WO2021227987A1

WO2021227987A1 - Delivery robot

Info

Publication number: WO2021227987A1
Application number: PCT/CN2021/092398
Authority: WO
Inventors: 许哲涛; 桂晨光
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2020-05-12
Filing date: 2021-05-08
Publication date: 2021-11-18
Also published as: CN213081471U

Abstract

A delivery robot, comprising a controller, a movement mechanism (110), at least one state indicating lamp (120), and a housing (130). The movement mechanism (110) is located at the bottom of the delivery robot; the at least one state indicating lamp (120) is arranged on the housing (130); the controller is arranged inside the delivery robot; the controller is respectively connected to the movement mechanism (110) and the at least one state indicating lamp (120); and the controller is used for controlling the movement mechanism (110) to drive the delivery robot to advance according to a preset advancing route, and controlling, according to the current working state, the at least one state indicating lamp (120) to emit light so as to prompt the current working state of the delivery robot.

Description

Delivery robot

References to related applications

This disclosure requires all rights and interests of the utility model patent application with the application number 202020781234.5 and the name "a kind of delivery robot" submitted to the State Intellectual Property Office of the People's Republic of China on May 12, 2020, and the entire content of it is incorporated by reference Incorporated into this article.

field

The present disclosure generally relates to the field of logistics technology, and more specifically to delivery robots.

background

The use of delivery robots to transport items has the advantages of convenience and speed, saving manpower, and reducing personnel contact. However, in the delivery process, the current delivery robots often follow a set route and unload the transported items after reaching the destination, with a relatively single function.

Overview

The present disclosure relates to a delivery robot, which includes: a controller, a motion mechanism, at least one status indicator light and a housing; among them,

The movement mechanism is located at the bottom of the delivery robot, the at least one status indicator light is arranged on the housing, and the controller is arranged inside the delivery robot;

The controller is respectively connected with the motion mechanism and the at least one status prompt light; and

The controller is configured to control the movement mechanism to drive the delivery robot to travel according to a preset travel route, and control the at least one status prompt light to emit light according to the current working state, so as to remind the delivery robot of the current work state.

In some embodiments, the at least one status indicator light is respectively arranged at preset positions in multiple directions of the housing; and

The controller is used for controlling the state prompt lamp at a preset position corresponding to the changed traveling direction to emit light when the delivery robot changes the traveling direction, so as to prompt the rotation direction of the delivery robot.

In some embodiments, the delivery robot further includes a distance detection component; wherein,

The distance detecting component is arranged on the housing and connected with the controller;

The distance detection component is used to obtain the position information of the surrounding objects of the delivery robot, and then send the obtained position information to the controller; and

The controller is further configured to determine whether there is an obstacle in the preset travel route according to the received position information, and to control the at least one state when there is an obstacle in the preset travel route The prompt light is illuminated to prompt that there is an obstacle in the preset travel route.

In some embodiments, the number of the distance detection components is the same as the number of the at least one status indicator light, one distance detection component and one status indicator light constitute a combined device, and a plurality of the combination devices Are arranged on different sides of the shell.

In some embodiments, the controller includes a distance calculation unit and a first light emission control unit; wherein,

The distance calculation unit is connected to the first lighting control unit, and the first lighting control unit is connected to the at least one status prompt light;

The distance calculation unit is used to calculate the distance between the delivery robot and the obstacle; and

The light emitting control unit is configured to control the at least one status prompt light to emit light when the distance is less than a preset distance threshold, so as to prompt that the distance between the delivery robot and the obstacle is too small.

In some embodiments, the delivery robot further includes an early warning component, and the controller includes an early warning control unit; wherein,

The early warning component is arranged on the housing and connected to the early warning control unit; and

The early warning control unit is configured to control the early warning component to send out early warning information when the distance is less than a preset distance threshold.

In some embodiments, the early warning component is arranged at the head position of the delivery robot.

In some embodiments, the early warning component includes an audio output module, and the early warning control unit is configured to control the audio output module to emit a preset warning audio;

and / or,

The early warning component includes a warning light, and the early warning control unit is used to control the warning light to emit light with a warning function.

