CN209240034U - A kind of boxlike mobile robot - Google Patents

Abstract

The application provides a kind of boxlike mobile robot, including control module, robot body, chassis, universal wheel and driving wheel, and chassis includes the first support plate, and the universal wheel and the driving wheel are connect with the chassis.Robot body includes pedestal, and the storage structures part for the composition storage space connecting with the pedestal.Pedestal is connect with the first support plate by the first connector；The outside or inside of the robot body is arranged in the control module, and the robot body controls the rotation direction of the driving wheel by the control module and velocity of rotation controls the boxlike mobile robot movement.The storage structures part includes door part and storage structures part ontology, the door part is flexibly connected with the storage structures part ontology, and then storage space is avoided to be externally exposed in environment, to avoid the article placed in storage space slide on the ground or by artificial destruction, take away, improve the safety of robotic conveyance article.

Description

A kind of boxlike mobile robot

Technical field

This application involves robot fields, and in particular to a kind of boxlike mobile robot.

Background technique

With development in science and technology, modernization is accelerated, people for get rid of it is simple, repeat, the need of low technical content labour It asks and increases, robot gradually enters among people's life and helps through corresponding work.Present catering industry is typical Labour intensive profession works 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 manually with intelligent robot.Meal delivery robot can expedite the emergence of Restaurant Operation new model, and dining room utilizes advanced skill The interest that art improves efficiency of service, increases dining in restaurant, 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 traveling, 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.

Utility model 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 boxlike robot of kind high reliablity.

In a first aspect, the application provides a kind of boxlike mobile robot, comprising: control module, robot body, chassis, Universal wheel and driving wheel, the chassis include the first support plate, and the universal wheel and the driving wheel are connect with the chassis；Institute Stating robot body includes man-machine interaction panel, pedestal, and the storage structures for constituting storage space connecting with the pedestal Part, the man-machine interaction panel setting or the outside for being embedded in the robot body, the man-machine interaction panel and the control The connection of molding block, the pedestal are connect with first support plate by the first connector；The control module is arranged described The outside or inside of robot body, the robot body receive the control that user inputs by the man-machine interaction panel and refer to Enable, the robot body by the control module controls the rotation direction of the driving wheel and velocity of rotation control it is described Boxlike mobile robot is mobile；The storage structures part includes door part and storage structures part ontology, the door part with The storage structures part ontology is flexibly connected.

In boxlike robot provided by the present application, the robot body includes pedestal, and connect with the pedestal Constitute the storage structures part of storage space.The storage structures part includes door part and storage structures part ontology.The door knot Component is flexibly connected with the storage structures part ontology, and then storage space is avoided to be externally exposed in environment, to avoid storing up The article placed in object space slides on the ground or by artificial destruction, takes away, improves the safety of robotic conveyance article.Separately Outside, robot can control by the man-machine interaction panel, realizes the control of robot, improve the practicability of robot.

Based in a first aspect, the storage structures part includes the second connector, institute in the first optional implementation It states door part and is flexibly connected by second connector with the storage structures part ontology.

The first optional implementation based on first aspect, in second of optional implementation, described second Connector is hinge connection part or axis body connector.

Based in a first aspect, storage structures part bottom and top are set respectively in the third optional implementation There is the first sliding rail, the door part is flexibly connected by first sliding rail with the storage structures part ontology.

Based in a first aspect, the storage structures part ontology includes opening and branch in the 4th kind of optional implementation Support mechanism, the supporting mechanism include doorframe, the first fixing piece, the second fixing piece, the first guiding magnet, the second guiding magnet and Shaft, the doorframe include a beam, threshold and two door pillars for connecting the door beam and the threshold simultaneously, and described first is solid Determine part and the second fixing piece is respectively arranged on two door pillars, first guiding magnet and second guiding magnet point It is not installed on first fixing piece and second fixing piece, first guiding magnet and second guiding magnet Opposite face magnetic pole is identical；The door part includes the door leaf being rotatably provided on the supporting mechanism, and the door leaf passes through Between the shaft is rotationally mounted on the door beam and the threshold, the door leaf includes multiple door-plates and is arranged described Coil on door-plate, the coil axial direction are vertical with the door-plate plate face.

