WO2021109171A1 - 一种自行走设备 - Google Patents

一种自行走设备 Download PDF

Info

Publication number
WO2021109171A1
WO2021109171A1 PCT/CN2019/124132 CN2019124132W WO2021109171A1 WO 2021109171 A1 WO2021109171 A1 WO 2021109171A1 CN 2019124132 W CN2019124132 W CN 2019124132W WO 2021109171 A1 WO2021109171 A1 WO 2021109171A1
Authority
WO
WIPO (PCT)
Prior art keywords
self
propelled
propelled device
driving
assembly
Prior art date
Application number
PCT/CN2019/124132
Other languages
English (en)
French (fr)
Inventor
周俊杰
Original Assignee
苏州优智达机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州优智达机器人有限公司 filed Critical 苏州优智达机器人有限公司
Publication of WO2021109171A1 publication Critical patent/WO2021109171A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • B66C1/36—Crane hooks with means, e.g. spring-biased detents, for preventing inadvertent disengagement of loads

Definitions

  • This application relates to the field of robotics, and in particular to a self-propelled device.
  • mobile robots have been widely used. They can be mainly used for maintenance, repair, transportation, cleaning, security, rescue, monitoring, reception, etc., as one of the typical applications, such as banking
  • the service robot in the lobby can not only help customers handle simple business, but also collect user information for statistical summary, which is convenient for management.
  • the service robots in the prior art require human participation most of the time, the operation process is complicated, and the interaction is lacking, and the user experience is poor, and they can no longer meet the new requirements of users.
  • one of the objectives of the present application is to provide a self-propelled device with a simple structure. Through the multiple hooks mounted on the self-propelled device, multiple items can be loaded at a time, thereby improving its work efficiency.
  • Another object of the present application is to provide a self-propelled device with a simple structure, through which sensors and cameras can be used to autonomously go to the container to pick up the goods and deliver them to the user who sends the request.
  • a self-propelled device characterized in that it comprises: a main body, and a drive assembly connected with the main body,
  • the main body is provided with at least one storage compartment for storing articles or/and a hook assembly for receiving articles and locking the articles,
  • the driving assembly is equipped with a charging assembly for charging.
  • the storage compartment includes at least one layer, which is driven to expand or contract based on a driving device or to rotate based on a driving device to store/take items.
  • At least one of the storage compartments is arranged in a corresponding part of the self-propelled equipment, which is driven to rotate based on a driving device, and the internal space of the self-propelled equipment is divided into small storage spaces by partitions for storage/holding. Take the goods, or drive the telescopic drive based on the driving device to store/take the goods.
  • the main body is provided with at least one hook assembly, and the hook assembly has a locking member for locking the article after the article is hung on the hook.
  • the hook assembly is arranged on the outside of the self-propelled device.
  • the self-propelled device further includes one or a combination of a radar, an ultrasonic sensor, a camera, and an infrared sensor to detect the surrounding environment during its movement, so as to avoid obstacles.
  • a radar an ultrasonic sensor
  • a camera a camera
  • an infrared sensor to detect the surrounding environment during its movement, so as to avoid obstacles.
  • the self-propelled equipment further includes a detection module connected to the control module of the self-propelled equipment, which uses one or a combination of radar, ultrasonic sensors, cameras, and infrared sensors to communicate with the container based on instructions Docking.
  • a detection module connected to the control module of the self-propelled equipment, which uses one or a combination of radar, ultrasonic sensors, cameras, and infrared sensors to communicate with the container based on instructions Docking.
  • the driving assembly includes a chassis on which a driving wheel and a driven wheel are arranged, and the driving wheel and the driven wheel are arranged on both sides of the central axis of the chassis.
  • the chassis is circular and polygonal, and a pair of the driving wheels and at least one driven wheel are arranged on both sides of the central axis of the chassis.
  • the charging component may be a contact type electrode sheet located on the surface of the driving component, and the contact type electrode sheet is approximately parallel to a horizontal plane, or a non-contact wireless charging component, or a wired plug type charging component.
  • this application provides a self-propelled device that can take multiple orders at one time without any participation, autonomously pick up and deliver goods, and has a simple chassis structure and good braking performance.
  • Figures 1a and 1b are schematic diagrams of the structure of a self-propelled device according to an embodiment of the application;
  • FIGS. 2 and 3 are schematic diagrams of the structure of the hook in the embodiment of the application.
  • FIG. 4 is a schematic diagram of a chassis driving structure of a self-propelled device according to an embodiment of the application
  • Fig. 5 is a schematic diagram of the chassis driving structure of the existing self-propelled equipment
  • Fig. 6a and Fig. 6b are schematic diagrams of the structure of a rotating grid according to an embodiment of the application.
  • orientation or positional relationship indicated by the terms “upper”, “lower”, “inner”, “middle”, etc. are based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element, or component must have a specific orientation, or be constructed and operated in a specific orientation.
  • the self-propelled device 10 includes a main body 11 under which is mounted a drive assembly 18 for driving the self-propelled device to move. Electrode sheet 14 and indicator light 17 electrically connected to the charging base; main body 11 on which at least one storage compartment 15 for storing items, a display module 12, an ID sensor module 13, a voice prompting device 16, and a hook assembly 21 are arranged .
