CN217488510U

CN217488510U - Robot chassis and storage robot

Info

Publication number: CN217488510U
Application number: CN202120286341.5U
Authority: CN
Inventors: 林翰; 何家伟; 卓少凯
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2022-09-27
Anticipated expiration: 2031-01-29
Also published as: TWM629015U; WO2022161154A1

Abstract

The utility model provides a robot chassis and storage robot, robot chassis includes chassis subassembly, sign recognition unit and cleaning device set up on the chassis subassembly along the direction of advance interval on robot chassis, wherein, sign recognition unit is used for discerning subaerial sign, cleaning device is towards ground and relative with the sign to dust and debris that the clearance sign covers, can accurately discern the sign with guaranteeing that sign recognition unit, avoid robot chassis locate function's inefficacy.

Description

Robot chassis and storage robot

Technical Field

The disclosure relates to the technical field of robots, in particular to a robot chassis and a storage robot.

Background

With the development of artificial intelligence, various robots are widely applied in various fields such as industry and life, while mobile robots play an important role in the industries such as transportation and logistics, and generally comprise a robot chassis, wherein the robot chassis has the functions of moving and bearing, and other functional components such as a clamping mechanism and a navigation unit can be mounted on the robot chassis.

In the prior art, a common positioning and navigation method for a mobile robot is to set markers, such as two-dimensional codes, magnetic stripes, magnetic nails, color tapes, etc., on the ground, and use the markers as reference objects recognized by a navigation unit on the mobile robot, thereby implementing automatic movement of the mobile robot along a certain preset route.

However, the markers on the ground are easily covered by dust and debris, resulting in a failure of the positioning function of the robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot chassis and storage robot can independently clean dust and covering on the ground marker, avoids the locate function inefficacy of robot chassis.

In a first aspect, the present disclosure provides a robot chassis, which includes a chassis assembly, a mark recognition unit and a cleaning device, wherein the mark recognition unit and the cleaning device are disposed on the chassis assembly at intervals along a forward direction of the robot chassis, the mark recognition unit is used for recognizing a mark on the ground, and the cleaning device faces the ground and is opposite to the mark, so as to clean up dust and sundries covering the mark, thereby ensuring that the mark recognition unit can accurately recognize the mark, and avoiding a failure of a positioning function of the robot chassis.

As an alternative embodiment, the cleaning device is located on at least one side of the mark recognition unit along the traveling direction of the robot chassis, so that the cleaning device can clean the mark on the advancing path of the robot chassis to ensure that the robot chassis can accurately recognize the mark all the time during the moving process.

As an alternative embodiment, the mark recognition unit may include one or more of a combination of a photoelectric sensor, a visual sensor, and a laser sensor, so that the mark on the ground can be recognized in a non-contact manner, which is more convenient and reliable.

As an alternative embodiment, the cleaning device may include a dust collection assembly, the dust collection assembly includes a dust collection unit and a dust collection box, an air inlet of the dust collection unit faces the sign, the dust collection unit is communicated with the dust collection box, the dust collection unit may generate suction force, dust or foreign matters covered on the surface of the sign are sucked by the air inlet and finally discharged into the dust collection box, and therefore the sign is cleaned.

As an alternative embodiment, the cleaning device may include a blowing assembly, an air outlet of the blowing assembly faces the marker, and by blowing air to the marker, dust and impurities covered on the surface of the marker are blown away by wind force, so that the marker is exposed and is convenient for the marker identification unit to identify.

As an alternative embodiment, the cleaning device may comprise a floor brush assembly, the floor brush assembly comprises at least one floor brush, the floor brush is positioned on the side of the chassis assembly facing the ground, and the floor brush is in contact with the marker, when the chassis of the robot moves, the floor brush will rub against the marker, thereby cleaning dust and sundries covered on the marker, and simultaneously removing stains adhered to the marker.

As an alternative embodiment, the floor brush may be a cleaning roller, the length direction of the cleaning roller forms an included angle with the advancing direction of the robot chassis, the cleaning roller is connected with the chassis assembly through a rotating shaft, and the cleaning roller can roll relative to the chassis assembly, so that when the robot chassis moves by using the friction force between the cleaning roller and the ground, the rolling of the cleaning roller is realized, so as to clean the marker.

As an optional implementation mode, the floor brush can also be a fixed brush, the fixed brush is fixedly connected with the chassis assembly, and when the robot chassis moves, the fixed brush can generate sliding friction with the ground surface, so that the marker can be cleaned.