The 4th kind of optional implementation based on first aspect, in the 5th kind of optional implementation, the opening Place is equipped with the door body connecting with the storage structures part ontology, and the door body is flexibly connected with the storage structures part ontology.

The 5th kind of optional implementation based on first aspect, in the 6th kind of optional implementation, the storing Structural member includes third connector, and the door body is flexibly connected by the third connector with the storage structures part ontology.

The 6th kind of optional implementation based on first aspect, in the 7th kind of optional implementation, the third Connector is hinge connection part or axis body connector.

The 5th kind of optional implementation based on first aspect, in the 8th kind of optional implementation, the storing Structural member bottom and top are respectively equipped with the second sliding rail, and the door body passes through second sliding rail and the storage structures part ontology It is flexibly connected.

Any realization side based on the first of first aspect and first aspect into the 8th kind of optional implementation Formula, in the 9th kind of optional implementation, the first connector setting is connected to the upper surface of first support plate, institute The lower surface setting supporting plate structure part of pedestal is stated, the supporting plate structure part and first connector are nested and connect.

The 9th kind of optional implementation based on first aspect, in the tenth kind of optional implementation, the support Hardened component includes the second support plate and third support plate, and second support plate and the third support plate and described first connect Fitting, which is nested, to be connected.

The 8th kind based on first aspect or the 9th kind of optional implementation, in a kind of the tenth optional implementation In, positioning column is arranged in the lower surface of the pedestal, and the upper surface of first support plate, which offers to cooperate with the positioning column, to be connected The location hole connect.

Any realization based on the first of first aspect and first aspect into a kind of the tenth optional implementation Mode, in the 12nd kind of optional implementation, 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 12nd kind of optional implementation based on first aspect, it is described in the 13rd kind of optional implementation Radar module includes following one or more: laser radar module, microwave radar module.

The 12nd kind based on first aspect or the 13rd kind of optional implementation, the 14th kind of optional realization side In formula, the radar module is set between the upper surface of the pedestal and the lower surface of the robot body, and described second The same side of the pedestal is arranged in support plate and third support plate.

Any realization based on the first of first aspect and first aspect into the 14th kind of optional implementation Mode, in the 15th kind of optional implementation, the door part is opposite when being closed with the storage structures part ontology to be leaned on One side in close two sides is arranged automatically controlled pin, another side setting pin hole corresponding with the automatically controlled pin, the automatically controlled pin with it is described Control module is connected by bus, in the door part and the storage structures part ontology two sides relatively close when being closed Infrared receiving tube is set on one side, and another side is provided with infrared transmitting tube corresponding with the infrared receiving tube, the infrared receiver Pipe is connect with the control module, the storage structures part ontology and the door part infrared receiving tube and institute when being closed It states infrared transmitting tube to be in the state of penetrating, the control module detects that the infrared receiving tube receives infrared signal and passes through The bolt of automatically controlled pin described in the bus marco is inserted into the pin hole, and the control module is according to unlock instruction and by described total The bolt of automatically controlled pin described in line traffic control is detached from the pin hole.

Any realization based on the first of first aspect and first aspect into the 15th kind of optional implementation Mode, in the 16th kind of optional implementation, 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 The connection of controller local area network CAN (Controller Area Network) bus, the computer control subsystem are used for basis The information of the sensor acquisition module acquisition generates control instruction, controls the active by controlling the motor control assembly The rotation direction and velocity of rotation of wheel and control the boxlike mobile robot.

Any realization based on the first of first aspect and first aspect into the 16th kind of optional implementation Mode, in the 17th kind of optional implementation, the chassis further includes locating module, the locating module and the computer Control subsystem, the motor control assembly, the sensor acquisition module are connected by controller local area network's CAN bus, The locating module for realizing the boxlike robot positioning.

Any realization based on the first of first aspect and first aspect into the 17th kind of optional implementation Mode, in the 18th kind of optional implementation, the control module further includes power management module, the power management mould Block and the computer control subsystem, the motor control assembly, the sensor acquisition module pass through controller local area network CAN bus connection, the power management module are used for switching on and shutting down management, charge control and battery detecting.

