembly is arranged on a main body to detect peripheral obstacles to obtain obstacle information, and a controller generates a corresponding control command according to the obstacle information so as to control the main body, so that the main body can avoid the obstacles and can well run in the distribution process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic side view of an outdoor robot according to an embodiment of the present invention;
FIG. 2 is a schematic front view of an outdoor robot according to an embodiment of the present invention;
FIG. 3 is a schematic rear view of an embodiment of an outdoor robot according to the present invention;
fig. 4 is a schematic top view of an outdoor robot according to an 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.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides an outdoor robot 10, wherein the outdoor robot 10 may be specifically used for dispensing a dispensing cabinet, and the outdoor robot 10 includes a main body 100, a driving mechanism 200, a sensor assembly 300 and a controller (not shown).
The driving mechanism 200 is provided on the main body 100 so as to drive the main body 100 to move. The sensor assembly 300 is also provided on the main body 100, and serves to detect a peripheral obstacle during movement or stoppage of the outdoor robot 10, thereby obtaining obstacle information. Specifically, the obstacle is not limited to only a step, a barrier, and the like, but also includes traffic information such as a traffic light.
The controller may receive the obstacle information and generate a control command according to the obstacle information to control the driving mechanism 200, so that the driving mechanism 200 drives the main body 100 to avoid the obstacle.
As shown in fig. 1, the sensor assembly 300 includes an emissive sensor assembly 310, the emissive sensor assembly 310 including a first emissive sensor 311, a second emissive sensor 312, and a third emissive sensor 313; the first emission sensor 311 is disposed at one end of the carrying portion 110, the second emission sensor 312 is disposed at the other end of the carrying portion 110, and the third emission sensor 313 is disposed at one end of the plate portion 120 away from the carrying portion 110. That is, the third emission sensor 313 is disposed at the top end position of the plate body portion 120.
When the emissive sensor assembly 310 detects an obstacle, it then transmits relevant obstacle information, specifically, size, orientation, etc., to the controller. The controller then generates relevant instruction information according to the obstacle information, and controls the main body 100 to stop, turn, move, or the like by the driving mechanism 200 so as to avoid the obstacle.
In an embodiment, the controller may be installed on the main body 100, and may also serve as a cloud, and receive information from the outdoor robot 10 and issue a corresponding instruction through 5G/4G real-time communication with the outdoor robot 10, which is not limited herein.
As shown in fig. 1, the main body 100 includes a bearing portion 110 and a plate portion 120, and the plate portion 120 is vertically disposed at one end of the bearing portion 110, that is, the plate portion 120 extends upward from one end of the bearing portion 110 and may be perpendicular to the bearing portion 110.
In the embodiment, the supporting portion 110 is mainly used for supporting the dispensing cabinets, and is similar to a plate-shaped structure, and the driving mechanism 200 is disposed on the supporting portion 110. Specifically, the driving mechanism 200 includes a chassis disposed at the bottom of the bearing portion 110, driving members, and driving wheels, preferably four driving wheels, respectively mounted at four corners of the chassis. The driving piece is used for driving the driving wheel to rotate or turn.
The sensor assembly 300 is disposed on the supporting portion 110 and the plate portion 120.
In the above embodiment, the plate body 120 is disposed on the supporting portion 110, on one hand, the plate body can serve as a blocking plate, so that the distribution cabinet can be better supported on the supporting portion 110, and on the other hand, since the height and the installation position of the supporting portion 110 are limited, the plate body 120 is disposed for installing the sensor assembly 300, so that the environment can be better detected in all directions, and a better detection effect can be achieved.
In a particular embodiment, the emissive sensor assembly 310 is used to detect an obstacle in the first detection zone. The first transmitting sensor 311, the second transmitting sensor 312 and the third transmitting sensor 313 may be laser radars.
In an exemplary embodiment, the sensor assembly 300 further includes an ultrasonic radar (not shown) disposed on the plate body portion 120 and/or the carrier 110, the ultrasonic radar being configured to detect an obstacle in a second detection area, the second detection area being at least partially misaligned with the first detection area. Specifically, if there may be a blind spot in the detection area of the transmitting sensor assembly 310, and if the second transmitting sensor 312 and the third transmitting sensor 313 cannot scan the middle area due to the height relationship, an ultrasonic radar may be disposed in the middle of the plate body 120 for scan compensation.
Meanwhile, the ultrasonic radar can be used for detecting glass, and when a plurality of strip-shaped obstacles are detected or the ultrasonic sensor detects a planar obstacle, the obstacle can be judged to be glass.
As shown in fig. 1, the two ends of the carrying portion 110 are respectively provided with an avoiding inclined surface 111, and the first emission sensor 311 and the second emission sensor 312 are provided on the avoiding inclined surface 111. So that the first and second emission sensors 311 and 312 are not damaged by the impact when the outdoor robot 10 collides.
