CN210488312U

CN210488312U - Outdoor robot

Info

Publication number: CN210488312U
Application number: CN201921243371.7U
Authority: CN
Inventors: 贺智威; 朱元远; 廖荣东; 邢栋
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Kandra Shenzhen Intelligent Technology Co ltd
Priority date: 2019-07-05
Filing date: 2019-07-31
Publication date: 2020-05-08
Anticipated expiration: 2029-07-31
Also published as: CN112256015A; CN210488315U; CN210488313U; CN210942034U

Abstract

The utility model 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; the main body comprises a bearing part, and the bearing part is used for bearing the distribution cabinet; the driving mechanism is arranged on the main body and used for driving the main body to move so as to drive the distribution cabinet to move; the sensor assembly is arranged on the bearing part and comprises an emission type sensor assembly 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. In this way, the utility model provides an outdoor robot can be good avoid peripheral barrier.

Description

Outdoor robot

Technical Field

The utility model relates to a delivery field, in particular to 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.

SUMMERY OF THE UTILITY MODEL

The utility model mainly provides an outdoor robot to solve the problem that the robot can't avoid the roadblock among the prior art.

In order to solve the technical problem, the utility model discloses a technical scheme be: there is provided an outdoor robot for distributing distribution cabinets, the outdoor robot comprising: the main body comprises a bearing part, and the bearing part is used for bearing the distribution cabinet; the driving mechanism is arranged on the main body and used for driving the main body to move so as to drive the distribution cabinet to move; the sensor assembly comprises an emission type sensor assembly, the emission type sensor assembly comprises a first emission type sensor and a second 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, and the sensor assembly is used for detecting obstacles around the outdoor robot so as 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 the utility model provides an embodiment, the transmission sensor subassembly is used for detecting the barrier of first detection area territory, first transmission sensor and second transmission sensing are transmission sensor subassembly.

According to the utility model provides an embodiment, sensor unit still includes ultrasonic radar, ultrasonic radar set up in on the bearing part, ultrasonic radar is used for detecting the regional barrier of second detection, the second detection region with first detection region part at least is not coincident.

According to the utility model provides an embodiment, the both ends of bearing part are provided with the bolster respectively, be used for play the cushioning effect during outdoor robot striking.

According to the utility model provides an embodiment, outdoor robot still includes elevating system, elevating system set up in on the supporting part, elevating system can be relative the supporting part goes up and down, so that right the delivery cabinet carries out the bearing or places.

According to the utility model provides an embodiment, elevating system includes driving piece, output shaft and plummer, the driving piece set up in the bearing part, the output shaft set up in the drive end of driving piece, the plummer set up in on the output shaft, set up two at least bearing positions on the plummer for bear two at least the delivery cabinet.

According to the utility model provides an embodiment, the both ends of bearing part are provided with respectively and dodge the inclined plane, first emission sensor with second emission sensor and ultrasonic radar set up in dodge on the inclined plane, dodge the inclined plane with the plummer cooperation forms and dodges the groove, so that it is right first emission sensor with second emission sensor and ultrasonic radar protects.

According to the utility model provides an embodiment, sensor module still includes two sets of striking determine module, two sets of striking determine module set up in the both ends of bearing part, and outdoor robot with when the striking takes place for the barrier, give the controller sends the striking signal, the controller basis striking signal control the actuating mechanism drive the main part is retreated or is stopped moving.

According to the utility model provides an embodiment, outdoor robot still includes vehicle event data recorder, vehicle event data recorder includes at least two sets of adjustable angle cameras, at least two sets of adjustable angle cameras set up in on the supporting part for gather the control picture in real time, the controller is received the control picture is preserved or will the control picture uploads server.

According to the utility model provides an embodiment, outdoor robot still includes battery pack, battery pack set up in bearing part bottom or bearing part are interior, battery pack is used for actuating mechanism provides power.