In some embodiments, the distance detection component includes one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.

In some embodiments, the controller includes a first monitoring unit and a second lighting control unit; wherein,

The first monitoring unit is connected to the second lighting control unit, and the second lighting control unit is connected to the at least one status prompt lamp;

The first monitoring unit is configured to determine the target lighting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the light-emitting mode is blinking or constant light; and

The second lighting control unit is configured to control the at least one status prompt light to emit light in the target lighting mode.

In some embodiments, the controller includes a second monitoring unit and a third lighting control unit; wherein,

The second monitoring unit is connected to the third lighting control unit, and the third lighting control unit is connected to the at least one status prompt lamp;

The second monitoring unit is configured to determine the target light-emitting color corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting color; and

The third light-emitting control unit is configured to control the at least one status prompt light to emit light in the target light-emitting color.

In some embodiments, the status indicator light includes a plurality of LED lights; wherein,

The plurality of LED lights are respectively connected to the third light-emitting control unit; and

The third light-emitting control unit is further configured to adjust the color of the light emitted by the status indicator light by controlling the light-emitting brightness of the plurality of LED lights.

In some embodiments, the second monitoring unit is further configured to determine the target lighting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the light-emitting mode is blinking or constant light. ;and

The third lighting control unit is configured to control the at least one status prompt light to emit light in the target lighting mode and the target lighting color.

In some embodiments, the present disclosure relates to a delivery robot, which includes: a controller, a motion mechanism, at least one status indicator light, and a housing; wherein the motion mechanism is located at the bottom of the delivery robot, and the at least one status indicator light is provided on the housing, The controller is arranged inside the delivery robot; the controller is respectively connected with the motion mechanism and at least one status indicator light; and the controller is used to control the motion mechanism to drive the delivery robot to travel according to the preset travel route and control according to the current working status At least one status indicator light is illuminated to indicate the current working status of the delivery robot.

Since at least one status prompt lamp is controlled to emit light, the prompt function of prompting the current working state of the delivery robot can be realized, and therefore, the functions of the delivery robot can be enriched.

Of course, implementing any product or method of the present disclosure does not necessarily need to achieve all the advantages described above at the same time.

Brief description of the drawings

In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the embodiments or the description of the prior art. Obviously, for those of ordinary skill in the art, Without creative work, other drawings can be obtained based on these drawings.

Figure 1 shows a front view of an embodiment of a delivery robot provided by the present disclosure;

Figure 2 shows a left side view of an embodiment of the delivery robot provided by the present disclosure; and

Fig. 3 shows a control principle diagram of an embodiment of the delivery robot provided by the present disclosure.

illustration:

110. Sports organization 120. Status indicator light

130. Housing 140. Distance detection components

150. Early warning components

Detail

The technical solutions in the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

The present disclosure provides a distribution robot, which can be used for item transportation in large indoor scenes such as hospitals, shopping malls, and airports, and can save labor transportation costs and avoid personnel contact.

As shown in Fig. 1, the delivery robot includes: a controller (not shown in the figure), a motion mechanism 110, at least one status indicator light 120 and a housing 130; among them,

The movement mechanism 110 is located at the bottom of the delivery robot, at least one status indicator light 120 is arranged on the housing 130, and the controller is arranged inside the delivery robot;

The controller is respectively connected with the motion mechanism 110 and at least one status prompting lamp 120; and

The controller is used to control the movement mechanism 110 to drive the delivery robot to travel according to a preset travel route, and control at least one status indicator light 120 to emit light according to the current working state to prompt the current working state of the delivery robot.

In some embodiments, the working status of the delivery robot may include: starting delivery, in delivery, obstacles in the travel route, failure in operation, and ending delivery, etc. The controller of the delivery robot can set the luminous parameters of at least one status prompt lamp 120, and control the at least one status prompt lamp 120 to emit light based on the set luminous parameters to prompt the current working status of the delivery robot. The luminous parameters include luminous mode and luminous color. At least one of them.

