CN212808998U - Transport robot - Google Patents

Abstract

An embodiment of the present application provides a transport robot, including: a chassis; the carriage at least comprises a front side surface, a rear side surface, a left side surface, a right side surface and a bottom surface; the bottom surface of the carriage is fixed at the upper end of the chassis; the device comprises an inverted L-shaped vehicle head, wherein a central control device of the transport robot is arranged in the inverted L-shaped vehicle head; the extended part of the inverted L-shaped vehicle head is positioned above the carriage; and the side surface of the lower part of the vertical part of the inverted L-shaped vehicle head is attached to the front outer side surface of the carriage. The method can be applied to an open environment, and transportation turnover of large goods and heavy goods is realized.

Description

Transport robot

Technical Field

The application relates to the field of mechanical equipment, in particular to a transportation robot.

Background

At present, the central control box and the chassis of the intelligent logistics robot in the market are mostly integrated into a whole, and a carriage is directly carried or a carrying plane is arranged above the chassis to transport articles. However, the intelligent logistics robot can only operate indoors with good road conditions, is poor in open environment applicability, and cannot transport large goods and heavy goods. The transportation turnover of large and heavy goods still needs to drive other transport vehicles manually to transport.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a transport robot, can be applied to open environment, realizes the transportation turnover to big goods, heavy goods.

An embodiment of the present application provides a transport robot, including: a chassis; the carriage at least comprises a front side surface, a rear side surface, a left side surface, a right side surface and a bottom surface; the bottom surface of the carriage is fixed at the upper end of the chassis; the device comprises an inverted L-shaped vehicle head, wherein a central control device of the transport robot is arranged in the inverted L-shaped vehicle head; the extended part of the inverted L-shaped vehicle head is positioned above the carriage; and the side surface of the lower part of the vertical part of the inverted L-shaped vehicle head is attached to the front outer side surface of the carriage.

In one embodiment, the transport robot further comprises a head support frame, wherein the head support frame at least comprises two vertical support rods and one transverse support rod; the vertical support rods are symmetrically arranged on the upper edges of the left side surface and the right side surface of the carriage, two ends of each transverse support rod are respectively and fixedly connected with the vertical support rods in a perpendicular mode, and the upper end face of each transverse support rod is fixedly connected with the lower end face of the extending portion of the inverted L-shaped vehicle head.

In one embodiment, the inverted-L-shaped vehicle head at least comprises an inverted-L-shaped box body and an inverted-L-shaped box body cover.

In one embodiment, the thickness of the lower portion of the vertical portion of the inverted-L vehicle head is less than the thickness of the upper portion of the vertical portion of the inverted-L vehicle head; and the lower edge of the upper part of the vertical part of the inverted L-shaped vehicle head is not lower than the upper edge of the carriage.

In one embodiment, the intelligent emergency stop system further comprises a warning lamp, an emergency stop button, a GPS module, a starting switch and a driving indicator lamp; the warning lamp, the emergency stop button and the GPS module are respectively arranged on the upper end face of the extension part of the inverted L-shaped vehicle head; the GPS module is used for acquiring a GPS signal; the starting switch is arranged on the side surface of the extending part of the inverted L-shaped vehicle head; the driving indicator lamp is arranged on the outer side face of the upper part of the vertical part of the inverted L-shaped vehicle head.

In one embodiment, the outer side surface of the lower part of the vertical part of the inverted L-shaped vehicle head is provided with bilaterally symmetrical openings corresponding to the anti-falling sensors arranged in the lower box body of the vertical part of the inverted L-shaped vehicle head; the sensing direction of the falling-prevention sensor is the direction which passes through the opening and inclines downwards; the lower part of the vertical part of the inverted L-shaped vehicle head is also provided with a binocular camera.

In one embodiment, the side of the carriage is also provided with 10 ultrasonic radars; 2 ultrasonic radars are respectively arranged on the front side, the rear side, the left side and the right side of the carriage, inclined transition parts are arranged on the left side and the right side of the front side of the carriage, and 1 ultrasonic radar is respectively arranged on the inclined transition parts; the rear side of the carriage is also provided with an electric quantity display module and a charging interface.

