WO2022161154A1

WO2022161154A1 - Robot chassis and warehousing robot

Info

Publication number: WO2022161154A1
Application number: PCT/CN2022/071187
Authority: WO
Inventors: 林翰; 何家伟; 卓少凯
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-01-29
Filing date: 2022-01-11
Publication date: 2022-08-04
Also published as: CN217488510U; TWM629015U

Abstract

Provided are a robot chassis and a carrying robot. The robot chassis comprises a chassis assembly, a marker recognition unit and a cleaning apparatus, wherein the marker recognition unit and the cleaning apparatus are arranged spaced apart from each other on the chassis assembly in an advancing direction of the robot chassis, the marker recognition unit is used for recognizing a marker on the ground, and the cleaning apparatus faces the ground and is over the marker, thereby cleaning dust and debris which cover the marker, so as to ensure that the marker recognition unit can accurately recognize the marker, and thus avoiding the failure of a positioning function of the robot chassis.

Description

Robot chassis and warehouse robot

This application claims the priority of the Chinese patent application with the application number 202120286341.5 and the application name "Robot Chassis and Warehousing Robot" filed with the China Patent Office on January 29, 2021, the entire contents of which are incorporated into this application by reference.

technical field

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

Background technique

With the development of artificial intelligence, all kinds of robots are widely used in various fields such as industry and life, and mobile robots play an important role in transportation, logistics and other industries. Mobile robots usually include robot chassis, robot chassis It has the function of moving and carrying, and other functional components such as clamping mechanism and navigation unit can be installed on the robot chassis.

In the prior art, a common positioning and navigation method for mobile robots is to set markers on the ground, such as two-dimensional codes, magnetic strips, magnetic nails, ribbons, etc., and use such markers as the navigation on the mobile robot. The reference object recognized by the unit, so as to realize the automatic movement of the mobile robot along a preset route.

However, the markers on the ground are easily covered by dust and debris, which causes the robot's localization function to fail.

Application content

In view of the above problems, the present disclosure provides a robot chassis and a storage robot, which can autonomously clean dust and coverings on ground markers and avoid failure of the positioning function of the robot chassis.

In a first aspect, the present disclosure provides a robot chassis, the robot chassis includes a chassis assembly, a mark recognition unit and a cleaning device, the mark identification unit and the cleaning device are arranged on the chassis assembly at intervals along the advancing direction of the robot chassis, wherein the mark identification unit It is used to identify the markers on the ground. The cleaning device faces the ground and is opposite to the markers, so as to clear the dust and debris covered on the markers, so as to ensure that the marker recognition unit can accurately identify the markers and avoid the robot chassis positioning function. invalid.

As an optional implementation manner, the cleaning device is located on at least one side of the marking recognition unit along the traveling direction of the robot chassis, so that the cleaning device can clean the markers on the advancing path of the robot chassis to ensure that the robot chassis is moving during the movement process. Markers can always be accurately identified.

As an optional embodiment, the sign recognition unit may include one or more combinations of photoelectric sensors, visual sensors, and laser sensors, so that the ground markers can be recognized in a non-contact manner, with better convenience. and reliability.

As an optional embodiment, the cleaning device may include a vacuum assembly, the vacuum assembly includes a vacuum unit and a dust collection box, the air inlet of the vacuum unit faces the marker, the vacuum unit communicates with the dust collection box, and the vacuum The unit can generate suction to suck in the dust or sundries covering the surface of the marker through the air inlet, and finally discharge it into the dust box, so as to clean the marker.

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

As an optional 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 the side of the chassis assembly facing the ground, and the floor brush is in contact with the marker, when the robot chassis moves , the floor brush will rub against the marker, thereby cleaning the dust and debris covered on the marker, and at the same time, it can also remove the stains adhered to the marker.

As an optional implementation manner, the floor brush can be a cleaning roller, the length direction of the cleaning roller and the advancing direction of the robot chassis have an included angle, the cleaning roller is connected with the chassis assembly through a rotating shaft, and the cleaning roller can roll relative to the chassis assembly, thereby Using the friction between the cleaning roller and the ground, when the robot chassis moves, the cleaning roller is rolled to clean the marker.