The present disclosure provides a delivery robot, which includes: a controller, a motion mechanism 110, at least one status prompt lamp 120, and a housing 130; wherein the motion mechanism 110 is located at the bottom of the delivery robot, and at least one status prompt light 120 is provided on the housing 130, The controller is arranged inside the delivery robot; the controller is respectively connected with the motion mechanism 110 and at least one status indicator light 120; and the controller is used to control the motion mechanism 110 to drive the delivery robot to travel according to the preset travel route and according to the current work State, control at least one state prompt lamp 120 to emit light to prompt the current working state of the delivery robot.

Since at least one status prompt lamp 120 is controlled to emit light, the prompt function of prompting the current working state of the delivery robot can be realized, and therefore, the functions of the delivery robot can be enriched. In some embodiments, it is convenient for pedestrians to understand the working status of the delivery robot, and the interaction between the delivery robot and the pedestrian is increased.

In some embodiments, at least one status indicator light 120 is respectively arranged at a preset position of the housing 130 in multiple directions; and

The controller is used to control the state prompt lamp 120 at the preset position corresponding to the changed traveling direction to emit light when the delivery robot changes the traveling direction, so as to prompt the rotation direction of the delivery robot.

In some embodiments, taking the body of the delivery robot as a reference point, multiple directions may correspond to the traveling direction of the delivery robot. For example, during the traveling process, the delivery robot will travel forward, turn to the left to travel, and turn to the right to travel. Therefore, the multiple directions may be the front, left, and right directions of the delivery robot. The preset position in a certain direction can be any position on the housing 130 in that direction, and the developer can change the installation position of the status indicator light 120 according to specific design requirements.

When the delivery robot changes the direction of travel, the controller can determine the changed direction of travel, which corresponds to the status indicator light 120 at the preset position corresponding to the changed direction of travel, and then the controller can control the status indicator light 120 to emit light to indicate The direction of rotation of the delivery robot.

For example, the delivery robot includes three status indicator lights 120, which are represented as A, B, and C, respectively. The status indicator light A can be set at the first preset position in front of the delivery robot housing 130. The first preset position is located at the head position of the body. The status indicator light B is arranged at a second preset position on the left side of the housing 130, and the status indicator light C is arranged at a third predetermined position on the right side of the housing 130. The second predetermined position and the third predetermined position are the same as The central axis of the body is symmetrical.

When the delivery robot changes the travel direction and travels to the left, the controller may determine that the changed travel direction is the left direction, and the status indicator light 120 at the preset position corresponding to the changed travel direction obtains the status indicator light B. Then, the controller can control the status prompt light B to emit light to prompt the delivery robot to rotate to the left.

In some embodiments, at least one status indicator light 120 may also be arranged at a predetermined position of the housing 130 in a single direction. The delivery robot can prompt the rotation direction of the delivery robot by sequentially controlling at least one status indicator lamp 120 to emit light.

For example, at the first preset position in front of the delivery robot shell 130, two status prompt lights 120 may be arranged side by side, which are represented as A1 and A2, respectively. Among them, the status indicator light A1 is closer to the left side of the delivery robot body, and the status indicator light A2 is closer to the right side of the delivery robot body.

The delivery robot can control the status indicator light A1 to emit light to prompt the delivery robot to turn to the left. Similarly, the delivery robot can control the status indicator light A2 to emit light to prompt the delivery robot to rotate to the right.

In some embodiments, when the delivery robot makes a change in travel such as steering, the status indicator 120 can be controlled to warn the surrounding pedestrians, so as to avoid collisions with the pedestrians and affect the life and property safety of the pedestrians. Improve the safety of item distribution.

In some embodiments, as shown in FIG. 1, the delivery robot further includes a distance detection component 140; wherein,

The distance detecting component 140 is arranged on the housing 130 and connected with the controller;

The distance detection component 140 is used to obtain the position information of the surrounding objects of the delivery robot, and then send the obtained position information to the controller; and

The controller is also used to determine whether there is an obstacle in the preset travel route according to the received position information, and when there is an obstacle in the preset travel route, control at least one status prompt lamp 120 to emit light to prompt the advance Suppose there are obstacles in the travel route.