In one embodiment, the chassis is a six-wheeled independent suspension chassis; six wheels of the six-wheel independent suspension chassis are respectively arranged at the front, middle and rear parts of two sides of the six-wheel independent suspension chassis frame; the six-wheel independent suspension chassis frame is characterized in that the lower end of the six-wheel independent suspension chassis frame is also provided with a drive control box and a battery pack which are arranged in the front and at the back, and a drive control device is arranged in the drive control box.

In one embodiment, the front end of the six-wheel independent suspension chassis frame is further provided with an impact beam and a lidar.

In one embodiment, the central control device in the inverted-L-shaped locomotive further comprises an autonomous navigation module, an autonomous obstacle avoidance module, a remote control module and an automatic following module; the autonomous navigation module is used for enabling the transport robot to autonomously navigate and run according to a planned path; the autonomous obstacle avoidance module is used for enabling the transport robot to autonomously avoid obstacles according to the received obstacle avoidance signals; the remote control module is used for enabling the transport robot to execute corresponding operation according to the received remote control signal; and the automatic following module is used for enabling the transport robot to execute following operation according to the received followed object information.

In an embodiment of the present application, the transport robot includes: a chassis; the carriage at least comprises a front side surface, a rear side surface, a left side surface, a right side surface and a bottom surface; the bottom surface of the carriage is fixed at the upper end of the chassis; the device comprises an inverted L-shaped vehicle head, wherein a central control device of the transport robot is arranged in the inverted L-shaped vehicle head; the extended part of the inverted L-shaped vehicle head is positioned above the carriage; and the side surface of the lower part of the vertical part of the inverted L-shaped vehicle head is attached to the front outer side surface of the carriage. The central control device is separated from the chassis, so that the applicability is better, and the transportation turnover of large goods and heavy goods in an open environment can be realized.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 is a schematic structural view of a transport robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a transport robot according to an embodiment of the present disclosure;

FIG. 3 is a three-view illustration of a transport robot in accordance with embodiments of the present disclosure;

description of the drawings: 10. chassis, 12, drive control box, 14, group battery, 16, laser radar, 18, anticollision roof beam, 20, carriage, 22, ultrasonic radar, 24, electric quantity display module, 26, the interface that charges, 30, the type of falling L locomotive, 31, start switch, 32, warning light, 33, emergency stop button, 34, GPS module, 35, driving pilot lamp, 36, dropproof sensor, 37, two mesh cameras, 40, locomotive support frame.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment of the specification provides a transportation robot. The transport robot may include: a chassis 10; the carriage 20, the said carriage 20 includes four side and bottom surfaces of front, back, left, right at least; the bottom surface of the carriage 20 is fixed at the upper end of the chassis 10; the robot comprises an inverted-L-shaped vehicle head 30, wherein a central control device of the transportation robot is arranged in the inverted-L-shaped vehicle head 30; the extended part of the inverted-L-shaped vehicle head 30 is positioned above the carriage 20; the lower side surface of the vertical portion of the inverted-L shaped head 30 is attached to the front outer side surface of the vehicle compartment 20.

In this embodiment, the chassis 10 may be used to support, mount and receive power of the driving device of the transport robot and its components and assembly, and the chassis 10 includes rotatable wheels to move the transport robot.

In the present embodiment, the car 20 may be a portion for the transport robot to carry the transported object. Specifically, a shelf or a seat or the like may be further disposed in the compartment 20 to facilitate carrying of articles or people. The car 20 is fixed above the chassis 10. In the present embodiment, the vehicle compartment 20 may have a rectangular parallelepiped shape, and the vehicle compartment 20 may include at least four side surfaces, i.e., front, rear, left, and right side surfaces, and a bottom surface. Wherein, the bottom surface of the carriage 20 is fixed on the upper end of the chassis 10. In the present embodiment, the side panels are used around the carriage 20 to improve the stability of the transported object, to prevent the transported object from being thrown out during transportation, and the transportation capacity is relatively high. In the present embodiment, the vehicle compartment 20 may have a certain thickness to install the ultrasonic radar 22 and the like around the body.