  • the bottom of the driving assembly 18′ is provided with a driving wheel 19, a driven wheel/universal wheel 20, and the self-propelled device is driven to move based on the driving of the driving wheel.
  • the driving wheel is connected with a driving motor (not shown in the figure), which is driven to rotate based on the driving of the driving motor, thereby driving the self-propelled equipment to move.
  • the driving assembly 18 includes an energy storage component (not shown in the figure) and a control module (not shown in the figure).
  • the driving assembly 18 is cylindrical.
  • the indicator light 17 is arranged in the driving assembly 18 in a ring shape.
  • the self-propelled equipment is equipped with an emergency stop switch.
  • the voice prompting device 16 may be a loudspeaker.
  • the hook component 21 may include one or more hooks, which have smart locks, so that the items are locked after being hung on the hooks, and unlocked when they reach the destination, and the items are removed.
  • the driving assembly 18 includes a chassis 22 (please refer to FIG. 4) disposed at the bottom, on which a driving wheel 19 (a pair of driving wheels), a driven wheel or a universal wheel 20 is installed, which is roughly circular ,
  • the drive wheel is arranged in the middle and front part of the chassis (the front part of the central axis, referred to as the front drive configuration, in this embodiment, the front drive differential configuration is adopted), and the drive wheel and the driven wheel or the universal wheel are arranged on the central axis of the chassis in the x direction On both sides.
  • the driving wheel is arranged in front of the central axis (on the side in the forward direction of the traveling equipment).
  • the chassis is generally polygonal, such as a quadrilateral, hexagon, or octagon.
  • the chassis 30 has driving wheels 31 mounted on it, driven wheels or universal wheels 32/33 are respectively arranged on both sides of the chassis 30, and the chassis is roughly circular.
  • the edge of the chassis 22 near the driving wheel side in the y direction is equipped with an elastic device (not shown).
  • the driving wheels are symmetrical in the y direction of the chassis 22.
  • the advantage of using this elastic device is that the design of the front drive is adopted, because the wheel diameter becomes larger, and the passability is stronger; the shock-absorbing effect is better, reducing the vibration and noise when passing obstacles; the driving wheel is not easy to be affected by the original design when going uphill
  • the front and rear universal wheels are overhead and lose power; when the self-propelled equipment stops while moving, the elastic device touches the ground or the bottom plate, and at this time it acts as a point brake. At the same time, prevent the chassis from contacting the ground or the bottom plate to damage the chassis.
  • the elastic device is at least partially disposed on the housing of the drive assembly 18.
  • the intelligence of the hook is in the form of a plug.
  • the hook assembly is described below with reference to FIGS. 2 and 3.
  • the hook assembly 21 includes a support plate 22, two hooks 23, a locking member 24, and a retractable pin 25 that is connected to the solenoid valve or drive motor and extends based on the action (lock Hold the hook as shown in Figure 2)/Retract (as shown in Figure 3).
  • each hook 23 is separately configured with a hook 23, so that the self-propelled device can carry multiple items at a time, thereby improving its work efficiency.
  • two hooks are configured.
  • the number can be multiple without limitation, such as 3, 4, 5, and so on.
  • the hook assembly 21 is symmetrically arranged on both sides of the self-propelled device to facilitate its balance when it moves.
  • the top of the self-propelled device is equipped with a storage compartment for storing items.
  • the storage compartment can be a rotating compartment driven by a driving device (not shown) (please refer to Figure 6a and Figure 6b), which has The main body 151/251, the internal space of which is divided into small storage spaces (153/253) by partitions (152/252) to accommodate different types of items.
  • a driving device not shown
  • the driving device is preferably arranged at the center of the bottom of the rotating grid, and includes a driving motor based on the driving motor to drive the rotating grid to rotate to accommodate different items.
  • the storage compartment is arranged in the center of the self-propelled device (see Fig. 1a).
  • the self-propelled device has a detection module, which includes one or a combination of a radar, an ultrasonic sensor, a camera, and a sensor, and is used for docking with a container or a transmission device when picking up goods based on instructions.
  • a detection module which includes one or a combination of a radar, an ultrasonic sensor, a camera, and a sensor, and is used for docking with a container or a transmission device when picking up goods based on instructions.
  • self-propelled equipment can pick up and deliver goods autonomously.
  • the self-propelled equipment automatically picks up the goods according to the machine vision device, the sonic navigation device and/or the algorithm combination to achieve precise positioning and picking.
  • the main body of the self-propelled device is equipped with a camera component, which is used to take photos/videos, and it uses a better application such as face recognition to assist users in self-service business.
  • the main body of the self-propelled device is equipped with a detection component, such as one of a radar, an ultrasonic sensor, and a sensor, or a combination thereof. It is used to detect its surrounding environment during its movement, so as to avoid obstacles to successfully complete the task; and, when the detection components are used in combination, when one of the detection components fails, the other components can continue to perform operations.
  • a detection component such as one of a radar, an ultrasonic sensor, and a sensor, or a combination thereof. It is used to detect its surrounding environment during its movement, so as to avoid obstacles to successfully complete the task; and, when the detection components are used in combination, when one of the detection components fails, the other components can continue to perform operations.