As an optional embodiment, the floor brush can also be a fixed brush, which is fixedly connected to the chassis assembly, and moves on the robot chassis, and the fixed brush can generate sliding friction with the ground surface, thereby realizing the cleaning of the markers.

As an optional embodiment, the cleaning assembly may further include a driving unit, the floor brush is a rotating brush head, and the rotating brush head is connected with the driving unit through a rotating shaft to rotate under the driving of the driving unit, and rotates the rotating plane of the brush head It is parallel to the ground, so that the rotating surface of the rotating brush head facing the ground can be in contact with the ground as a whole, so that the markers can be cleaned more concentratedly and in a targeted manner.

As an optional embodiment, the rotating brush head may include a plurality of brush parts arranged at intervals around the circumference of the rotating shaft, and through the rotation of the rotating brush head, the multiple brush parts may alternately rub against the surface of the marker, thereby improving cleaning effect.

As an optional implementation, there may be two floor brushes, the two floor brushes are arranged at intervals along the advancing direction of the robot chassis, and the sign recognition unit is located between the two floor brushes, so that the robot chassis moves forward or backward regardless of whether the robot chassis moves forward or backward. , and the ground brush can clean the markers to be recognized by the marker recognition unit, ensuring that the positioning function of the robot chassis can have good reliability when it moves back and forth on the motion path.

As an optional 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 the advancing direction of the robot chassis, and the detection unit is located on the side of the chassis assembly facing the ground, and the detection unit can determine Whether the marker is obscured, it is judged whether the cleaning component 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 judges whether the marker is blocked in a non-contact manner, which has better convenience and reliability.

In a second aspect, the present disclosure provides a handling robot, including the above-mentioned robot chassis, where the robot chassis is used to allow the handling robot to move, and other functional components can be installed on the robot chassis.

The present disclosure provides a robot chassis and a handling robot. The robot chassis includes a chassis component, a mark recognition unit and a cleaning device. The mark recognition unit and the cleaning device are arranged on the chassis component at intervals along the advancing direction of the robot chassis. In order to identify the markers on the ground, the cleaning device faces the ground and is opposite to the markers, so as to clean the dust and debris covered on the markers, so as to ensure that the marker recognition unit can accurately identify the markers and avoid the failure of the positioning function of the robot chassis. .

In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, the robot chassis and handling robot provided by the present application can solve other The technical problems, other technical features included in the technical solution, and the beneficial effects brought about by these technical features will be described in further detail in the specific embodiments.

Description of drawings

In order to illustrate the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

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

Fig. 2 is the side view of Fig. 1;

3 is a schematic diagram of a second structure of a robot chassis provided by an embodiment of the present disclosure;

Fig. 4 is the side view of Fig. 3;

FIG. 5 is a third structural schematic diagram of a robot chassis provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a fourth structure of a robot chassis provided by an embodiment of the present disclosure.

Description of reference numbers:

1-robot chassis; 10-chassis components; 101-opening; 11-bottom plate; 12-wheels; 20a-dust collection assembly; 21-dust collection unit; 211-air inlet; 201-air outlet; 20c-cleaning roller; 20d-fixed brush; 20e-rotating brush head; 23-brush part.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some, but not all, embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can adjust it as needed to adapt to specific applications.

Secondly, it should be noted that, in the description of this application, the terms of direction or positional relationship indicated by the terms "inner" and "outer" are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, It is not intended to indicate or imply that a device or component must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

In addition, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of the two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms 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, all kinds of robots are widely used in various fields such as industry and life, and mobile robots play an important role in transportation, logistics and other industries. Mobile robots usually include robot chassis, robot chassis It has the function of moving and carrying, and other functional components such as clamping mechanism and navigation unit can be installed on the robot chassis. In the prior art, a common positioning and navigation method for mobile robots is to set markers on the ground, such as two-dimensional codes, magnetic stripes, magnetic nails, ribbons, etc., and the markers can be arranged or extended in a certain direction. A certain moving path is formed, and this marker is used as a reference object recognized by the navigation unit on the mobile robot, so as to realize the automatic movement of the mobile robot along a predetermined route.