In the present embodiment, a center control device of the transport robot is provided in the inverted L-shaped vehicle head 30. The inverted-L-shaped vehicle head 30 at least comprises a shell and a central control device in the shell; wherein, the shape of this casing is the type of falling L. The housing of the inverted-L type head 30 may include at least an inverted-L type case and an inverted-L type case cover. Referring to fig. 1, the upper end surface and the front end surface of the housing of the inverted L-shaped vehicle head 30 may be the inverted L-shaped box cover. By adopting the device, an installer can install the inverted L-shaped box cover after installing the central control device and other components in the inverted L-shaped box body, and the installation is convenient. Of course, the inverted L shape of the present embodiment may mean a shape similar to an inverted L shape. Specifically, for example, the corners of the housing of the inverted-L shaped vehicle head 30 may have bevel transitions to improve the aesthetic and practical properties.

Please refer to fig. 1. In the present embodiment, the protruding portion of the inverted L-shaped vehicle head 30 is located above the vehicle compartment 20; the lower side surface of the vertical portion of the inverted-L shaped head 30 is attached to the front outer side surface of the vehicle compartment 20. The extension of the inverted-L-shaped head 30 may be a portion that horizontally extends in a direction toward the rear of the vehicle corresponding to the inverted "L". The vertical portion of the inverted-L-shaped vehicle head 30 may refer to a portion corresponding to the vertical of the inverted "L". The extending direction of the extending structure enables the center of gravity of the transportation robot to be relatively balanced, and other devices can be arranged on the lower end face of the extending part of the inverted L-shaped vehicle head 30. For example, a code scanning device and the like, and is convenient to use. A central control device or other components that need to be mounted horizontally can also be mounted in the extended housing of the inverted L-shaped vehicle head 30 to meet the mounting process requirements.

In the embodiment, the transportation robot can also use slam navigation technology and can be applied to outdoor open environment; the user can also remotely operate the transportation robot to carry out turnover transportation. The transportation robot is provided with a chassis 10 and a central control separated structure, the maximum load can meet 300kg, and large goods and heavy goods can be transported; the device can stably climb and cross obstacles and can be used for various complex environments on site; the transportation robot can also install various special shelves in the carriage 20 for different kinds of special instrument transportation.

In the present embodiment, the center control device is provided in the inverted-L type head 30, so that it is possible to prevent the mechanism of the chassis 10 from being excessively complicated and making it impossible to travel in a complicated environment. For example, if the central control device is integrated on the chassis 10, the chassis 10 may be too low to pass through uneven road surfaces and may not be able to travel on wet or muddy road conditions.

In a preferred embodiment, the transportation robot further comprises a head support frame 40, and the head support frame 40 at least comprises two vertical support rods and one transverse support rod; wherein, the vertical support rods are symmetrically arranged on the upper edges of the left and right side surfaces of the carriage 20, two ends of the transverse support rod are respectively and fixedly connected with the two vertical support rods, and the upper end surface of the transverse support rod is fixedly connected with the lower end surface of the extending part of the inverted-L-shaped vehicle head 30.

In the present embodiment, the headstock support 40 is used to provide a certain support force to the extended portion of the inverted L-shaped vehicle head 30 to balance the inverted L-shaped vehicle head 30. The headstock support frame 40 may be a door-shaped support frame formed by vertically connecting three support rods in sequence. The headstock support frame 40 is fixedly connected with the lower end face of the extending part of the inverted-L-shaped lathe headstock 30. Preferably, in one embodiment, the part of the headstock support frame 40 fixedly connected to the lower end surface of the extended portion of the inverted-L type headstock 30 is located at the end of the lower end surface of the extended portion of the inverted-L type headstock 30.

In the present embodiment, the stability of the inverted L-shaped vehicle head 30 is improved by the vehicle head support frame 40. The headstock support 40 can also be used as a suspension for suspending objects. In another preferred embodiment, the head support 40 of the transport robot has an ear ring for fixing a sunshade cloth, which can block wind, rain and sun, so that the transport robot is more suitable for the outdoor working environment.

In a preferred embodiment, the inverted-L shaped vehicle head 30 includes at least an inverted-L shaped housing and an inverted-L shaped housing cover.

Please refer to fig. 1 to 3. In the present embodiment, the housing of the inverted-L type vehicle head 30 may be composed of the inverted-L type case and the inverted-L type case cover engaged therewith. Specifically, the inverted-L shaped box cover may be a front end surface and a top end surface of the housing corresponding to the inverted-L shaped head 30, and the inverted-L shaped box cover may be made of a metal plate, a plastic, or the like. And is not particularly limited herein.

In the present embodiment, the inverted L-shaped case is engaged with the inverted L-shaped case cover, so that the installation, the maintenance, and the like are facilitated.