The 16th kind of optional implementation based on first aspect and first aspect, in the 19th kind of optional realization In mode, the sensor acquisition module includes following one or more:

Infrared distance measurement module；

RGBD (RGB-Depth) camera module；

Ultrasonic distance measuring module.

Any realization based on the first of first aspect and first aspect into the 19th kind of optional implementation Mode, in the 20th kind of optional implementation, the universal wheel includes front-seat universal wheel and heel row universal wheel, the active Wheel includes middle row's driving wheel.

The 20th kind of optional implementation based on first aspect, in a kind of the 20th optional implementation, institute Stating front-seat universal wheel includes a universal wheel or at least two universal wheels arranged side by side.

The 20th kind based on first aspect or a kind of the 20th optional implementation, it is optional real at the 22nd kind In existing mode, the heel row universal wheel includes a universal wheel or at least two universal wheels arranged side by side.

Any reality based on the first of first aspect and first aspect into the 22nd kind of optional implementation Existing mode, in the 23rd kind of optional implementation, driving wheel includes at least two driving wheels arranged side by side.

Any reality based on the first of first aspect and first aspect into the 23rd kind of optional implementation Existing mode, in the 24th kind of optional implementation, one or at least two ultrasounds are arranged in the outside on the chassis Away from module.

Any reality based on the first of first aspect and first aspect into the 23rd kind of optional implementation Existing mode, in the 24th kind of optional implementation, the periphery on the chassis has been alternatively arranged multiple ultrasonic distance measurement moulds Block.

Any reality based on the first of first aspect and first aspect into the 24th kind of optional implementation Existing mode, in the 25th kind of optional implementation, the storage structures part ontology is internally provided with ventilation device, institute It includes following one or more for stating ventilation device:

Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.

Any reality based on the first of first aspect and first aspect into the 25th kind of optional implementation Existing mode, in the 26th kind of optional implementation, the storage structures part ontology offers ventilation hole.

Any reality based on the first of first aspect and first aspect into the 26th kind of optional implementation Existing mode, in the 27th kind of optional implementation, the storage structures part body interior is provided with one or at least two A pallet, the storage space that the adjacent pallet is constituted are provided at least one ventilation device.

Detailed description of the invention

Fig. 1 is a kind of schematic perspective view 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 the backsight structural representation of boxlike robot provided by the embodiments of the present application；

Fig. 4 is another schematic perspective view of boxlike robot provided by the embodiments of the present application；

Fig. 5 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application；

Fig. 6 is the structural schematic diagram that the circuit module of boxlike robot provided by the embodiments of the present application connects.

Specific embodiment

Boxlike robot provided by the present application is illustrated below with reference to embodiment.

A kind of boxlike robot provided in this embodiment, comprising: robot body, chassis, man-machine interaction panel, control mould Block, universal wheel and driving wheel.Referring to Figure 1, 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 robot body 2 includes pedestal 2a, and The storage structures part 2b for the composition storage space being connect with the pedestal 2a.

As shown in Figure 1, the chassis 1 includes that the first support plate 1a, the first support plate 1a is located at the robot body 2 Lower section, the first support plate 1a pass through the first connector 1b support that the upper surface of the first support plate 1a is arranged in The robot body 2.It can realize that the first connector 1b supports the structure of the robot body 2 by screw locking mode.

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 institute 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 two driving wheels laterally 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 symmetry axis of a driving wheel.Front-seat universal wheel 101, heel row universal wheel 102 and middle row's driving wheel 103 difference It is connect with chassis 1.

In the boxlike robot, front-seat universal wheel 101, heel row universal wheel 102 quantity be respectively one.At other In implementation, 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 shown in Figure 1, boxlike robot further includes man-machine interaction panel 3, the man-machine interaction panel 3 is arranged or is embedded in The outside of the robot body 2, the man-machine interaction panel 3 are connect with the control module.It is described in this implementation Control module is located at the inside of robot body 2.The robot body 2 controls the driving wheel by the control module Rotation direction and velocity of rotation and to control the boxlike mobile robot mobile.

In other implementations, the outside of the robot body is arranged in the control module, can be located at machine The top of human body or the periphery of robot body, the control module can be and be arranged in the robot when specific implementation The outer surface of ontology or the outside for being embedded in the robot body.