Specifically, the avoidance slope 111 faces outward and obliquely upward, and therefore the ultrasonic radar can be further used for setting the ultrasonic radar, and therefore the ultrasonic radar can also detect obliquely upward.
In a specific embodiment, the two ends of the bearing part 110 are respectively provided with a buffer 112 for buffering the outdoor robot 10 when the outdoor robot 10 collides, so as to prevent the body part of the outdoor robot 10 from being directly injured by the force of the collision.
The third emission sensor 313 is provided with a shield 314, the shield 314 is used for shielding the third emission sensor 313, and the size inclination angle of the shield 314 is matched with the scanning angle of the third emission sensor 313. So that the shield 314 does not interfere with the operation of the third emissive sensor 313; the protective cover 314 is made of transparent material to avoid influencing the testing effect.
As shown in fig. 2, the sensor assembly 300 further includes a camera assembly 330, wherein the camera assembly 330 includes a long-focus camera (not shown) and a short-focus camera 332, the long-focus camera is disposed at an end of the plate body 120 away from the bearing portion 110, and the short-focus camera 332 is disposed at an end of the plate body 120 close to the bearing portion 110.
In a specific embodiment, the long-focus camera may be configured to detect traffic light information and send the traffic light information to the controller, the controller controls the short-focus camera 332 to detect zebra crossing information according to the traffic light information, and then the controller controls the driving mechanism 200 to drive the main body 100 to be located on the zebra crossing according to the zebra crossing information and controls the driving mechanism 200 to drive the main body 100 to stop or move according to the traffic light information.
Specifically, in the moving process of the outdoor robot 10, when the long-focus camera detects a traffic light, the traffic light information is sent to the controller, and then the controller determines the position of the traffic light to control the short-focus camera 332 to detect the zebra crossing information, and after the information such as the zebra crossing position is obtained, the controller controls the main body 100 to move to the zebra crossing position. And further detecting traffic light information and judging whether to allow or prohibit the traffic light information to pass through. If the passage is permitted, the control main body 100 moves, and if the passage is prohibited, the control main body 100 stops.
In a specific embodiment, the short-focus camera 332 may be a binocular vision camera, the binocular vision camera may also be used to detect depth (distance) information of an obstacle, and the controller may thereby control the main body 100 to decelerate or change direction in advance according to the depth (distance) information.
As shown in fig. 1 and 3, the outdoor robot 10 further includes an automobile data recorder 400, where the automobile data recorder 400 is disposed on the plate portion 120 and/or the carrying portion 110 and is used for collecting monitoring pictures in real time, and the controller receives the monitoring pictures and stores the monitoring pictures or/and uploads the monitoring pictures to the server.
Specifically, the driving recorder 400 may include a plurality of sets of angularly adjustable cameras, and the angularly adjustable cameras are distributed on the plate body portion 120 and/or the carrying portion 110, so as to collect a peripheral image of the outdoor robot 10, thereby obtaining a monitoring image. And locally storing or/and directly uploading the data to the cloud, which is not limited herein.
As shown in fig. 4, the sensor assembly 300 further includes at least two sets of impact detection assemblies 340, where the impact detection assemblies 340 may be two sets or three sets, and the at least two sets of impact detection assemblies 340 are disposed on the carrying portion 110 and send an impact signal to the controller when the outdoor robot 10 collides with an obstacle, and the controller controls the driving mechanism 200 to drive the main body 100 to move backward or stop moving according to the impact signal.
Specifically, this striking detection subassembly 340 can produce the signal of telecommunication and send for the controller after receiving the striking, and the controller judges the direction and the dynamics of striking according to the signal of telecommunication to generate control command, with the assurance outdoor robot 10 can not further receive the damage.
In summary, the present invention provides an outdoor robot, in which a sensor assembly is disposed on a main body to detect surrounding obstacles to obtain obstacle information, and a controller generates a corresponding control command according to the obstacle information, so as to control the main body, so that the main body can avoid the obstacles and can travel well in a distribution process.
And further, the main part not only includes the supporting part that is used for bearing the delivery cabinet, still further includes the board somatic part to increase whole outdoor robot's height, and increased sensor mountable area, lead to sensor assembly's quantity and detection angle to obtain very big reinforcing, can carry out better survey to the environment, thereby keep away the barrier performance and have had very big promotion.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An outdoor robot for distributing distribution cabinets, the outdoor robot comprising:
the main body comprises a bearing part and a plate body part, wherein the plate body part is vertically arranged at one end of the bearing part;
the driving mechanism is arranged on the bearing part and used for driving the main body to move;
the sensor assembly comprises an emission type sensor assembly, the emission type sensor assembly comprises a first emission type sensor, a second emission type sensor and a third emission type sensor, the first emission type sensor is arranged at one end of the bearing part, the second emission type sensor is arranged at the other end of the bearing part, the third emission type sensor is arranged at one end, far away from the bearing part, of the plate body part, and the sensor assembly is used for detecting obstacles around the outdoor robot to obtain obstacle information;
a controller for receiving the obstacle information and generating a control instruction according to the obstacle information to control the driving mechanism so that the driving mechanism drives the main body to avoid the obstacle.