In some embodiments, the number of the distance detecting component 140 may be one or more. When the number of the distance detecting component 140 is one, the distance detecting component 140 can be arranged at the head position of the housing 130, so that the distance detecting component 140 can obtain the position information of the surrounding objects of the delivery robot. When the number of distance detecting components 140 is multiple, the distance detecting components 140 can be respectively arranged at preset positions in multiple directions of the housing 130, so that the distance detecting component 140 corresponding to a certain direction can obtain the surrounding objects located in that direction of the delivery robot. Location information.

The controller of the delivery robot may determine whether there is an obstacle in the preset travel route according to the position information obtained by the distance detection component 140. When there is an obstacle in the preset travel route, the controller can also determine the direction of the obstacle relative to the delivery robot according to the position information to obtain the target direction. If the delivery robot includes status prompt lights 120 respectively arranged in multiple directions, the controller may control the status prompt lights 120 corresponding to the target direction to emit light to prompt the delivery robot that there is an obstacle in the space in the target direction.

In the related art, when an indoor distribution robot encounters an obstacle, it generally bypasses the obstacle, or stops moving when it approaches the obstacle. In some embodiments, compared with related technologies, the delivery robot provided by the present disclosure can, when encountering obstacles, control the status indicator light 120 to emit light to warn surrounding pedestrians, thereby avoiding collisions, and not only improving the operation of items The safety can also reduce the threat to the life and property safety of pedestrians.

In some embodiments, the distance detection component 140 includes one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.

In some embodiments, when the number of the distance detection component 140 is one, any one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor can be used as the distance detection component 140.

When the number of distance detecting components 140 is multiple, the multiple distance detecting components 140 may all be optical distance sensors, or all infrared distance sensors, or all ultrasonic distance sensors. The plurality of distance detecting parts 140 may include at least two distance sensors among optical distance sensors, infrared distance sensors, and ultrasonic distance sensors.

In some embodiments, the number of distance detecting components 140 is the same as the number of at least one status indicator light 120, and one distance detecting component 140 and one status indicator light 120 constitute a combined device, and multiple combined devices are provided in different parts of the housing 130. side.

For example, in the case where the delivery robot includes three status indicator lights 120, three distance detection components 140 may be provided. One distance detection component 140 and one status indicator 120 form a combined device, that is, the delivery robot includes a total of three Assembling device, three assembling devices are respectively arranged on the front side, left side and right side of the housing 130. FIG. 2 shows a left side view of an embodiment of the delivery robot provided by the present disclosure, in which a combined device composed of a distance detection component 140 and a status indicator light 120 is arranged on the same side of the delivery robot housing 130.

In this way, the distance detecting component 140 provided on a certain side of the housing 130 can acquire the position information of the surrounding objects in the direction of the side of the delivery robot. Then, the controller of the delivery robot can determine whether there is an obstacle in the preset travel route according to the position information acquired by the distance detection component 140. When there is an obstacle in the preset travel route, the controller can control the status prompt lamp 120 belonging to the same combined device as the distance detection component 140 to emit light to prompt the delivery robot that there is an obstacle in the space in the lateral direction.

In some embodiments, the controller includes a distance calculation unit and a first light emission control unit.

Wherein, the distance calculation unit is connected to the first lighting control unit, and the first lighting control unit is connected to at least one status prompt lamp 120;

The first light-emitting control unit is configured to control at least one status prompt lamp 120 to emit light when the distance is less than the preset distance threshold, so as to prompt that the distance between the delivery robot and the obstacle is too small.

For example, the preset distance threshold may be 2m. When the distance between the delivery robot and the obstacle is less than the preset distance threshold of 2m, the first light-emitting control unit may control the status prompt lamp 120 to emit light to indicate the distance between the delivery robot and the obstacle. The distance is too small. If the obstacle in the preset travel route is a pedestrian, the light-emitting prompt can prompt the pedestrian to avoid it and prevent the pedestrian from colliding.