In a preferred embodiment, the thickness of the lower part of the vertical part of the inverted-L shaped vehicle head 30 is smaller than the thickness of the upper part of the vertical part of the inverted-L shaped vehicle head 30; wherein, the lower edge of the upper part of the vertical part of the inverted L-shaped locomotive 30 is not lower than the upper edge of the carriage 20.

Please refer to fig. 1 to 3. In the present embodiment, the thickness of the vertical portion of the inverted-L shaped head 30 may be a thickness corresponding to the front-to-rear direction of the transport robot, and the width of the inverted-L shaped head 30 may be a width corresponding to the left-right direction of the transport robot.

In this embodiment, the vertical portion of the inverted-L shaped vehicle head 30 may be composed of two upper and lower portions having different thicknesses. Wherein the back of the lower part is attached to and fixedly connected with the carriage 20. The thickness of the lower part of the vertical part of the inverted-L shaped vehicle head 30 is smaller than that of the upper part, and the width of the lower part of the vertical part of the inverted-L shaped vehicle head 30 may be smaller than that of the upper part.

The upper and lower structure of the vertical portion of the inverted-L shaped head 30 of the present embodiment can facilitate installation and alignment of the device in the lower portion of the vertical portion of the inverted-L shaped head 30. Specifically, after the vertical part is an upper part and a lower part, the corresponding box cover can also be divided into an upper part and a lower part. The box body cover corresponding to the lower part is convenient to mount and dismount. For another example, if a camera is installed in the lower part, the box cover of the whole locomotive does not need to be detached during installation and maintenance, and only the box cover of the lower part needs to be detached and installed. If the box cover at the lower part needs to be provided with corresponding holes, the operation is more convenient.

In a preferred embodiment, the system further comprises a warning lamp 32, an emergency stop button 33, a GPS module 34, a starting switch 31 and a running indicator lamp 35; the warning lamp 32, the emergency stop button 33 and the GPS module 34 are respectively disposed on the upper end surface of the extended portion of the inverted L-shaped vehicle head 30; the GPS module 34 is configured to acquire a GPS signal; the starting switch 31 is arranged on the side surface of the extending part of the inverted L-shaped vehicle head 30; the running light 35 is provided on the outer side surface of the upper portion of the vertical portion of the inverted-L shaped vehicle head 30.

In the present embodiment, the warning light 32 can play a warning role. For example, the warning light 32 may provide an alarm warning when the weight in the cabin 20 is excessive. For another example, the transportation robot may also send out an alarm during the traveling process to remind others of paying attention.

In the present embodiment, the transport robot stops suddenly when the sudden stop button 33 is pressed.

In the present embodiment, the GPS module 34 is used for GPS navigation.

In the present embodiment, the power-on switch 31 is provided on the side surface of the extended portion of the inverted-L shaped head 30. The user does not need to bend down to install the starting switch 31, and the user can conveniently start the computer.

In the present embodiment, the running light 35 is provided on the outer side surface of the upper portion of the vertical portion of the inverted L-shaped vehicle head 30. The driving indicator light 35 is used for indicating the driving state of the vehicle to others. For example, when a pedestrian comes from the opposite side, the driving indicator light 35 can remind the driver of the vehicle, such as straight driving, left turning, right turning, etc.

In a preferred embodiment, the outer side surface of the lower part of the vertical part of the inverted-L-shaped vehicle head 30 is provided with holes which are bilaterally symmetrical, and the holes correspond to the anti-falling sensors 36 arranged in the lower box body of the vertical part of the inverted-L-shaped vehicle head 30; the sensing direction of the falling prevention sensor 36 is the direction which is inclined downwards through the opening; the lower part of the vertical part of the inverted-L-shaped vehicle head 30 is also provided with a binocular camera 37.

In the present embodiment, the falling prevention sensor 36 is provided through the lower portion of the vertical portion of the inverted L-shaped vehicle head 30 to monitor whether there is a risk of falling in front of the transport robot. The binocular camera 37 may be used for mapping, navigation, and the like. The box cover at the lower part of the vertical part of the inverted-L-shaped vehicle head 30 can be provided with a corresponding opening.