  • the self-propelled equipment in the design of self-propelled equipment, it can be used to realize the function of interacting with people. For example, when a customer purchases a product in a hotel, it can use an online shopping mall or scan a preset logo in the room (e.g., QR code), the self-propelled device responds to the customer's actions and delivers the items purchased by the customer to the door of the requested room. It can act as a shopping guide. In the shopping mall, it can guide you to the area where you need to buy the goods. After purchase, you can hang it on the hook of the robot and send it to a predetermined location.
  • a preset logo in the room e.g., QR code
  • the self-propelled device In the design of the self-propelled device, it can be used for self check-in in the hotel, and the customer can check in by placing the identification card in the ID induction area of the identification card.
  • the self-propelled device In the design of the self-propelled device, it is equipped with a storage compartment for storing items.
  • the storage compartment can be a plurality of storage compartments, which can be a retractable storage compartment, or a rotating compartment driven and rotated by a driving device.
  • the storage grid or rotating grid is a multi-layer or one-layer design.
  • a storage compartment for storing items is mounted on the top of the self-propelled device.
  • the storage compartment may be a rotating compartment driven and rotated by a driving device.
  • the internal space is divided into small storage spaces by partitions to accommodate different types of items.
  • the baffle of the top storage compartment is opened to guide the items into the small storage space.
  • self-propelled equipment In the design of self-propelled equipment, it has a detection module, the detection module is connected to the control module of the self-propelled equipment, which includes one or a combination of radar, ultrasonic sensor, camera, sensor, used to fetch based on instructions It is docked with the container or transmission device during cargo. In this way, self-propelled equipment can pick up goods autonomously.
  • the control module of the self-propelled equipment which includes one or a combination of radar, ultrasonic sensor, camera, sensor, used to fetch based on instructions It is docked with the container or transmission device during cargo. In this way, self-propelled equipment can pick up goods autonomously.
  • the chassis In the chassis design of self-propelled equipment, the chassis is roughly circular, and its pair of driving wheels are arranged in the middle and front part of the chassis (the front part of the central axis), which means the front-drive differential is adopted, which is compared with the current driving wheels of mobile robots. It is arranged on the central axis or in the accessories, and adopts the structure of the front-drive differential, which can reduce the number of driven wheels or universal wheels, which simplifies the structure of the chassis, because the wheel diameter becomes larger, and the passability is stronger; the driving wheel has a shock absorber function , So the shock-absorbing effect is better, reducing the vibration and noise when passing obstacles; when going uphill, the driving wheel is not easy to be lifted by the original design front and rear universal wheels and lose power.
  • the chassis is square or other drop-shaped.
  • the electrode sheet In the design of the electrode sheet, it protrudes from the surface of the drive assembly, and its curved arc is approximately the same as that of the drive assembly, so that it appears that the electrode sheet is attached to the surface of the drive assembly.
  • the electrode sheet is substantially parallel to the horizontal plane.
  • the ratio of length to width is greater than or equal to 2:1.
  • the ratio of length to width is between 2:1 and 30:1. If the ratio is too small, it is difficult to contact the self-propelled device during self-recovery charging.
  • the electrode sheet is arranged on the side wall of the driving assembly, so that when it returns to the charging station/post for charging, the charging station/post is not an obstacle, and it can leave the charging station/post in the direction of returning to charging.
  • the self-propelled device when returning to charging, it can move in parallel along the surface of the charging stand/charging post on the side of the contact that is electrically connected to the electrode pads, so that the self-propelled device is fully charged and leaves the charging stand in the direction in which it is driven in. /Charging pile.
  • the electrode sheet protrudes from the surface of the driving component.
  • the electrode sheet is approximately parallel to the horizontal plane.
  • the ratio of its length (horizontal plane direction) to width (horizontal plane direction) is greater than or equal to 2:1.
  • the ratio of length to width is between 2:1 and 50:1. If the ratio is too small, it is difficult to contact the self-propelled device during self-recovery charging.
  • the electrode sheet is arranged on the side wall of the driving assembly, so that when it returns to the charging station/post for charging, the charging station/post is not an obstacle, and it can leave the charging station/post in the direction of returning to charging.
  • the self-propelled device when returning to charging, it can move in parallel along the surface of the charging stand/charging post on the side of the contact that is electrically connected to the electrode pads, so that the self-propelled device is fully charged and leaves the charging stand in the direction in which it is driven in. /Charging pile.
  • the charging stand is sometimes called a charging pile/charging socket, etc., which is used to provide supplementary power for self-propelled equipment.
  • the electrode sheet can be installed at the bottom,
  • charging can also be wired or plugged in.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自行走设备（10），其包括：主体（11），与主体（11）匹配连接的驱动组件（18），主体（11）上配置有至少一个用于收纳物品的存储格（15）、挂钩组件（21），挂钩组件（21）包含一个或多个挂钩（23），其具有锁止件（24），用以在物品挂到挂钩（23）上后锁住物品，至目的地后解锁，取下物品，驱动组件（18）配置有用于与充电座连接的充电组件。