The utility model has the advantages that: be different from prior art's condition, the utility model provides an outdoor robot is through setting up sensor assembly on the bearing part to detect peripheral barrier, obtain barrier information, and generate relevant instruction according to barrier information through the controller and come main part control, thereby make that outdoor robot can be good avoid the barrier.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive work, wherein:

fig. 1 is a schematic side view of an embodiment of an outdoor robot provided by the present invention;

fig. 2 is a schematic rear view structure diagram of an embodiment of an outdoor robot provided by the present invention;

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

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments 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, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 3, the present invention provides an outdoor robot 10, the outdoor robot 10 may be specifically used for delivering a delivery 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 main body 100 specifically includes a carrying portion 110, and the carrying portion 110 is specifically used for carrying the dispensing cabinet.

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 disposed on the carrying part 110, and is used to detect a peripheral obstacle during the movement or stop 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.

As shown in fig. 1, the sensor assembly 300 specifically includes an emissive sensor assembly 310, where the emissive sensor assembly 310 includes a first emissive sensor 311 and a second emissive sensor 312; the first emission sensor 311 is disposed at one end of the carrying portion 110, and the second emission sensor 312 is disposed at the other end of the carrying portion 110.

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.

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.

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.

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.

In an embodiment, the first and second transmitting

sensors

311 and 312 may be lidar.

In a particular embodiment, the emissive sensor assembly 310 is used to detect an obstacle in the first detection zone.

In a specific embodiment, the sensor assembly 300 further comprises an ultrasonic radar (not shown) disposed on the carrier 110, the ultrasonic radar being configured to detect an obstacle in a second detection zone that is at least partially non-coincident with the first detection zone. Specifically, there may be blind areas in the detection area of the transmission sensor assembly 310, for example, the first transmission sensor 311 and the second transmission sensor 312 cannot well detect the two sides and the higher area of the carrying part 110 due to being disposed at the two ends of the carrying part 110, so that the ultrasonic radar can be disposed on the two sides of the carrying part 110 or/and above the carrying part 110, so as to detect the higher height and the two side areas, so as to compensate the detection range and accuracy.

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 outdoor robot 10 further includes a lifting mechanism 500, the lifting mechanism 500 is disposed on the supporting portion 110, and the lifting mechanism 500 can be lifted relative to the supporting portion 110 to support or place the distribution cabinet.

Specifically, the outdoor robot of the embodiment of the present invention moves the bearing part 110 of the main body 100 to the lower side of the distribution cabinet through the driving mechanism 200, and the bottom of the distribution cabinet of the present invention is provided with the support legs to form a certain space between the bottom of the distribution cabinet and the ground, so that the bearing part 110 is conveniently placed at the bottom of the distribution cabinet; the distribution cabinet is further lifted up through the lifting mechanism 500, so that the distribution cabinet leaves the ground to achieve the effect of lifting the distribution cabinet, the driving mechanism 200 drives the main body 100 to move to achieve the effect of transporting the distribution cabinet, and when the distribution cabinet reaches the destination, the lifting mechanism 500 returns to the original position, so that the lifting mechanism 500 is separated from the distribution cabinet.

Specifically, the lifting mechanism 500 includes a driving member (not shown), an output shaft (not shown), and a carrying platform 510, the driving member is disposed in the carrying portion 110, the output shaft is disposed at a driving end of the driving member, the carrying platform 510 is disposed on the output shaft, and at least two carrying positions are disposed on the carrying platform 510 for carrying at least two distribution cabinets.

Specifically, in the present embodiment, the output shaft is vertically disposed and coupled to the driving member, and the top end of the output shaft is fixed to the center of the bearing table 510. Through setting up the output shaft in the center of plummer 510, can make plummer 510 atress even, avoid plummer 510 to take place the slope.