In some embodiments, the delivery robot further includes an early warning component 150, and the controller includes an early warning control unit; wherein,

The early warning component 150 is arranged on the housing 130 and is connected to the early warning control unit; and

The early warning control unit is used to control the early warning component 150 to send out early warning information when the distance is less than the preset distance threshold.

In some embodiments, the early warning component 150 includes an audio output module, and the early warning control unit is used to control the audio output module to send out preset warning audio; and/or,

The early warning component 150 includes a warning light, and the early warning control unit is used to control the warning light to emit a warning light.

In some embodiments, the audio output module may be any device with audio output function, for example, the audio output module may be a speaker or a buzzer. The warning light can emit flashing red light, or alternately emit blue and red light in a burst flashing manner.

In some embodiments, an audible and visual alarm light can be selected as the early warning component 150. Therefore, the early warning component 150 can include an audio output module and a warning light at the same time. The early warning control unit of the delivery robot can control the early warning component 150 to emit sound and light at the same time. Two kinds of alarm signals to improve the prompt effect.

In some embodiments, when the delivery robot encounters obstacles on the road, it can prompt pedestrians through sound and light changes. On the one hand, it can improve the interaction between the delivery robot and surrounding pedestrians, so that pedestrians can understand the working status of the delivery robot; and On the one hand, collisions can be avoided and the safety of item delivery can be improved.

In some embodiments, the early warning component 150 can be arranged at any position on the delivery robot housing 130, and the developer can change the installation position of the early warning component 150 according to specific design requirements.

In some embodiments, the early warning component 150 is arranged at the head position of the delivery robot. Because it is set at a more eye-catching head position, it is convenient for pedestrians on the preset travel route to receive the early warning information issued by the delivery robot, thereby improving the warning effect.

The first monitoring unit is connected to the second lighting control unit, and the second lighting control unit is connected to at least one status indicator lamp 120;

The first monitoring unit is used to determine the target light-emitting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the light-emitting mode is blinking or constant light; and

The second lighting control unit is used to control at least one status prompting lamp 120 to emit light in a target lighting mode.

In some embodiments, the developer can change the light-emitting mode of the status indicator light 120 in each working state according to actual design requirements.

For example, when the delivery robot is powered on, the first monitoring unit can monitor that the delivery robot is in the "starting delivery state", and the first monitoring unit can determine the corresponding relationship to the current working state based on the pre-stored correspondence between the working state and the light emitting mode. Target light-emitting mode, get constant light. At this time, the second lighting control unit may control the at least one status prompting lamp 120 to emit light in a constant light mode.

When the delivery robot is delivering items, the first monitoring unit can monitor that the delivery robot is in the "delivering state", and the first monitoring unit can determine the corresponding relationship with the current working state according to the pre-stored correspondence between the working state and the light emitting mode The target light-emitting mode is blinking, that is, the target light-emitting mode is blinking. At this time, the second lighting control unit may control at least one status indicator lamp 120 to emit light in a blinking manner.

In some embodiments, since the second lighting control unit can control the status indicator light 120 to emit light in different lighting modes in different working states, it is convenient for pedestrians to determine the current working status of the delivery robot according to the light emitting mode of the status indicator light 120 , Which can enrich the prompt effect.

The second monitoring unit is connected to the third lighting control unit, and the third lighting control unit is connected to at least one status indicator lamp 120;

The second monitoring unit is used to determine the target light-emitting color corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting color; and

The third light emission control unit is used to control the at least one status prompt lamp 120 to emit light in the target light emission color.

In some embodiments, the developer can change the color of the light emitted by the state prompt lamp 120 when in each working state according to actual design requirements.

For example, when the delivery robot is in a normal working state, the third light-emitting control unit can control at least one status indicator light 120 to emit light of the first color; when the delivery robot is in an end-of-work state, the third light-emitting control unit can control at least one state The prompt light 120 emits light of the second color; and when the delivery robot is in an operating failure state, the third light-emitting control unit may control at least one state prompt light 120 to emit light of the third color. The light of the first color may be green light, the light of the second color may be blue light, and the light of the third color may be red light.