Description

一种自行走设备 技术领域
本申请涉及机器人领域，尤其涉及一种自行走设备。
背景技术
随着控制技术的发展，移动机器人得到较为广泛的应用，可主要用于维护保养、修理、运输、清洗、安保、救援、监护、接待等工作，作为其中一种典型的应用，如用于银行大堂的服务型机器人，她既可以帮助客户办理简单的业务又可以采集用户的信息进行统计汇总，便于管理。现有技术中的服务机器人大多时候需要人工的参与，操作流程复杂，而且缺乏交互性，用户体验较差，已经不能满足用户的新要求。
因此需要一种新的自行走设备。
申请内容
为克服上述缺点，本申请的目的之一在于提供一种自行走设备，其结构简单，通过其搭载的多个挂钩，一次可搭载多个物品，进而提高其工作效率。
本申请的另一目的在于提供一种自行走设备，其结构简单，通过其搭传感器、摄像头，实现自主去货柜取货并送至发送请求的用户。
为了达到以上目的，本申请采用如下技术方案：
一种自行走设备，其特征在于：包括：主体，与所述主体连接的驱动组件，
所述主体，其上配置有至少一个用于收纳物品的存储格或/和用于承接物品并锁定所述物品的挂钩组件，
所述驱动组件配置有用于充电的充电组件。
优选的，该存储格包含至少一层，其基于驱动装置驱动伸缩或基于驱动装置驱动旋转，以收纳/拿取物品。
优选的，该自行走设备，至少一个所述存储格配置于所述自行走设备的相应部位，其基于驱动装置驱动旋转，其内部空间通过隔板被分割成小存储空间，用以收纳/拿取物品，或基于驱动装置驱动伸缩用以收纳/拿取物品。
优选的，该主体上配置有至少一个挂钩组件，所述挂钩组件具有锁止件，用以在物品挂到挂钩上后所述锁止件锁住物品。
优选的，该挂钩组件，配置于自行走设备的外侧。
优选的，该自行走设备，还包含有雷达、超声波传感器、摄像头、红外感应器中的一种或其组合，用以在其移动过程检测其周围的环境，从而能够避开障碍物。
优选的，该自行走设备还包含检测模组，其连接所述自行走设备的控制模块，其利用雷达、超声波传感器、摄像头、红外感应器中的一种或其组合，用以基于指令与货柜对接。
优选的，该动组件包含底盘，其上配置有驱动轮、从动轮，所述驱动轮与所述从动轮配置于所述底盘中轴线的两侧。
该底盘呈圆形、多边形，一对所述驱动轮与至少一所述从动轮配置于所述底盘中轴线的两侧。
优选的，该充电组件可以为接触式电极片，其位于驱动组件的表面，所述接触式电极片与水平面大致平行，或为非接触式无线充电组件，或为有线插头式充电组件。
有益效果
与现有技术相比，本申请提供了一种自行走设备，可以在无人参与的情况下一次接多个订单，自主取货、自主送货，同时其底盘结构简单，制动性能好。
附图说明
图1a、图1b为本申请实施例自行走设备的结构示意图；
图2、图3为本申请实施例挂钩的结构示意图；
图4为本申请实施例自行走设备的底盘驱动结构示意图；
图5为现有的自行走设备的底盘驱动结构示意图；
图6a、图6b为本申请实施例的旋转格的结构示意图。
具体实施方式
以下结合具体实施例对上述方案做进一步说明。应理解，这些实施例是用于说明本申请而不限于限制本申请的范围。实施例中采用的实施条件可以如具体厂家的条件做进一步调整，未注明的实施条件通常为常规实验中的条件。
在本申请中，术语“上”、“下”、“内”、“中”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本申请及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。
实施例
如图1a，图1b所示，为本申请的自行走设备的结构示意图，该自行走设备10，包括主体11，其下方搭载有驱动该自行走设备移动的驱动组件18，其外侧配置有用于与充电座电性连接的电极片14、指示灯17；主体11，其上配置有至少一个用于收纳物品的存储格15、显示模块12、ID感应模块13、语音提示装置16、挂钩组件21。