2. The outdoor robot of claim 1, where the emissive sensor assembly comprises a sensor for detecting an obstruction to the first detection zone.
3. The outdoor robot of claim 1, wherein the first, second, and third emissive sensors are each lidar.
4. The outdoor robot of claim 2, wherein the sensor assembly further comprises an ultrasonic radar disposed on the plate portion and/or carrier, the ultrasonic radar configured to detect an obstacle of a second detection zone that is at least partially non-coincident with the first detection zone.
5. The outdoor robot of claim 1, wherein an avoidance slope is respectively disposed at two ends of the bearing part, and the first emission sensor and the second emission sensor are disposed on the avoidance slope.
6. The outdoor robot of claim 1, wherein the two ends of the bearing part are respectively provided with a buffer member for buffering the outdoor robot when the outdoor robot is impacted.
7. The outdoor robot of claim 1, wherein a protective cover is disposed on the third emission sensor, the protective cover is used for protecting the third emission sensor, and the large and small inclination angles of the protective cover are matched with the scanning angle of the third emission sensor.
8. The outdoor robot of claim 1, wherein the sensor assembly further comprises a camera assembly, the camera assembly comprises a long-focus camera and a short-focus camera, the long-focus camera is disposed at an end of the board body portion away from the bearing portion, the short-focus camera is disposed at an end of the board body portion close to the bearing plate, the long-focus camera is used for detecting traffic light information and sending the traffic light information to the controller, the controller controls the short-focus camera to detect zebra crossing information according to the traffic light information, and then the controller controls the driving mechanism to drive the main body to be located on a zebra crossing according to the zebra crossing information and controls the driving mechanism to drive the main body to stop or move according to the traffic light information.
9. The outdoor robot of claim 1, further comprising an automobile data recorder, wherein the automobile data recorder is disposed on the plate body portion and/or the carrying portion and used for collecting monitoring pictures in real time, and the controller receives and saves the monitoring pictures or/and uploads the monitoring pictures to a server.
10. The outdoor robot of claim 1, wherein the sensor assembly further comprises at least two sets of impact detection assemblies, the at least two sets of impact detection assemblies are arranged on the bearing part and send an impact signal to the controller when the outdoor robot impacts the obstacle, and the controller controls the driving mechanism to drive the main body to move backwards or stop moving according to the impact signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921053165 | 2019-07-05 | ||
| CN201921053165X | 2019-07-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112256015A true CN112256015A (en) | 2021-01-22 |
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Family Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921258086.2U Active CN210942034U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201921243371.7U Active CN210488312U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201921247846.XU Active CN210488313U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201910703115.XA Pending CN112256015A (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201921252958.4U Active CN210488315U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921258086.2U Active CN210942034U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201921243371.7U Active CN210488312U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
| CN201921247846.XU Active CN210488313U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201921252958.4U Active CN210488315U (en) | 2019-07-05 | 2019-07-31 | Outdoor robot |
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| CN (5) | CN210942034U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112172959B (en) * | 2019-07-05 | 2023-09-29 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101649665B1 (en) * | 2015-04-29 | 2016-08-30 | 엘지전자 주식회사 | Moving robot and controlling method thereof |
| WO2018113174A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市招科智控科技有限公司 | Collision and obstacle avoidance system for driverless bus |
| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
| CN109872372A (en) * | 2019-03-07 | 2019-06-11 | 山东大学 | A kind of small-sized quadruped robot overall Vision localization method and system |
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2019
- 2019-07-31 CN CN201921258086.2U patent/CN210942034U/en active Active
- 2019-07-31 CN CN201921243371.7U patent/CN210488312U/en active Active
- 2019-07-31 CN CN201921247846.XU patent/CN210488313U/en active Active
- 2019-07-31 CN CN201910703115.XA patent/CN112256015A/en active Pending
- 2019-07-31 CN CN201921252958.4U patent/CN210488315U/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101649665B1 (en) * | 2015-04-29 | 2016-08-30 | 엘지전자 주식회사 | Moving robot and controlling method thereof |
| WO2018113174A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市招科智控科技有限公司 | Collision and obstacle avoidance system for driverless bus |
| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
| CN109872372A (en) * | 2019-03-07 | 2019-06-11 | 山东大学 | A kind of small-sized quadruped robot overall Vision localization method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN210488315U (en) | 2020-05-08 |
| CN210488313U (en) | 2020-05-08 |
| CN210488312U (en) | 2020-05-08 |
| CN210942034U (en) | 2020-07-07 |
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