In a preferred embodiment, 10 ultrasonic radars 22 are further provided on the side of the vehicle compartment 20; the four side surfaces of the front, the rear, the left and the right of the carriage 20 are respectively provided with 2 ultrasonic radars 22, the left and the right sides of the front side surface of the carriage 20 are inclined transition parts, and 1 ultrasonic radar 22 is respectively arranged on the inclined transition parts; the back side of the carriage 20 is also provided with an electric quantity display module 24 and a charging interface 26.

In the present embodiment, 10 ultrasonic radars 22 may be provided on the outer side of the car 20 for the transportation robot to maintain a safe distance. When the ultrasonic radar 22 detects that the distance is less than the safe distance, an alarm signal may be issued to an alarm of the transport robot.

In this embodiment, 2 ultrasonic radars 22 are respectively disposed on the front, rear, left, and right sides of the car 20, and the left and right sides of the front side of the car 20 are inclined transition portions on which 1 ultrasonic radar 22 is respectively disposed, so as to realize the monitoring of the entire body of the transportation robot without dead angles.

In the present embodiment, the back side of the vehicle compartment 20 is further provided with the electric quantity display module 24 and the charging interface 26. Heavily you the electric quantity display module 24 is used for showing the electric quantity of transportation robot, charge interface 26 can fill electric pile in order to charge through the charging wire connection.

In a preferred embodiment, the chassis 10 is a six-wheeled independent suspension chassis 10; six wheels of the six-wheel independent suspension chassis are respectively arranged at the front, middle and rear parts of two sides of the six-wheel independent suspension chassis frame; the wheel bases of the 2 wheels arranged in the middle part are not required to be equal to the wheel bases of the front wheel and the rear wheel, and the 2 wheels in the middle part can be arranged at the positions close to the front wheel or the rear wheel according to the requirements of different working scenes; the lower end of the six-wheel independent suspension chassis frame is also provided with a driving control box 12 and a battery pack 14 which are arranged in the front and at the back, and a driving control device is arranged in the driving control box 12.

Please refer to fig. 1 to 3. In the embodiment, the six-wheel independent suspension chassis can work in environments such as indoor and outdoor complex road surfaces (such as lawns and stone roads). The maximum load of the six-wheel independent suspension chassis can reach 300kg, and large goods and heavy goods can be transported. The six-wheel independent suspension chassis has better flexibility and stability, can stably climb and cross obstacles and can be used for various complex environments on site.

In the present embodiment, the lower end of the six-wheel independent suspension chassis frame is further provided with a drive control box 12 and a battery pack 14 which are arranged in the front and back, and a drive control device is arranged in the drive control box 12. The driving control device is used for controlling six wheels of the six-wheel independent suspension chassis to perform straight-going turning and climbing and the like. The battery pack 14 is used to supply electric power to the transport robot.

In a preferred embodiment, the front end of the six-wheel independent suspension chassis frame is also provided with an impact beam 18 and a lidar 16.

In a preferred embodiment, the central control device in the inverted-L vehicle head 30 further includes an autonomous navigation module, an autonomous obstacle avoidance module, a remote control module, and an automatic following module; the autonomous navigation module is used for enabling the transport robot to autonomously navigate and run according to a planned path; the autonomous obstacle avoidance module is used for enabling the transport robot to autonomously avoid obstacles according to the received obstacle avoidance signals; the remote control module is used for enabling the transport robot to execute corresponding operation according to the received remote control signal; and the automatic following module is used for enabling the transport robot to execute following operation according to the received followed object information.

In this embodiment, the autonomous navigation module may implement an autonomous navigation function. Specifically, for example, the autonomous navigation module may calculate and obtain path information according to the current position and the destination to generate a corresponding instruction, and send the corresponding instruction to the driving control device to drive to the destination.

In this embodiment, the autonomous obstacle avoidance module may be configured to enable the transportation robot to autonomously avoid an obstacle according to the received obstacle avoidance signal. Specifically, for example, when the radar detects that an obstacle appears in front of the transportation robot, the processor of the transportation robot calculates and obtains a new path according to the received obstacle information and information such as road width, so as to achieve obstacle avoidance.

In this embodiment, the remote control module may implement a manual remote control function. The remote control function can be a remote control function or a short-distance remote control function. Specifically, for example, the remote control terminal may send signals for going straight, turning left, turning right, backing, sudden stop, shifting, etc. The receiver of the transport robot can receive these commands and send corresponding commands to the drive control means.