本实施方中，驱动组件18，的底部配置有驱动轮19，从动轮/万向轮20，基于驱动轮的驱动带动自行走设备移动。该驱动轮连接有驱动电机(图未示)，基于驱动电机的驱动带动其旋转，进而带动自行走设备移动。驱动组件18，内包含有储能部件(图未示)、控制模块(图未示)。较佳的，该驱动组件18呈圆柱状。指示灯17，呈环状配置于驱动组件18。该自行走设备设有急停开关。语音提示装置16，可为扩音器。挂钩组件21可包含一个或多个挂钩，其具有智能锁，这样物品挂到挂钩上后锁住，至目的地后解锁，取下物品。
在一实施方中，驱动组件18包含配置于底部的底盘22(请参考图4)，其 上安装有驱动轮19(一对驱动轮)、从动轮或万向轮20，其大致呈圆形，该驱动轮配置于底盘的中前部(中轴线的前部，简称前驱配置，本实施方式中采用前驱差速配置)，驱动轮与从动轮或万向轮配置于底盘x方向的中轴线的两侧。驱动轮配置于中轴线的前方(自行走设备前进方向侧)。在其他的实施方式中，底盘大致呈多边形、如四边形、六边形、八边形。
在一实施方式中，从动轮或万向轮20可为一个。采用这样设计方式，相较于目前的自行走设备的驱动轮配置于底盘的中轴线或中轴线附近(请参考图5)，可减少从动轮或万向轮的数量，这样简化底盘的结构。底盘30，其上安装有驱动轮31，其两侧分别配置有从动轮或万向轮32/33，底盘大致呈圆形。较佳的，在一实施方中，底盘22上的y方向上靠近驱动轮侧的边缘(和/或底盘面向地面侧的区域)配置有弹性装置(图未示)。驱动轮沿底盘22的y方向对称。采用该弹性装置的好处在于，采用前驱的设计，因为轮径变大，通过性更强；避震效果更好，减少过障碍时的震动和减少噪音；上坡时主动轮不容易被原设计的前后万向轮架空而失去动力；自行走设备在移动时停下时，该弹性装置接触地面或底板，这时其起到点刹的作用。同时防止底盘接触地面或底板而损伤底盘。在其他的实施方式中，该弹性装置至少部分配置于驱动组件18的壳体上。
在一实施方式中，挂钩的智能采用插销的形式，下面结合图2、图3来描述挂钩组件。该挂钩组件21，包含支撑板22，其上配置2个挂钩23，锁止件24，其内配置有可伸缩的插销25，该插销连接电磁阀或驱动马达，并基于的动作伸出(锁住挂钩如图2所述)/缩回(如图3所述)。较佳的，每个挂钩23分部配置有挂钩23，这样该自行走设备一次可搭载多个物品，进而提高其工作效率。本实施方式中，配置2个挂钩，在其他的实施方式中，则不限制数量可为多个，如3个、4个、5个等。较佳的，挂钩组件21，对称的配置于自行走设备的两侧，以利于其移动时保持平衡。
在一实施方式中，自行走设备的顶部搭载有用以存储物品的存储格，该存储格可为基于驱动装置驱动旋转(图未示)的旋转格(请参考图6a、图6b)，其具有本体151/251，其内部空间通过隔板(152/252)被分割成小存储空间(153/253)， 用以容纳不同类型的物品，收纳时，顶部存储格的导流板打开(图未示)，以将物品引导至小存储空间内。驱动装置较佳的配置于旋转格底部的中央位置，其包含驱动马达，基于该驱动马达驱动旋转格旋转，以收纳不同的物品。在其他的实施方式中，存储格配置于自行走设备的中央(参见图1a)。
在一实施方式中，自行走设备具有检测模组，其包含雷达、超声波传感器、摄像头、感应器中的一种或其组合，用以基于指令取货时与货柜或传输装置对接。这样以实现自行走设备自主取货，自主送货。在其他的实施方式中，自行走设备自主取货时依据其搭载的机器视觉装置、声波导航装置和/或算法组合实现精确对位、取货。
在一实施方式中，自行走设备的主体配置有摄像组件，其用于拍照/摄像，其以较佳的应用如人脸识别，来协助用户自助办理业务。