As an alternative embodiment, the cleaning device may further include a driving unit, the ground brush is a rotating brush head, the rotating brush head is connected with the driving unit through a rotating shaft to rotate under the driving of the driving unit, and a rotating plane of the rotating brush head is parallel to the ground, so that a rotating plane of the rotating brush head facing the ground can be integrally contacted with the ground, and thus the marker can be cleaned more intensively and specifically.

As an alternative embodiment, the rotating brush head may include a plurality of brush parts circumferentially spaced around the rotating shaft, and the plurality of brush parts may alternately rub against the surface of the marker by the rotation of the rotating brush head, thereby improving the cleaning effect.

As an optional implementation manner, two floor brushes may be provided, the two floor brushes are arranged at intervals along the advancing direction of the robot chassis, and the mark recognition unit is located between the two floor brushes, so that no matter the robot chassis moves forward or backward, the floor brushes can clean the mark to be recognized by the mark recognition unit, and it is ensured that the positioning function of the robot chassis during the reciprocating motion on the moving path has good reliability.

As an alternative embodiment, the robot chassis provided by the present disclosure may further include a detection unit, the detection unit and the cleaning device are arranged at intervals along a forward direction of the robot chassis, and the detection unit is located on a side of the chassis assembly facing the ground, and the detection unit may determine whether the marker is covered, so as to determine whether the cleaning device needs to be activated to clean the surface of the marker.

As an optional implementation manner, the detection unit is a sensor, the detection end of the sensor faces the marker, and whether the marker is blocked is judged in a non-contact manner, so that the convenience and the reliability are better.

In a second aspect, the present disclosure provides a warehousing robot, including the robot chassis, where the robot chassis is used to make the warehousing robot movable, and other functional components may be mounted on the robot chassis.

The utility model provides a robot chassis and storage robot, this robot chassis includes chassis subassembly, sign recognition unit and cleaning device set up on chassis subassembly along the direction of advance interval on robot chassis, wherein, sign recognition unit is used for discerning subaerial sign, cleaning device faces ground and is relative with the sign, thereby clear up dust and the debris that cover on the sign, can accurately discern the sign with guaranteeing that sign recognition unit, avoid robot chassis locate function's inefficacy.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems that the robot chassis and the warehousing robot provided by the present application can solve, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings without inventive labor.

Fig. 1 is a first structural schematic diagram of a robot chassis provided in an embodiment of the present disclosure;

FIG. 2 is a side view of FIG. 1;

fig. 3 is a second structural schematic diagram of a robot chassis provided in the embodiment of the present disclosure;

FIG. 4 is a side view of FIG. 3;

fig. 5 is a third schematic structural diagram of a robot chassis according to an embodiment of the present disclosure;

fig. 6 is a fourth schematic structural diagram of a robot chassis according to an embodiment of the present disclosure.

Description of reference numerals:

1-a robot chassis; 10-a chassis assembly; 101-an opening; 11-a base plate; 12-a wheel; 20 a-a suction assembly; 21-a dust suction unit; 211-air inlet; 22-a dust collecting box; 20 b-a blowing assembly; 201-air outlet; 20 c-a cleaning roller; 20 d-fixing the brush; 20 e-a rotating brush head; 23-brush part.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without inventive step, are intended to be within the scope of the present disclosure.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. And can be adjusted as needed by those skilled in the art to suit particular applications.

Second, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "inside", "outside", and the like are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that a device or member must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

Furthermore, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" in the description of the present application are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; there may be communication between the interiors of the two members. The specific meaning of the above terms in the present application can be understood by those skilled in the art as the case may be.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

With the development of artificial intelligence, various robots are widely applied in various fields such as industry and life, while mobile robots play an important role in the industries such as transportation and logistics, and generally comprise a robot chassis, wherein the robot chassis has the functions of moving and bearing, and other functional components such as a clamping mechanism and a navigation unit can be mounted on the robot chassis. In the prior art, a common positioning and navigation method for a mobile robot is to set markers, such as two-dimensional codes, magnetic stripes, magnetic nails, and color bands, on the ground, where the markers may be arranged in a certain direction or extend to form a certain moving path, and the markers are used as reference objects recognized by a navigation unit on the mobile robot, so as to implement automatic movement of the mobile robot along a certain preset path.