Or, when the delivery robot is in a certain working state, the third light-emitting control unit can control the status prompt lamp 120 to alternately emit lights of multiple colors. For example, when the delivery robot is in an operating failure state, the third light-emitting control unit can control at least A status indicator light 120 alternately emits red light and blue light. When the delivery robot is in an end-of-work state, the third light-emitting control unit may control at least one state prompting lamp 120 to alternately emit blue and green lights.

In some embodiments, since the third lighting control unit can control the status indicator light 120 to emit different colors of light in different working states, it is convenient for pedestrians to determine the current delivery robot according to the color of the light emitted by the status indicator light 120 Working status, which can enrich the prompt effect.

In some embodiments, the status indicator light 120 includes a plurality of LED lights; wherein,

A plurality of LED lights are respectively connected to the third lighting control unit; and

The third light-emitting control unit is also used to adjust the color of the light emitted by the state prompt lamp 120 by controlling the light-emitting brightness of a plurality of LED lights.

In some embodiments, the status indicator light 120 may include a plurality of monochromatic LED lights of different colors, and the third lighting control unit may adjust the color of the light emitted by the status indicator light 120 by controlling the brightness of the multiple LED lights.

For example, the status indicator 120 may include three single-color LED lights, namely, a red LED light, a green LED light, and a blue LED light. The third light-emitting control unit can adjust the status indicator by controlling the brightness of each single-color LED light. The color of the light emitted by the lamp 120 is any one of red light, green light, blue light, and yellow light.

In some embodiments, the second monitoring unit is further configured to determine the target light-emitting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the light-emitting mode is blinking or constant light; and

The third lighting control unit is used to control the at least one state prompting lamp 120 to emit light in a target lighting mode and a target lighting color.

For example, when the delivery robot is powered on, the second monitoring unit can monitor that the delivery robot is in the "starting delivery state", and the second monitoring unit can determine the target light emitting mode corresponding to the current working state according to the corresponding relationship between the working state and the light emitting mode , Get constant light. The second monitoring unit may determine the target luminous color corresponding to the current working state according to the corresponding relationship between the working state and the light-emitting color, and obtain green.

At this time, the third light emitting control unit may control at least one status indicator lamp 120 to emit green light in a steady-on manner.

In some embodiments, since the third light emitting control unit can control the status indicator light 120 to emit light in different light emitting modes and different light colors in different working states, it is convenient for pedestrians to follow the light emitting mode and light color of the status indicator light 120. Determine the current working status of the delivery robot, so as to enrich the prompt effect.

In some embodiments, the first light emission control unit, the second light emission control unit, and the third light emission control unit may be the same control unit or different control units; and similarly, the first monitoring unit and the second monitoring unit The units may be the same monitoring unit or different monitoring units, which is not specifically limited in the present disclosure.

The present disclosure also provides a delivery robot, which includes a delivery box and a robot body. The delivery robot includes three combined devices, each of which includes a status indicator light 120 and a distance detection component 140. The three combined devices are respectively arranged on the front, left and right sides of the housing 130 of the delivery robot. The head position of the delivery robot is provided with an early warning component 150, and the early warning component 150 includes a red warning light and a buzzer.

For easy distinction, the status indicator light 120 located on the front side of the housing 130 is referred to as the front status light A, the status indicator light 120 located on the left side of the housing 130 is referred to as the left status light B, and the status indicator located on the right side of the housing 130 is referred to as front status light A. The lamp 120 is referred to as the right state lamp C. Similarly, the distance detecting component 140 located on the front side of the housing 130 is referred to as the front ultrasonic array A, the distance detecting component 140 located on the left side of the housing 130 is referred to as the left ultrasonic array B, and the distance located on the right side of the housing 130 is referred to as the front ultrasonic array A. The detection part 140 is called the right ultrasonic array C. The warning component 150 located at the head of the housing 130 is called the sound and light warning light D.

In some embodiments, each status indicator light includes a red LED light, a green LED light, and a blue LED light. The front ultrasonic array A may be composed of two ultrasonic sensors, and the left ultrasonic array B and the right ultrasonic array C may both be composed of three ultrasonic sensors.