在一实施方式中，自行走设备的主体配置有检测组件，如雷达、超声波传感器、感应器中的一种或其组合。用以在其移动过程检测其周围的环境，从而能够避开障碍物，以顺利完成任务；并且，当检测组件组合使用时，当其中一个检测组件发生故障时，其他组件可继续发挥作业。
在一实施方式中，在自行走设备的设计中，其可用于实现与人交互的功能，如顾客在酒店内选购商品，其可以通过线上商城或扫描房间内的预设标识(如，二维码)，该自行走设备响应顾客的动作，将其选购的物品送到请求的房间门口。其可充当导购的作用，在商场里面，能够引导你到你所需要购买的商品的区域，购买后可以挂在机器人的挂钩上，并送至预定的地点。
在自行走设备的设计中，其可办理酒店自助入住，顾客将身份识别卡放置于识别卡的ID感应区就可以办理入住。
在自行走设备的设计中，其搭载有用以存储物品的存储格，该存储格可为多个存储格，其可为可伸缩的存储格，可为基于驱动装置驱动旋转的旋转格。该存储格或旋转格为多层或一层设计。
在自行走设备的设计中，其顶部其搭载有用以存储物品的存储格，该存储格可为基于驱动装置驱动旋转的旋转格。其内部空间通过隔板被分割成小存储 空间，用以容纳不同类型的物品，收纳时，顶部存储格的导流板打开，以将物品引导至小存储空间内。
在自行走设备的设计中，其具有检测模组，该检测模组连接自行走设备的控制模块，其包含雷达、超声波传感器、摄像头、感应器中的一种或其组合，用以基于指令取货时与货柜或传输装置对接。这样以实现自行走设备自主取货。
在自行走设备的底盘设计中，底盘大致呈圆形，其一对驱动轮配置于底盘的中前部(中轴线的前部)即采用前驱差速，相较于目前的移动机器人的驱动轮配置于中轴线上或附件，采用前驱差速的结构，可减少从动轮或万向轮的数量，这样简化底盘的结构，因为轮径变大，通过性更强；驱动轮带有避震功能，所以避震效果更好，减少过障碍时的震动和减少噪音；上坡时主动轮不容易被原设计的前后万向轮架空而失去动力。在其他的实施方式中，底盘呈方形或其它的水滴形。
在电极片的设计中，其突出于驱动组件的表面，其弯曲的弧度与驱动组件的弧度大致相同，这样看上去电极片贴合于驱动组件的表面。较佳的，该电极片与水平面大致平行。其长度与宽度的比值大于等于2:1。较佳的，长度与宽度的比值介于2:1～30:1，比值太小时，自行走设备自回归充电时接触难度大。该电极片配置于驱动组件的侧壁，这样其自回归至充电座/充电桩充电时，该充电座/充电桩不为其障碍，其可沿回归充电的方向离开充电座/充电桩。较佳的，其回归充电时可沿充电座/充电桩的有与电极片电性连接的触点侧的面平行的移动，这样该自行走设备充满电后沿其驶入的方向离开充电座/充电桩。
在电极片的设计中，其突出于驱动组件的表面，较佳的，该电极片与水平面大致平行。其长度(水平面方向)与宽度(与水平面垂直方向)的比值大于等于2:1。较佳的，长度与宽度的比值介于2:1～50:1，比值太小时，自行走设备自回归充电时接触难度大。该电极片配置于驱动组件的侧壁，这样其自回归至充电座/充电桩充电时，该充电座/充电桩不为其障碍，其可沿回归充电的方向离开充电座/充电桩。较佳的，其回归充电时可沿充电座/充电桩的有与电极片电性连接的触点侧的面平行的移动，这样该自行走设备充满电后沿其驶入的方向离 开充电座/充电桩。充电座有时称为充电桩/充电插座等，其用以提供自行走设备的补充电能。
在电极片的设计中，较佳的，该电极片可以安装在底部，
较佳的，充电也可采用有线或插线的方式，
上述实施例只为说明本申请的技术构思及特点，其目的在于让熟悉此项技术的人是能够了解本申请的内容并据以实施，并不能以此限制本申请的保护范围。上述的自行走设备可为服务机器人。凡如本申请精神实质所做的等效变换或修饰，都应涵盖在本申请的保护范围之内。