As shown in Figure 1, the storage structures part 2b in the embodiment of the present application includes door part 2c and storage structures part Ontology 2d, the door part 2c are flexibly connected with the storage structures part ontology 2d.

In the present embodiment, the storage structures part 2b includes the second connector, and the door part 2c passes through described Second connector is flexibly connected with the storage structures part ontology 2d.Second connector is that hinge connection part or axis body connect Part.

In other embodiments, the mode packet that the door part 2c is flexibly connected with the storage structures part ontology 2d Include two kinds of implementations.In the first implementation, the bottom and top storage structures part 2b are respectively equipped with the first sliding rail, The door part 2c is flexibly connected by first sliding rail with the storage structures part ontology 2d.In second of implementation In, the storage structures part ontology 2d includes opening and supporting mechanism, and the supporting mechanism includes doorframe, the first fixing piece, the Two fixing pieces, the first guiding magnet, the second guiding magnet and shaft, the doorframe include door beam, threshold and connect institute simultaneously Two door pillars of beam and the threshold are stated, first fixing piece and the second fixing piece are respectively arranged at two door pillars On, first guiding magnet and second guiding magnet are respectively arranged in first fixing piece and second fixing piece On, first guiding magnet is identical with the opposite face magnetic pole of second guiding magnet；The door part 2c includes rotation Ground is set to the door leaf on the supporting mechanism, and the door leaf is rotationally mounted to the door beam and the door by the shaft Between on sill, the door leaf includes multiple door-plates and the coil that is arranged on the door-plate, the coil axial direction with it is described Door-plate plate face is vertical.In second of implementation, optionally, the opening is equipped with and the storage structures part ontology The door body of 2d connection, the door body are flexibly connected with the storage structures part ontology 2d.And in second of implementation In, optionally, the storage structures part 2b includes third connector, and the door body passes through the third connector and the storing Structural member ontology 2d is flexibly connected.The third connector is hinge connection part or axis body connector.In other implementations, The bottom and top storage structures part 2b are respectively equipped with the second sliding rail, and the door body passes through second sliding rail and the storing Structural member ontology 2d is flexibly connected.

Fig. 3 is referred to, Fig. 3 is the rear view three-dimensional structure of boxlike robot provided by the embodiments of the present application.Such as Fig. 3 It is shown, ventilation hole 301 is offered behind the storage structures part ontology 2d.It optionally, for example, can be in the storage structures part The upper surface and/or lower surface of ontology 2d and/or side open up ventilation hole.

Optionally, Fig. 4 is referred to, Fig. 4 is that another stereochemical structure of boxlike robot provided by the embodiments of the present application is illustrated Figure, the chassis 1 for showing boxlike robot support the structure of robot body 2.As shown in figure 4, the lower surface of the pedestal 2a Supporting plate structure part is set.Supporting plate structure part as shown in Figure 4 comprising the second support plate 2e and third support plate 2f, institute The the second support plate 2e and third support plate 2f and the first connector 1b nested arrangements are stated to connect.Screw locking can be passed through Mode is realized that the second support plate 2e and third support plate 2f and the first connector 1b is nested and is connected.

Optionally, as shown in figure 4, positioning column 2g is arranged in the lower surface of the pedestal 2a, the first support plate 1a's is upper Surface offers the location hole 1c being cooperatively connected with the positioning column 2g.

Fig. 5 is referred to, Fig. 5 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application. As shown in figure 5, the storage structures part ontology 2d's of boxlike robot provided by the embodiments of the present application is internally provided with ventilation device A, ventilation device A are electric fan.As shown in figure 5, the storage structures part ontology 2d is internally provided with one or at least two Pallet B, the storage space C that the adjacent pallet B is constituted are provided with one or at least two ventilation device A.

Optionally, in other implementations, the ventilation device includes following one or more:

Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.Such as the adjacent pallet B composition Two ventilation devices are arranged in storage space C, it may be considered that storage space C opposite two sides or adjacent two sides are respectively set one Ventilation device.

Optionally, the upper surface of storage structures part ontology 2d and adjacent with the upper surface of the storage structures part ontology 2d The storage space C that pallet B is constituted is provided with one or at least two ventilation device A.