However, a ground marker is easily covered by dust and sundries, which results in a failure of the positioning function of the robot, specifically, when a two-dimensional code or a color ribbon is used as the marker, a navigation unit on the mobile robot usually determines an extended path of the marker by means of image recognition, and if the marker is covered, the mobile robot cannot acquire an image signal, which results in a failure of the positioning function; if the magnetic stripe, the magnetic nail and the like are adopted as the marker, the navigation unit on the mobile robot usually judges the position and the path of the marker in a magnetic induction mode, and at the moment, if the marker is shielded, the magnetic induction of the mobile robot to the marker is weakened, so that the position, the extension or the arrangement path of the marker cannot be accurately judged, and the positioning function is disabled.

To above-mentioned problem, in order to guarantee the reliability of robot removal process, this application provides a robot chassis and storage robot, can independently clean dust and covering on the ground marker to guarantee that the robot can accurately discern subaerial marker, thereby avoid the locate function of robot chassis to become invalid.

Example one

Fig. 1 is a first schematic structural diagram of a robot chassis provided in an embodiment of the present disclosure, fig. 2 is a side view of fig. 1, fig. 3 is a second schematic structural diagram of a robot chassis provided in an embodiment of the present disclosure, fig. 4 is a side view of fig. 3, fig. 5 is a third schematic structural diagram of a robot chassis provided in an embodiment of the present disclosure, fig. 6 is a fourth schematic structural diagram of a robot chassis provided in an embodiment of the present disclosure, as shown in fig. 1 to fig. 6, this embodiment provides a robot chassis 1, the robot chassis 1 includes a chassis assembly 10, a logo recognition unit (not shown in the figure) and a cleaning device, the logo recognition unit and the cleaning device are both mounted on the chassis assembly 10, the logo recognition unit and the cleaning device are spaced apart in a forward direction of the robot chassis 1, the chassis assembly 10 can perform a bearing function, and a clamping, a clamping part, and a clamping part can be mounted on the chassis assembly 10, Storage, transport, path identification, and other functional modules.

Specifically, the mark recognition unit can be used for recognizing marks on the ground, and the cleaning device faces the ground and is opposite to the marks, so that dust and sundries covered on the marks can be cleaned, the marks can be accurately recognized by the mark recognition unit, and the failure of the positioning function of the robot chassis 1 is avoided.

It should be noted that, in this embodiment, the chassis assembly 10 mainly performs moving and carrying functions, and can move according to a signal fed back by the mark identifying unit for identifying the mark on the ground, and according to an extending or arranging path of the mark and a corresponding external control instruction, a specific type of the mark identified by the mark identifying unit can be selected according to a specific device type and an operating principle of the mark identifying unit, for example, the mark may be a two-dimensional code, a magnetic stripe, a magnetic nail, a color ribbon, and the like, which is not limited in this embodiment.

Since the robot chassis 1 usually moves automatically along a certain path according to program setting or active control of an operator, it is necessary to ensure that the markers on the ground can be accurately identified at different positions and during the movement of the robot chassis 1 on the moving path of the robot chassis 1, and further, the marker identification unit and the cleaning device both need to face the markers on the ground, so that the cleaning device can be located on at least one side of the marker identification unit along the traveling direction of the robot chassis 1.

In some embodiments, the cleaning device may be located in front of or behind the logo recognition unit in the traveling direction of the robot chassis 1, so that during the forward or backward movement of the robot chassis 1, the cleaning device may clean the logo to be recognized by the logo recognition unit, so as to ensure that the robot chassis 1 can accurately recognize the logo all the time during the movement.

In other embodiments, the cleaning device may be disposed in front of and behind the logo recognition unit along the traveling direction of the robot chassis 1, and since the moving path of the robot chassis 1 is not fixed, when performing a work task, it may move along the path of the logo in a single direction or in a reciprocating manner, or in a case where the path of the logo is more complicated, it may move forward or backward since it completes moving along a specific path, and the cleaning device may be disposed in front of and behind the logo recognition unit along the traveling direction of the robot chassis 1, and may clean the logo area that the logo recognition unit needs to recognize when the robot chassis 1 moves forward or backward.

In the case of a single cleaning device, the cleaning device may clean the markers on the floor on one side of the marker recognition unit, or may clean the floor markers on different sides of the marker recognition unit at the same time, and in the case of a plurality of cleaning devices, the cleaning devices may be distributed on different sides of the marker recognition unit.

The specific structure, arrangement and functional implementation of the cleaning device will be described in detail below.