Claims (10)

  1. 一种自行走设备，其特征在于：包括：主体，与所述主体连接的驱动组件，
    所述主体，其上配置有至少一个用于收纳物品的存储格或/和用于承接物品并锁定所述物品的挂钩组件，
    所述驱动组件配置有用于与充电座连接的充电组件。
  2. 如权利要求1所述的自行走设备，其特征在于：所述存储格包含至少一层，其基于驱动装置驱动伸缩或基于驱动装置驱动旋转，以收纳/拿取物品。
  3. 如权利要求2所述的自行走设备，其特征在于：至少一个所述存储格配置于所述自行走设备的相应部位，其基于驱动装置驱动旋转，其内部空间通过隔板被分割成小存储空间，用以收纳/拿取物品，或基于驱动装置驱动伸缩用以收纳/拿取物品。
  4. 如权利要求1所述的自行走设备，其特征在于：所述主体上配置有至少一个挂钩组件，
    所述挂钩组件具有锁止件，用以在物品挂到挂钩上后所述锁止件锁住物品。
  5. 如权利要求4所述的自行走设备，其特征在于：所述挂钩组件，配置于自行走设备的外侧，用以在物品挂到挂钩上后基于指令所述锁止件锁住物品。
  6. 如权利要求1所述的自行走设备，其特征在于：还包含有雷达、超声波传感器、摄像头、红外感应器中的一种或其组合，用以在其移动过程检测其周围的环境，从而能够避开障碍物。
  7. 如权利要求1所述的自行走设备，其特征在于：还包含检测模组，其连接所述自行走设备的控制模块，其利用雷达、超声波传感器、摄像头、红外感应器中的一种或其组合，用以基于指令与货柜对接。
  8. 如权利要求1所述的自行走设备，其特征在于：所述驱动组件包含底盘，其上配置有驱动轮、从动轮，所述驱动轮与所述从动轮配置于所述底盘中轴线的两侧。
  9. 如权利要求1所述的自行走设备，其特征在于：所述底盘呈圆形、多边形， 一对所述驱动轮与至少一所述从动轮配置于所述底盘中轴线的两侧。
  10. 如权利要求1所述的自行走设备，其特征在于：所述充电组件可以为接触式电极片，其位于驱动组件的表面，所述接触式电极片与水平面大致平行，或为非接触式无线充电组件，或为有线插头式充电组件。
PCT/CN2019/124132 2019-12-04 2019-12-09 一种自行走设备 WO2021109171A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201922148709.7 2019-12-04
CN201922148709.7U CN211103956U (zh) 2019-12-04 2019-12-04 一种自行走设备

Publications (1)

Publication Number Publication Date
WO2021109171A1 true WO2021109171A1 (zh) 2021-06-10

Family

ID=71693760

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/CN2019/124132 WO2021109171A1 (zh) 2019-12-04 2019-12-09 一种自行走设备
PCT/CN2020/132487 WO2021109943A1 (zh) 2019-12-04 2020-11-27 底盘、自行走设备及控制方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/132487 WO2021109943A1 (zh) 2019-12-04 2020-11-27 底盘、自行走设备及控制方法

Country Status (2)