Optionally, the storage structures part ontology 2d offers ventilation hole.For example, can be in the storage structures part ontology 2d Upper surface and/or lower surface and/or side open up ventilation hole.

Fig. 6 is referred to, Fig. 6 is the structural representation that the circuit module of boxlike robot provided by the embodiments of the present application connects Figure.As shown in fig. 6, boxlike robot includes man-machine interaction panel 3 and control module 4, the man-machine interaction panel 3 and the control Molding block 4 connects, and the outside or inside of the robot body 2 is arranged in the control module 4, and the robot body 2 is logical The control instruction that the man-machine interaction panel 3 receives user's input is crossed, the robot body 2 is controlled by the control module 4 Make the driving wheel rotation direction and velocity of rotation and to control the boxlike mobile robot mobile.

Optionally, as shown in fig. 6, the boxlike mobile robot further includes being arranged in 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 emit and swash 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 upper surface on the chassis 1 and the lower surface of the robot body 2 Between, the same side of the pedestal 2a is arranged in the second support plate 2e and third support plate 2f.

Optionally, as shown in fig. 6, the boxlike mobile robot further includes automatically controlled pin 6 and infrared receiving tube 7a and infrared One side setting in two sides transmitting tube 7b, the door part 2c and the storage structures part ontology 2d relatively close when being closed Automatically controlled pin 6, another side setting pin hole corresponding with the automatically controlled pin 6, the automatically controlled pin 6 and the control module 4 pass through bus It connects, the one side setting in the two sides door part 2c relatively close when being closed with the storage structures part ontology 2d is infrared Reception pipe 7a, another side are provided with infrared transmitting tube 7b corresponding with the infrared receiving tube 7a, the infrared receiving tube 7a with The infrared transmitting tube 7b is connect with the control module 4 respectively, the storage structures part ontology 2d and the door part 2c The infrared receiving tube 7a and infrared transmitting tube 7b is in the state of penetrating when closure, and the control module 4 detects described Infrared receiving tube 7a receives infrared signal and is inserted into the pin hole, institute by the bolt of automatically controlled pin 6 described in the bus marco Control module 4 is stated according to unlock instruction and the pin hole is detached from by the bolt of automatically controlled pin 6 described in the bus marco.

Optionally, as shown in figure 4, the robot body receives the control that user inputs 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 the independent unlock control switch of human-computer interaction interface 3 in other implementations Control bus is connect with control module 4 or automatically controlled pin 6, and unlock 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 fig. 6, the boxlike robot further includes sensor acquisition module 8, for example, being set to described The sensor acquisition module 8 for ranging of 2 outer surface of robot body, the control module 4 include computer control subsystem Device 4a, the chassis further include motor control assembly 4b, the computer control subsystem 4a, the motor control assembly 4b with And the sensor acquisition module 8 is connected by controller local area network CAN (Controller Area Network) bus, The information that the computer control subsystem 4a is used to be acquired according to the sensor acquisition module 8 generates control instruction, passes through control Make the motor control assembly 4b control the driving wheel rotation direction and velocity of rotation and control the mobile machine of the boxlike People.

Optionally, as shown in fig. 6, 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.

Optionally, the control module 4 further includes power management module 4d, the power management module 4d and the computer Control subsystem 4a, the motor control assembly 4b, the sensor acquisition module 8 pass through controller local area network's CAN bus Connection, the power management module 4d are used for switching on and shutting down management, charge control and battery detecting.

In other implementations, power management module can be placed on chassis.

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 4, the periphery on the chassis 1 has been alternatively arranged multiple ultrasonic distance measuring module 1d.It is optional , control module further includes human-computer interactive control module, and the human-computer interactive control module is for controlling man-machine interaction panel, institute Human-computer interactive control module is stated to connect with man-machine interaction panel, the human-computer interactive control module, the power management module with The computer control subsystem, the motor control assembly, the sensor acquisition module are total by controller local area network CAN Line connection.

Optionally, the control module further includes first sensor control module, and the first sensor control module is used In control, the sensor acquisition module and/or automatically controlled pin and/or infrared receiving tube and/or infrared of the robot body are set Sending tube, the first sensor control module and the power management module, the computer control subsystem pass through controller The connection of local area network CAN bus.