Referring to fig. 1 and 2, as an alternative embodiment, the cleaning device may include a dust suction assembly 20a, the dust suction assembly 20a may include a dust suction unit 21 and a dust collection box 22, an air inlet 211 of the dust suction unit 21 faces the sign, the dust suction unit 21 is communicated with the dust collection box 22, the dust suction unit 21 may generate suction force, and dust or foreign matter covered on the surface of the sign is sucked by the air inlet 211 and finally discharged into the dust collection box 22, so as to clean the sign.

Specifically, the dust collection unit 21 may include a housing and a fan, the housing is configured to form an air duct with two through ends, one end of the air duct is the air inlet 211, the air inlet 211 may be one or multiple and faces the marker on the ground, the other end of the air duct is communicated with the dust collection box 22, the fan may be disposed in the air duct, and the fan may be driven by a motor to rotate, so that the air flows to form a suction force through rotation of the fan, and dust and impurities covered on the marker are sucked into the air duct and discharged into the dust collection box 22 through the air duct.

Alternatively, the dust box 22 may be mounted on a side of the chassis assembly 10 facing away from the bottom surface, or may be mounted on a side of the chassis assembly 10 facing the ground, which is not particularly limited in this embodiment.

For example, the number of the air inlets 211 of the air duct of the dust suction unit 21 may be two, and the two air inlets 211 respectively extend to the front and rear sides of the logo recognition unit along the traveling direction of the robot chassis 1, so that the surfaces of the logos in the front and rear of the logo recognition unit can be cleaned at the same time.

Referring to fig. 3 and 4, as another alternative embodiment, the cleaning device may include a blowing assembly 20b, wherein an air outlet 201 of the blowing assembly 20b faces the sign, and the blowing assembly blows off dust and impurities covered on the surface of the sign by wind force by blowing air to the sign, so that the sign is exposed and is convenient for the sign recognition unit to recognize.

Specifically, the blowing component 20b can also include a housing and a fan, the housing is used for forming an air duct, the fan can be arranged in the air duct or at one end of the air duct, the air outlet 201 of the blowing component 20b is the air outlet 201 of the air duct, the air outlet 201 of the air duct faces the sign on the ground, the fan can be driven to rotate by a single machine, and when the fan rotates, the fan can generate wind airflow to blow towards the sign on the ground.

For example, similar to the arrangement of the dust suction unit 21, two air outlets 201 of the air blowing assembly 20b may also be arranged and respectively extend to the front side and the rear side of the mark recognition unit along the traveling direction of the robot chassis 1 to achieve the same cleaning effect, which is not described herein again.

Referring to fig. 5 and 6, as another alternative embodiment, the cleaning device may include a floor brush assembly, the floor brush assembly includes at least one floor brush, the floor brush is located on a side of the chassis assembly 10 facing the ground, and the floor brush contacts the sign, and when the robot chassis 1 moves, the floor brush may rub against the sign, thereby cleaning dust and sundries covered on the sign, and simultaneously removing dirt adhered to the sign.

Unlike the first two cleaning devices, in which the marker is cleaned in a non-contact manner by wind, the ground brush assembly can clean the marker by means of contact friction and wiping, so that the ground brush assembly can clean stains which are stuck on the ground and are difficult to clean by wind. The floor brush of the floor brush assembly can have various configurations and arrangements, as will be described in more detail below.

With reference to fig. 5, in some embodiments, the floor brush may be a cleaning roller 20c, a length direction of the cleaning roller 20c forms an angle with a forward direction of the robot chassis 1, the cleaning roller 20c is connected to the chassis assembly 10 through a rotating shaft, and the cleaning roller 20c can roll relative to the chassis assembly 10, so that the cleaning roller 20c can roll to clean the landmark when the robot chassis 1 moves by using a friction force between the cleaning roller 20c and the ground.

Alternatively, the scrub roller 20c may be automatically rotated by using a static friction force when the surface of the scrub roller contacts the ground when the robot chassis 1 moves, or an electrode may be provided on the chassis assembly 10, and the scrub roller 20c is actively rotated by a motor, so that a frequency and a speed of friction between the scrub roller 20c and the ground are increased, thereby improving a cleaning effect.

For example, the cleaning roller 20c may be a roller-shaped brush, and the length direction of the cleaning roller 20c may be perpendicular to the traveling direction of the robot chassis 1, that is, the axial direction thereof is perpendicular to the traveling direction of the robot chassis 1, so that the cleaning roller 20c may roll along the traveling direction of the robot chassis 1 when the robot chassis 1 moves.

In some embodiments, the ground brush may also be a fixed brush 20d, the fixed brush 20d is fixedly connected to the chassis assembly 10, and when the robot chassis 1 moves, the fixed brush 20d may generate sliding friction with the ground surface, thereby cleaning the mark.