Country Link
CN (2) CN211103956U (zh)
WO (2) WO2021109171A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN211103956U (zh) * 2019-12-04 2020-07-28 苏州优智达机器人有限公司 一种自行走设备
CN112137361B (zh) * 2020-09-29 2022-08-23 江苏苏宁银行股份有限公司 一种多功能组装式银行营业柜台
CN112442958A (zh) * 2020-12-08 2021-03-05 苏州优智达机器人有限公司 无人设备通过通道阻挡装置的方法、无人设备及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109514585A (zh) * 2018-08-01 2019-03-26 苏州优智达机器人有限公司 服务型机器人
CN208930232U (zh) * 2018-07-27 2019-06-04 苏州优智达机器人有限公司 用于可移动智能设备上的收纳装置
CN208997153U (zh) * 2018-09-20 2019-06-18 苏州优智达机器人有限公司 自锁式挂钩
KR20190106904A (ko) * 2019-08-29 2019-09-18 엘지전자 주식회사 로봇 및 그 작동방법
EP3563980A1 (en) * 2016-12-23 2019-11-06 LG Electronics Inc. Guide robot

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204847798U (zh) * 2015-08-04 2015-12-09 韩朝相 一种起重机吊钩自锁装置
US9827677B1 (en) * 2016-05-16 2017-11-28 X Development Llc Robotic device with coordinated sweeping tool and shovel tool
CN206735230U (zh) * 2017-04-18 2017-12-12 上海钛米机器人科技有限公司 一种手术室物流机器人
CN206998903U (zh) * 2017-06-05 2018-02-13 广西壳夹物联网科技有限公司 移动式医疗服务机器人
CN206814271U (zh) * 2017-06-26 2017-12-29 河南省黄河防爆起重机有限公司 一种起重机吊钩防脱钩装置
CN110363470A (zh) * 2019-06-21 2019-10-22 顺丰科技有限公司 一种基于机器人的物件派送方法、装置、系统及机器人
CN211103956U (zh) * 2019-12-04 2020-07-28 苏州优智达机器人有限公司 一种自行走设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3563980A1 (en) * 2016-12-23 2019-11-06 LG Electronics Inc. Guide robot
CN208930232U (zh) * 2018-07-27 2019-06-04 苏州优智达机器人有限公司 用于可移动智能设备上的收纳装置
CN109514585A (zh) * 2018-08-01 2019-03-26 苏州优智达机器人有限公司 服务型机器人
CN208997153U (zh) * 2018-09-20 2019-06-18 苏州优智达机器人有限公司 自锁式挂钩
KR20190106904A (ko) * 2019-08-29 2019-09-18 엘지전자 주식회사 로봇 및 그 작동방법

Also Published As

Publication number Publication date
WO2021109943A1 (zh) 2021-06-10
CN211103956U (zh) 2020-07-28
CN114829084A (zh) 2022-07-29

Similar Documents

Publication Publication Date Title
WO2021109171A1 (zh) 一种自行走设备
US11926045B2 (en) Battery pack for a mobile robot
US10782686B2 (en) Systems and methods for operating robots including the handling of delivery operations that cannot be completed
US9932019B2 (en) Robot assisted modular battery interchanging system
CN112318470A (zh) 一种集成机械手臂的图书自动存取无人车
CN206287898U (zh) 可分离式自动化快递车
CN105479433A (zh) 一种麦克纳姆轮全向移动搬运机器人
WO2017215202A1 (zh) 一种电杆式自动化仓储机器人
CN110525314A (zh) 配送机器人及货物装卸方法
CN208248050U (zh) 一种智慧物流车
CN105883321B (zh) 用于搬运电缆盘的电力轨道车
CN106354131B (zh) 一种医用接驳机器人
CN108860366A (zh) 智能购物车、智能购物车管理系统及其使用方法
CN212220432U (zh) 一种自动物流装置
CN206447087U (zh) 一种电杆式自动化仓储机器人
CN205952804U (zh) 垃圾箱搬运用勾臂车
CN215322753U (zh) 一种玻璃转运架
CN212782182U (zh) 一种物流配送系统
CN211431565U (zh) 一种具有防碰撞功能的医院无人送餐车
WO2017132695A1 (en) Systems and methods for operating robots including the handling of delivery operations that cannot be completed
CN210626930U (zh) 一种酒店智慧引导系统
US10668966B2 (en) Bracket and scooter storage box with bracket
WO2020093741A1 (zh) 货车
CN202518721U (zh) 一种新型柜子搬运车
CN109987016A (zh) 一种智慧物流车

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19955035

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19955035

Country of ref document: EP

Kind code of ref document: A1