However, the markers on the ground are easily covered by dust and debris, which leads to the failure of the positioning function of the robot. Specifically, when using QR codes or ribbons as markers, the navigation unit on the mobile robot is usually recognized by images. If the marker is blocked, the mobile robot cannot obtain image signals, resulting in the failure of the positioning function; if magnetic strips, magnetic nails, etc. are used as markers, the The navigation unit usually judges the position and path of the marker by magnetic induction. At this time, if the marker is blocked, the magnetic induction of the mobile robot to the marker will be weakened, so that the position and extension or arrangement path of the marker cannot be accurately judged. , which will cause the positioning function to fail.

In view of the above problems, in order to ensure the reliability of the robot's moving process, the present application provides a robot chassis and a storage robot, which can autonomously clean the dust and coverings on the ground markers, so as to ensure that the robot can accurately identify the markers on the ground, thereby Avoid failure of the positioning function of the robot chassis.

1 is a schematic diagram of a first structure of a robot chassis provided by an embodiment of the present disclosure, FIG. 2 is a side view of FIG. 1 , FIG. 3 is a schematic diagram of a second structure of a robot chassis provided by an embodiment of the present disclosure, and FIG. 4 is FIG. 3 FIG. 5 is a schematic diagram of a third structure of a robot chassis provided by an embodiment of the present disclosure, and FIG. 6 is a schematic diagram of a fourth structure of a robot chassis provided by an embodiment of the present disclosure. As shown in FIG. 1 to FIG. The embodiment provides a robot chassis 1, the robot chassis 1 includes a chassis assembly 10, a mark recognition unit (not shown in the figure) and a cleaning device, the mark identification unit and the cleaning device are installed on the chassis assembly 10, the mark identification unit and The cleaning devices are arranged at intervals along the advancing direction of the robot chassis 1. The chassis assembly 10 can play a bearing function, and other functional modules such as clamping, storage, transportation, and path recognition can be installed above it.

Specifically, the sign recognition unit can be used to identify the markers on the ground, and the cleaning device faces the ground and is opposite to the marker, so as to clean the dust and debris covered on the marker, so as to ensure that the marker recognition unit can accurately identify the marker. , to avoid the failure of the positioning function of the robot chassis 1.

It should be noted that, in this embodiment, the chassis assembly 10 mainly plays the functions of moving and carrying, and it can identify the signals fed back by the landmarks on the ground according to the landmark recognition unit, and according to the extension or arrangement path of the landmarks, and the corresponding The specific type of the marker recognized by the marker recognition unit can be selected according to the specific equipment type and working principle of the marker recognition unit. Nails, ribbons, etc., which are not specifically limited in this embodiment.

Since the robot chassis 1 usually moves automatically along a certain path according to the program setting or the operator's active control, it is necessary to ensure that the ground can be accurately identified at different positions and during the movement path of the robot chassis 1 on the moving path. Therefore, the marker recognition unit and the cleaning device need to face the marker on the ground, so that the cleaning device can be located on at least one side of the marker recognition 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 sign recognition unit along the traveling direction of the robot chassis 1, so that during the process of moving forward or backward of the robot chassis 1, the cleaning device can detect the markers that the sign recognition unit is about to recognize. Cleaning is performed to ensure that the robot chassis 1 can always accurately identify the markers during the movement.

In other embodiments, the cleaning device can be simultaneously arranged in the front and rear of the sign recognition unit along the traveling direction of the robot chassis 1. Since the moving path of the robot chassis 1 is not fixed, when performing work tasks, it may be along the sign The path of the object moves in one direction, or it may be a reciprocating motion, or if the path of the marker is more complicated, it completes the movement along a specific path, so it may move forward or backward, and the cleaning device is set at the same time. The front and rear of the unit along the forward direction of the robot chassis 1 can clean the marker area to be recognized by the marker recognition unit when the robot chassis 1 moves forward and backward.

It should be noted that the number of cleaning devices can be one or more. When it is one cleaning device, it can either clean the markers on the ground on one side of the sign recognition unit, or simultaneously clean the markers on different sign recognition units. The floor markers on the side are cleaned, and when there are multiple cleaning devices, they can be distributed on different sides of the marker recognition unit.

The specific structure, setting manner and principle of realizing the function of the cleaning device will be described in detail below.