Optionally, the fixed brush 20d may be a strip-shaped brush or a cylindrical brush, and two ends of the fixed brush 20d may be fixedly connected to the chassis assembly 10 by fasteners such as bolts and buckles, and the specific shape and installation manner of the fixed brush 20d are not specifically limited in this embodiment.

For example, the length direction of the fixed hairbrush 20d may be perpendicular to the traveling direction of the robot chassis 1, and the length of the fixed hairbrush 20d is greater than the width of the marker, so that the cleaning surface thereof is greater than the area of the marker, and the whole corresponding marker area may be covered during the cleaning process, so as to ensure the reliability of the positioning function of the marker recognition unit.

With continued reference to fig. 6, in other embodiments, the ground brush may be a rotating brush head 20e, the cleaning device may further include a driving unit, the rotating brush head 20e is connected to the driving unit through a rotating shaft to rotate under the driving of the driving unit, and a rotating plane of the rotating brush head 20e is parallel to the ground, so that the rotating plane of the rotating brush head 20e facing the ground can be integrally contacted with the ground, thereby cleaning the mark more intensively and specifically.

Specifically, the driving unit may be a motor, and the rotating brush head 20e may include a plurality of brush parts 23 circumferentially spaced around the rotating shaft, and the plurality of brush parts 23 may alternately rub against the surface of the marker by the rotation of the rotating brush head 20e, thereby improving the cleaning effect.

Optionally, the rotating brush head 20e may rotate at a constant speed, may rotate at a variable speed, and may rotate in a forward direction, may rotate in a reverse direction, or may rotate in a reciprocating manner, so as to improve the cleaning effect, and the rotation speed may be controlled by a robot controller, and the specific rotation speed of the rotating brush head 20e is not limited in this embodiment.

In addition, in some embodiments, the number of the ground brushes may be two, the two ground brushes are arranged at intervals along the advancing direction of the robot chassis 1, and the mark recognition unit is located between the two ground brushes, so that no matter the robot chassis 1 moves forwards or backwards, the ground brushes can clean the mark to be recognized by the mark recognition unit, and it is ensured that the positioning function of the robot chassis 1 during the reciprocating movement on the moving path can have good reliability.

It should be noted that, the above-mentioned specific components and structures of the cleaning device for realizing the cleaning function may be one or a combination of more than one of the above components, and the specific cleaning manner may be selected according to the actual operation situation of the robot chassis 1, for example, if the application situation of the robot chassis 1 is a common and environmentally-dry warehouse, and the ground mark on the traveling route is usually covered by only dust or tiny sundries, the cleaning device may be cleaned by using the dust collection assembly 20a and the air blowing assembly 20b, so as to reduce the traveling resistance of the robot chassis 1 while achieving the cleaning effect; in some applications where stains and stickies are easily generated on the floor, the floor brush assembly may be used for cleaning, or the floor brush assembly may be used in combination with the dust suction assembly 20a and the blowing assembly 20b, so as to ensure the cleaning effect.

As an alternative embodiment, the mark recognition unit may include one or more of a photoelectric sensor, a visual sensor, and a laser sensor, so that the mark on the ground can be recognized in a non-contact manner, which is more convenient and reliable.

Specifically, a controller of the robot may be installed on the robot chassis 1, and the mark recognition unit may be electrically connected to the controller, so as to transmit a signal recognized by the mark recognition unit to the controller, and the controller controls the traveling direction and speed of the robot chassis 1.

For example, when the marker on the ground is a two-dimensional code or a color band, the marker recognition unit may be a camera, the camera faces the two-dimensional code or the color band, and the two-dimensional code or the color band is recognized through an image shot by the camera, so as to realize a positioning function of the robot chassis 1, or judge a required traveling direction thereof.

As an alternative embodiment, the robot chassis 1 provided by the present disclosure may further include a detection unit, the detection unit and the cleaning device are arranged at intervals along the advancing direction of the robot chassis 1, and the detection unit is located on a side of the chassis assembly 10 facing the ground, and the detection unit may determine whether the marker is shielded, so as to determine whether the cleaning device needs to be activated to clean the surface of the marker.

Optionally, the detection unit may be a sensor, and a detection end of the sensor may face the marker, so as to determine whether the marker is blocked in a non-contact manner, thereby achieving better convenience and reliability.