Fig. 3 shows a control principle diagram of an embodiment of the delivery robot provided by the present disclosure. Among them, the processor can be used as a controller of the delivery robot, and the processor can be connected to three LED drive circuits for controlling the status indicator lights, and to the drive circuit for controlling the sound and light alarm lights D. The processor can also communicate with the three distance detection components through the communication bus.

During the working process of the delivery robot, the processor can output PWM (Pulse Width Modulation) waves to the LED drive circuit, so that the LED drive circuit outputs the PWM wave to light up the red, green and blue LED lights. , So as to realize the control state prompt lamp 120 to emit light. The processor can change the color of the light emitted by the status prompt lamp 120 by controlling the luminous brightness and luminous ratio of the monochromatic LED lamp. The processor can also control the light emitting mode of the status indicator light 120.

The processor can drive the red warning light in the sound and light warning light D to emit a flashing red light through the driving circuit, and the buzzer emits a warning sound. The distance detection component can transmit the measured position information of the surrounding objects of the delivery robot to the processor in real time through the communication bus, so that the processor can determine whether there are obstacles in the preset travel route according to the position information.

The process for the delivery robot to realize the status prompt function during the delivery process includes:

When the delivery robot is started, the processor can control the three status indicator lights 120 to emit green light in a steady-on manner; and

In the process of the delivery robot transporting goods, the processor can control the three status indicator lights 120 to emit green light in a flashing manner. The three distance detection components 140 can acquire position information of objects around the delivery robot, and the processor can determine whether there are obstacles in the preset travel route according to the position information. When there is an obstacle in the front, the processor can control the front status light A on the front side of the body to flash red light. When the distance between the delivery robot and the obstacle is less than the preset distance threshold, the processor can control the audible and visual warning lamp D to flash red light and control the buzzer to emit a warning sound to send an early warning to the obstacle. At the same time, the delivery robot will re-plan the travel path to avoid obstacles.

When the delivery robot needs to turn left when it is traveling, the processor can control the left status light B located on the left side of the body to emit a yellow light in a flashing manner to remind the surrounding pedestrians that the delivery robot will turn left. In the process of the delivery robot turning left, the left ultrasonic array B arranged on the left side of the body can obtain the position information of the surrounding objects of the delivery robot in real time, so that the processor can calculate the distance between the delivery robot and the obstacle on the left in real time. When the distance between the delivery robot and the obstacle is less than the preset distance threshold, the processor can control the left status light B on the left side of the body to flash red light, and the sound and light alarm light D flashes red and controls the bee The buzzer emits a warning sound to indicate that there is a risk of collision on the left side.

Similarly, when the delivery robot needs to turn right when it is traveling, the processor can control the right status light C located on the right side of the body to emit a yellow light in a flashing manner to remind the surrounding pedestrians that the delivery robot will turn right. During the right turn of the delivery robot, the right ultrasonic array C, which is set on the right side of the body, can obtain the position information of the surrounding objects of the delivery robot in real time, so that the processor can calculate the distance between the delivery robot and the obstacle on the right side in real time. When the distance between the delivery robot and the obstacle is less than the preset distance threshold, the processor can control the right status light C on the right side of the body to flash red light, and the sound and light alarm light D flashes red and controls the bee The buzzer emits a warning sound to indicate that there is a risk of collision on the right side.

During the delivery process, if a failure is encountered, the processor can control the three status indicator lights 120 to emit red lights in a flashing manner to indicate that there is a failure in operation.

After the delivery robot completes the transportation of the goods, the processor can control the three status indicator lights 120 to emit blue light in a steady-on manner to prompt the completion of the current transportation of the goods.