In this embodiment, the automatic following module may implement an automatic following function.

It should be noted that, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is intended or should be construed to indicate or imply relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego the subject matter and should not be construed as an admission that the applicant does not consider such subject matter to be part of the disclosed subject matter.

Claims (10)

1. A transport robot, comprising:

a chassis;

the carriage at least comprises a front side surface, a rear side surface, a left side surface, a right side surface and a bottom surface; the bottom surface of the carriage is fixed at the upper end of the chassis;

the device comprises an inverted L-shaped vehicle head, wherein a central control device of the transport robot is arranged in the inverted L-shaped vehicle head; the extended part of the inverted L-shaped vehicle head is positioned above the carriage; and the side surface of the lower part of the vertical part of the inverted L-shaped vehicle head is attached to the front outer side surface of the carriage.

2. The transfer robot of claim 1, further comprising a head support frame, the head support frame comprising at least two vertical support bars and one transverse support bar; the vertical support rods are symmetrically arranged on the upper edges of the left side surface and the right side surface of the carriage, two ends of each transverse support rod are respectively and fixedly connected with the vertical support rods in a perpendicular mode, and the upper end face of each transverse support rod is fixedly connected with the lower end face of the extending portion of the inverted L-shaped vehicle head.

3. The transfer robot of claim 1, wherein the inverted-L locomotive includes at least an inverted-L box and an inverted-L box cover.

4. The transfer robot of claim 1, wherein a lower thickness of the inverted-L shaped head vertical portion is smaller than a thickness of an upper portion of the inverted-L shaped head vertical portion; and the lower edge of the upper part of the vertical part of the inverted L-shaped vehicle head is not lower than the upper edge of the carriage.

5. The transportation robot of claim 1, further comprising a warning light, an emergency stop button, a GPS module, a start switch, a running light;

the warning lamp, the emergency stop button and the GPS module are respectively arranged on the upper end face of the extension part of the inverted L-shaped vehicle head; the GPS module is used for acquiring a GPS signal;

the starting switch is arranged on the side surface of the extending part of the inverted L-shaped vehicle head;

the driving indicator lamp is arranged on the outer side face of the upper part of the vertical part of the inverted L-shaped vehicle head.

6. The transfer robot as claimed in claim 1, wherein the outer side surface of the lower part of the vertical part of the inverted L-shaped head is provided with bilaterally symmetrical openings corresponding to the falling prevention sensors provided in the lower box of the vertical part of the inverted L-shaped head; the sensing direction of the falling-prevention sensor is the direction which passes through the opening and inclines downwards; the lower part of the vertical part of the inverted L-shaped vehicle head is also provided with a binocular camera.

7. The transfer robot of claim 1, wherein the side of the car is further provided with 10 ultrasonic radars; 2 ultrasonic radars are respectively arranged on the front side, the rear side, the left side and the right side of the carriage, inclined transition parts are arranged on the left side and the right side of the front side of the carriage, and 1 ultrasonic radar is respectively arranged on the inclined transition parts;

the rear side of the carriage is also provided with an electric quantity display module and a charging interface.

8. The transport robot of claim 1, wherein the chassis is a six-wheeled independent suspension chassis; six wheels of the six-wheel independent suspension chassis are respectively arranged at the front, middle and rear parts of two sides of the six-wheel independent suspension chassis frame; the six-wheel independent suspension chassis frame is characterized in that the lower end of the six-wheel independent suspension chassis frame is also provided with a drive control box and a battery pack which are arranged in the front and at the back, and a drive control device is arranged in the drive control box.

9. The transfer robot of claim 8, wherein the front end of the six-wheel independent suspension chassis frame is further provided with an impact beam and a lidar.

10. The transportation robot of claim 1, wherein the central control device in the inverted-L locomotive further comprises an autonomous navigation module, an autonomous obstacle avoidance module, a remote control module and an automatic following module;

the autonomous navigation module is used for enabling the transport robot to autonomously navigate and run according to a planned path;

the autonomous obstacle avoidance module is used for enabling the transport robot to autonomously avoid obstacles according to the received obstacle avoidance signals;

the remote control module is used for enabling the transport robot to execute corresponding operation according to the received remote control signal;

and the automatic following module is used for enabling the transport robot to execute following operation according to the received followed object information.

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