Referring to FIGS. 1 and 2 , as an optional embodiment, the cleaning device may include a vacuum assembly 20a, the vacuum assembly 20a may include a vacuum unit 21 and a dust collection box 22, and an air inlet 211 of the vacuum unit 21 Facing the marker, the dust collection unit 21 communicates with the dust collection box 22, the dust collection unit 21 can generate suction, and the dust or sundries covered on the surface of the marker are inhaled through the air inlet 211, and finally discharged into the dust collection box 22, So as to achieve the cleaning of the marker.

Specifically, the dust suction unit 21 may include a casing and a fan, the casing is used to form an air duct with two ends passing through, and one end of the air duct is an air inlet 211, which can be one or more and face the ground. The other end of the air duct is connected to the dust collecting box 22, the fan can be set in the air duct, and the fan can be driven and rotated by the motor, so that the air flow can form suction through the rotation of the fan, and the dust covered on the marker can be removed. and sundries are sucked into the air duct and discharged into the dust box 22 through the air duct.

Optionally, the dust collecting box 22 may be installed on the side of the chassis assembly 10 away from the bottom surface, or may be installed on the side of the chassis assembly 10 facing the ground, which is not specifically limited in this embodiment.

Exemplarily, there may be two air inlets 211 in the air duct of the vacuuming unit 21, and the two air inlets 211 extend to the front and rear sides of the sign recognition unit along the traveling direction of the robot chassis 1, so that the sign recognition unit can be checked at the same time. The surfaces of the front and rear markers are cleaned.

Please refer to FIGS. 3 and 4 , as another optional embodiment, the cleaning device may include a blower assembly 20b, and the air outlet 201 of the blower assembly 20b faces the marker, and the surface of the marker is covered by wind by blowing air to the marker. The dust and impurities are blown away, so that the marker is exposed, which is convenient for the marker recognition unit to identify.

Specifically, the blowing assembly 20b may also include a casing and a fan, the casing is used to form an air duct, the fan may be arranged in the air duct or at one end of the air duct, and the air outlet 201 of the blowing assembly 20b is the air outlet 201 of the air duct, The air outlet 201 of the air duct faces the marker on the ground, and the fan can be driven and rotated by a single machine. When the fan rotates, it can generate wind airflow and blow air to the marker on the ground.

Exemplarily, similar to the arrangement of the above-mentioned dust collection unit 21, two air outlets 201 of the blower assembly 20b can also be arranged, and they respectively extend to the front and rear sides of the sign recognition unit along the traveling direction of the robot chassis 1, so as to achieve the same cleaning effect. , and will not be repeated here.

Referring to FIGS. 5 and 6 , as another optional 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 the side of the chassis assembly 10 facing the ground, and the floor brush In contact with the marker, when the robot chassis 1 moves, the floor brush will rub against the marker, thereby cleaning the dust and debris covered on the marker, and at the same time removing the stains adhered to the marker.

Different from the previous two methods of cleaning the markers in a non-contact manner through the wind force, the floor brush assembly can clean the markers through contact friction and The stains that are difficult to be removed by wind can also be removed by the floor brush assembly. The floor brushes of the floor brush assembly can have different structures and arrangements, which will be described in detail below.

Please continue to refer to FIG. 5 , in some embodiments, the floor brush may be a cleaning roller 20c, the length direction of the cleaning roller 20c has an included angle with the advancing direction of the robot chassis 1, the cleaning roller 20c is connected with the chassis assembly 10 through a rotating shaft, and cleans The roller 20c can roll relative to the chassis assembly 10, so that the cleaning roller 20c can be rolled when the robot chassis 1 is moved by the friction force between the cleaning roller 20c and the ground, so as to clean the marker.

Optionally, the cleaning roller 20c can use the static friction force when the surface of the cleaning roller 20c is in contact with the ground to realize automatic rotation when the robot chassis 1 moves. , thereby increasing the friction frequency and speed between the cleaning roller 20c and the ground, thereby improving the cleaning effect.

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

In some embodiments, the floor brush can also be a fixed brush 20d, which is fixedly connected to the chassis assembly 10, and when the robot chassis 1 moves, the fixed brush 20d can generate sliding friction with the ground surface, so as to realize the detection of markers. clean.