It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is any such actual relationship or sequence between entities or operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The above are only specific implementations of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims

A delivery robot, which includes: a controller, a motion mechanism, at least one status indicator light and a housing; among them,

The movement mechanism is located at the bottom of the delivery robot, the at least one status indicator light is arranged on the housing, and the controller is arranged inside the delivery robot;

The controller is respectively connected with the motion mechanism and the at least one status prompt light; and

The controller is configured to control the movement mechanism to drive the delivery robot to travel according to a preset travel route, and control the at least one status prompt light to emit light according to the current working state, so as to remind the delivery robot of the current work state.
The delivery robot according to claim 1, wherein the at least one status prompting lamp is respectively arranged at a preset position in a plurality of directions of the housing; and

The controller is used for controlling the state prompt lamp at a preset position corresponding to the changed traveling direction to emit light when the delivery robot changes the traveling direction, so as to prompt the rotation direction of the delivery robot.
The delivery robot according to claim 1 or 2, wherein the delivery robot further comprises a distance detection component; wherein,

The distance detecting component is arranged on the housing and connected with the controller;

The distance detection component is used to obtain the position information of the surrounding objects of the delivery robot, and then send the obtained position information to the controller; and

The controller is further configured to determine whether there is an obstacle in the preset travel route according to the received position information, and to control the at least one state when there is an obstacle in the preset travel route The prompt light is illuminated to prompt that there is an obstacle in the preset travel route.
The delivery robot according to claim 3, wherein the number of said distance detection components is the same as the number of said at least one status indicator light, and one said distance detection component and one status indicator light constitute a combined device, and The combination devices are arranged on different sides of the housing.
The delivery robot according to claim 3 or 4, wherein the controller includes a distance calculation unit and a first light emission control unit; wherein,

The distance calculation unit is connected to the first lighting control unit, and the first lighting control unit is connected to the at least one status prompt light;

The distance calculation unit is used to calculate the distance between the delivery robot and the obstacle; and

The first lighting control unit is configured to control the at least one state prompting light to emit light when the distance is less than a preset distance threshold, so as to prompt that the distance between the delivery robot and the obstacle is too small.
The delivery robot according to claim 5, wherein the delivery robot further includes an early warning component, and the controller includes an early warning control unit; wherein,

The early warning component is arranged on the housing and connected to the early warning control unit; and

The early warning control unit is configured to control the early warning component to send out early warning information when the distance is less than a preset distance threshold.
7. The delivery robot according to claim 6, wherein the warning component is provided at a head position of the delivery robot.
The delivery robot according to claim 6 or 7, wherein the early warning component comprises an audio output module, and the early warning control unit is used to control the audio output module to emit a preset warning audio;

and / or,

The early warning component includes a warning light, and the early warning control unit is used to control the warning light to emit light with a warning function.
The delivery robot according to any one of claims 3 to 8, wherein the distance detection component includes one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.
The delivery robot according to any one of claims 1 to 9, wherein the controller includes a first monitoring unit and a second light emitting control unit; wherein,

The first monitoring unit is connected to the second lighting control unit, and the second lighting control unit is connected to the at least one status prompt lamp;

The first monitoring unit is configured to determine the target lighting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the light-emitting mode is blinking or constant light; and

The second lighting control unit is configured to control the at least one status prompt light to emit light in the target lighting mode.
The delivery robot according to any one of claims 1 to 9, wherein the controller includes a second monitoring unit and a third lighting control unit; wherein,

The second monitoring unit is connected to the third lighting control unit, and the third lighting control unit is connected to the at least one status prompt lamp;

The second monitoring unit is configured to determine the target light-emitting color corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting color; and

The third light-emitting control unit is configured to control the at least one status prompt light to emit light in the target light-emitting color.
The delivery robot according to claim 11, wherein the status prompt light comprises a plurality of LED lights; wherein,

The plurality of LED lights are respectively connected to the third light-emitting control unit; and

The third light-emitting control unit is further configured to adjust the color of the light emitted by the state prompting lamp by controlling the light-emitting brightness of the plurality of LED lamps.
The delivery robot according to claim 11 or 12, wherein the second monitoring unit is further configured to determine the target lighting mode corresponding to the current working state according to the pre-stored correspondence between the working state and the light-emitting mode, and the The luminous mode is flashing or constant light; and

The third lighting control unit is configured to control the at least one status prompt light to emit light in the target lighting mode and the target lighting color.