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 the power management module, the computer control subsystem passes through controller local area network CAN bus connection.

Optionally, the modules in the control module can in a circuit control panel, in other implementations, Also at least two modules in different circuit boards or the control module can be set 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 The obvious changes or variations that spirit please is extended out still in the protection scope of the application among.

Claims (10)

1. a kind of boxlike mobile robot characterized by comprising

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, pedestal, and with the pedestal The storage structures part of the composition storage space of connection, the man-machine interaction panel are arranged or are embedded in the outer of the robot body Portion, the man-machine interaction panel are connect with the control module, and the pedestal and first support plate pass through the first connector Connection；The outside or inside of the robot body is arranged in the control module, and the robot body passes through described man-machine Interactive panel receives the control instruction of user's input, and the robot body controls the driving wheel by the control module Rotation direction and velocity of rotation and control the boxlike mobile robot；The storage structures part includes door part and storing knot Member bodies, the door part are flexibly connected with the storage structures part ontology, and the storage structures part ontology offers logical Air holes.

2. boxlike mobile robot as described in claim 1, which is characterized in that the storage structures part includes the second connection Part, the door part are flexibly connected by second connector with the storage structures part ontology.

3. boxlike mobile robot as claimed in claim 1 or 2, which is characterized in that the boxlike mobile robot further includes Radar module outside the robot body is set, 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 System, the characteristic quantity include following one or more:

Target range, orientation, height, speed, posture, shape.

4. boxlike mobile robot as claimed in claim 3, which is characterized in that the boxlike mobile robot further includes setting The sensor acquisition module for ranging in the robot body outer surface, the control module include computer control subsystem Bulk cargo is set, and the chassis further includes motor control assembly, the computer control subsystem, the motor control assembly and described Sensor acquisition module is connected by controller local area network CAN (Controller Area Network) bus, the computer The information that control subsystem is used to be acquired according to the sensor acquisition module generates control instruction, by controlling the motor control Device processed control the driving wheel rotation direction and velocity of rotation and control the boxlike mobile robot.

5. boxlike mobile robot as claimed in claim 4, which is characterized in that the chassis further includes locating module, described Locating module and the computer control subsystem, the motor control assembly, the sensor acquisition module pass through control general ability Domain network C AN bus connection, the locating module for realizing the boxlike mobile robot positioning.

6. boxlike mobile robot as claimed in claim 5, which is characterized in that the control module further includes power management mould Block, the power management module and the computer control subsystem, the motor control assembly, the sensor acquisition module are logical The connection of controller local area network's CAN bus is crossed, the power management module is for switching on and shutting down management, charge control and battery inspection It surveys.

7. boxlike mobile robot as claimed in claim 6, which is characterized in that institute's sensor acquisition module includes as follows It is one or more:

Infrared distance measurement module；

RGBD (RGB-Depth) camera module；

Ultrasonic distance measuring module.

8. boxlike mobile robot as claimed in claim 7, which is characterized in that the radar module is set to the pedestal Between upper surface and the lower surface of the robot body, the same of the pedestal is arranged in the second support plate and third support plate Side.

9. boxlike mobile robot as claimed in claim 8, which is characterized in that the inside of the storage structures part ontology is arranged There is ventilation device.

10. boxlike mobile robot as described in claim 1, which is characterized in that the door part and the storage structures One side when part ontology is closed in relatively close two sides is arranged automatically controlled pin, another side setting pin corresponding with the automatically controlled pin Hole, the automatically controlled pin are connect with the control module by bus, and the door part and the storage structures part ontology are closed When relatively close two sides in one side infrared receiving tube is set, another side is provided with corresponding with the infrared receiving tube infrared Transmitting tube, the infrared receiving tube are connect with the control module, and the storage structures part ontology and the door part are closed Shi Suoshu infrared receiving tube and the infrared transmitting tube are in the state of penetrating, and the control module detects the infrared receiving tube Receive infrared signal and the pin hole be inserted by the bolt of automatically controlled pin described in the bus marco, the control module according to Unlock instruction and the pin hole is detached from by the bolt of automatically controlled pin described in the bus marco.