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

As shown in fig. 1, the two ends of the carrying part 110 are respectively provided with an avoidance slope 111, and the first and

second emission sensors

311 and 312 and the ultrasonic radar may be provided on the avoidance slopes 111. Specifically, the avoidance slope 111 and the plummer 510 cooperate to form an avoidance groove, so that the first and

second emission sensors

311 and 312 and the ultrasonic radar 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.

As shown in fig. 1, 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.

In a specific embodiment, the outdoor robot 10 further includes an automobile data recorder 400, the automobile data recorder 400 is disposed on the bearing portion 110 and is configured to collect the monitoring picture in real time, and the controller receives and stores the monitoring picture or/and uploads the monitoring picture to the server.

Specifically, the driving recorder 400 may include a plurality of sets of angularly adjustable cameras, which may be two sets, and are distributed on the bearing 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. 3, 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 a specific embodiment, the outdoor robot 10 further includes a battery assembly 600, the battery assembly 600 is disposed at the bottom of the carrying part 110 or in the accommodating space inside the carrying part 110, and the battery assembly 600 is used for providing power to the driving mechanism 200. Meanwhile, other operations such as information collection, storage and exchange of power may be provided to the entire outdoor robot 10.

To sum up, the utility model provides an outdoor robot is through setting up sensor assembly on the bearing part to detect peripheral barrier, obtain barrier information, and generate relevant instruction according to barrier information through the controller and come main part control, thereby make that outdoor robot can be good avoid the barrier.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An outdoor robot for distributing distribution cabinets, the outdoor robot comprising:

the main body comprises a bearing part, and the bearing part is used for bearing the distribution cabinet;

the driving mechanism is arranged on the main body and used for driving the main body to move so as to drive the distribution cabinet to move;

the sensor assembly comprises an emission type sensor assembly, the emission type sensor assembly comprises a first emission type sensor and a second 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, and the sensor assembly is used for detecting obstacles around the outdoor robot so as 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, wherein the emissive sensor assembly is configured to detect an obstacle in a first detection zone, and wherein the first and second emissive sensors are each an emissive sensor assembly.

3. The outdoor robot of claim 2, wherein the sensor assembly further comprises an ultrasonic radar disposed on the carrier, the ultrasonic radar configured to detect an obstacle in a second detection zone that is at least partially non-coincident with the first detection zone.

4. The outdoor robot as claimed in claim 3, wherein the two ends of the carrying part are respectively provided with a buffer member for buffering the outdoor robot when the outdoor robot collides.

5. The outdoor robot of claim 3, further comprising a lifting mechanism disposed on the carrying portion, wherein the lifting mechanism can be lifted relative to the carrying portion to support or place the dispensing cabinets.

6. The outdoor robot of claim 5, wherein the lifting mechanism comprises a driving member, an output shaft and a carrying platform, the driving member is disposed in the carrying portion, the output shaft is disposed at the driving end of the driving member, the carrying platform is disposed on the output shaft, and at least two carrying positions for carrying at least two distribution cabinets are disposed on the carrying platform.

7. The outdoor robot of claim 6, wherein two ends of the bearing part are respectively provided with an avoiding slope, the first and second emission sensors and the ultrasonic radar are arranged on the avoiding slopes, and the avoiding slopes cooperate with the bearing platform to form an avoiding groove so as to protect the first and second emission sensors and the ultrasonic radar.

8. The outdoor robot of claim 1, wherein the sensor assembly further comprises two sets of impact detection assemblies, the two sets of impact detection assemblies are arranged at two ends of 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.

9. The outdoor robot of claim 1, further comprising an automobile data recorder, wherein the automobile data recorder comprises at least two sets of angle-adjustable cameras, the at least two sets of angle-adjustable cameras are disposed on the bearing portion and used for collecting monitoring pictures in real time, and the controller receives and stores the monitoring pictures or/and uploads the monitoring pictures to a server.

10. The outdoor robot of claim 1, further comprising a battery assembly disposed at or within the bottom of the carrier, the battery assembly being configured to power the drive mechanism.