As an alternative embodiment, the chassis assembly 10 may include a bottom plate 11 and wheels 12, the logo recognition unit and the cleaning device may be mounted on the bottom plate 11, the bottom plate 11 may also be mounted with other functional components such as a motor and a controller, and the wheels 12 may be disposed in pairs on opposite sides of the bottom plate 11 and may be rotated by the motor to realize the movement of the robot chassis 1.

Optionally, an opening 101 may be provided on the bottom plate 11, and the opening 101 is opposite to the installed mark recognition unit, so that the mark recognition unit can recognize the mark on the ground through the opening 101.

The robot chassis provided by the embodiment comprises a chassis assembly, a mark recognition unit and a cleaning device, wherein the mark recognition unit and the cleaning device are arranged on the chassis assembly at intervals along the advancing direction of the robot chassis, the mark recognition unit is used for recognizing a mark on the ground, and the cleaning device faces the ground and is opposite to the mark, so that dust and sundries covered on the mark are cleaned, the mark recognition unit can be guaranteed to accurately recognize the mark, and the failure of the positioning function of the robot chassis is avoided.

Example two

The embodiment provides a warehousing robot, which comprises the robot chassis in the first embodiment, the robot chassis can play a bearing role and can move the warehousing robot, and other functional components can be installed on the robot chassis.

Specifically, the robot chassis may be provided with components with different functions, such as a storage component, a clamping component, and a guiding unit, to meet the requirements of different application scenarios. In addition, the storage robot provided in this embodiment may be installed with a mark recognition unit, and the mark recognition unit may recognize a mark on the ground, so as to implement positioning and navigation functions, so as to move according to a preset path or an automatic recognition path, for example, the storage robot may be an Automatic Guided Vehicle (AGV). The storage robot in this embodiment can clean the marker on ground through cleaning device to guarantee that sign recognition unit can accurately discern the marker, avoid the inefficacy of robot chassis locate function.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A robot chassis is characterized by comprising a chassis assembly, a mark recognition unit and a cleaning device, wherein the mark recognition unit and the cleaning device are arranged on the chassis assembly at intervals along the advancing direction of the robot chassis;

the mark recognition unit is used for recognizing a mark on the ground, and the cleaning device faces the ground and is opposite to the mark.

2. A robot chassis according to claim 1, wherein the cleaning device is located on at least one side of the identity recognition unit in the direction of travel of the robot chassis.

3. The robot chassis of claim 1, wherein the landmark recognition unit comprises one or more of a combination of a photosensor, a vision sensor, and a laser sensor.

4. A robot chassis according to any of claims 1-3, wherein the cleaning device comprises a dust collection assembly comprising a dust collection unit and a dust collection bin, an air inlet of the dust collection unit facing the landmark, the dust collection unit communicating with the dust collection bin.

5. A robot chassis according to any of claims 1-3, wherein the cleaning means comprises a blowing assembly, the blowing assembly having an air outlet facing the sign.

6. A robot chassis according to any of claims 1-3, wherein the cleaning device comprises a floor brush assembly, the floor brush assembly comprising at least one floor brush, the floor brush being located on a side of the chassis assembly facing the ground, and the floor brush being in contact with the marker.

7. The robot chassis of claim 6, wherein the floor brush is a cleaning roller, and the length direction of the cleaning roller forms an included angle with the advancing direction of the robot chassis;

the cleaning roller is connected with the chassis assembly through a rotating shaft, and the cleaning roller can roll relative to the chassis assembly.

8. The robot chassis of claim 6, wherein the floor brush is a fixed brush, the fixed brush being fixedly connected to the chassis assembly.

9. The robot chassis of claim 6, wherein the cleaning device further comprises a driving unit, the ground brush is a rotating brush head, the rotating brush head is connected with the driving unit through a rotating shaft to rotate under the driving of the driving unit, and the rotating plane of the rotating brush head is parallel to the ground.

10. A robot chassis according to claim 9, wherein the rotating brush head comprises a plurality of brush sections circumferentially spaced about an axis of rotation.

11. A robot chassis according to any of claims 7-10, wherein there are two ground brushes, the two ground brushes being spaced apart in the direction of advance of the robot chassis, the flag recognition unit being located between the two ground brushes.

12. A robot chassis according to any of claims 1-3, further comprising a detection unit, the detection unit and the cleaning device being spaced apart in a forward direction of the robot chassis, and the detection unit being located on a ground facing side of the chassis assembly.

13. The robot chassis of claim 12, wherein the detection unit is a sensor, and a detection end of the sensor faces the marker to determine whether the marker is occluded.

14. A storage robot comprising a robot chassis according to any of claims 1-13.