Optionally, the fixed brush 20d can be a long strip brush or a cylindrical brush, and both ends of the fixed brush 20d can be fixedly connected to the chassis assembly 10 through fasteners such as bolts and buckles. In this embodiment The specific shape and installation method of the fixed brush 20d are not specifically limited.

Exemplarily, the length direction of the fixed brush 20d may be perpendicular to the traveling direction of the robot chassis 1, and the length of the fixed brush 20d is greater than the width of the marker, so that its cleaning surface is larger than the area of the marker, and during the cleaning process. It can cover the entire corresponding marker area to ensure the reliability of the positioning function of the marker recognition unit.

Please continue to refer to FIG. 6 , in other embodiments, the floor brush may be a rotating brush head 20e, and the cleaning assembly may further include a driving unit, and the rotating brush head 20e is connected with the driving unit through a rotating shaft to rotate under the driving of the driving unit, In addition, the rotating plane of the rotating brush head 20e is parallel to the ground, so that the rotating surface of the rotating brush head 20e facing the ground can be in contact with the ground as a whole, so that the markers can be cleaned in a more concentrated and targeted manner.

Specifically, the driving unit may be a motor, and the rotating brush head 20e may include a plurality of brush parts 23 arranged at intervals around the circumference of the rotating shaft. Through the rotation of the rotating brush head 20e, the plurality of brush parts 23 may alternate with the surface of the marker friction to improve cleaning effect.

Optionally, the rotating brush head 20e can be rotated at a constant speed or at a variable speed, and can be rotated forward, reversely, or reciprocally, so as to improve the cleaning effect, and its rotation speed can be controlled by the robot. The controller performs control, and the specific rotational speed of the rotating brush head 20e is not limited in this embodiment.

In addition, in some embodiments, there may be two floor brushes, the two floor brushes are arranged at intervals along the forward direction of the robot chassis 1, and the mark recognition unit is located between the two floor brushes, so that the robot chassis 1 is forward or backward regardless of whether the robot chassis 1 is forward or backward. Both motion and floor brushes can clean the markers to be recognized by the marker recognition unit, ensuring that the positioning function of the robot chassis 1 can have good reliability when it moves back and forth on the motion path.

It should be noted that the specific components and structures of the above-mentioned cleaning components to achieve the cleaning function, this embodiment may have a combination of one or more of them, and the specific cleaning method can be selected according to the actual operation of the robot chassis 1. For example, if the application occasion of the robot chassis 1 is an ordinary warehouse with a relatively dry environment, and the landmarks on the ground on the route it travels are usually only covered by dust or tiny sundries, the dust suction assembly 20a and the blower assembly can be used. 20b for cleaning, so as to achieve the cleaning effect while reducing the traveling resistance of the robot chassis 1; and in some applications that are prone to stains and adhesions on the ground, the floor brush assembly can be used for cleaning. For cleaning, or use the combination of the floor brush assembly, the dust suction assembly 20a, and the blower assembly 20b, so as to ensure the cleaning effect.

As an optional implementation manner, the sign recognition unit may include one or more combinations of photoelectric sensors, photoelectric sensors, visual sensors, and laser sensors, so that the landmarks on the ground can be recognized in a non-contact manner, with better performance. convenience and reliability.

Specifically, a robot controller can be installed on the robot chassis 1, and the sign recognition unit can be electrically connected to the controller, so as to transmit the identified signal to the controller, and the controller controls the traveling direction and speed of the robot chassis 1.

Exemplarily, when the landmark on the ground is a two-dimensional code or a color ribbon, the symbol recognition unit may be a camera, and the camera faces the two-dimensional code or the color ribbon, and the image captured by the camera is used to identify the two-dimensional code or the color ribbon. Realize the positioning function of the robot chassis 1, or determine the required travel direction.

As an optional implementation manner, 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 the side of the chassis assembly 10 facing the ground. The unit can determine whether the marker is obscured, so as to determine whether it is necessary to start the cleaning component to clean the surface of the marker.

Optionally, the detection unit may be a sensor, and the detection end of the sensor may face the marker to judge whether the marker is blocked or not in a non-contact manner, which has better convenience and reliability.

As an optional embodiment, the chassis assembly 10 may include a bottom plate 11 and wheels 12, the sign recognition unit and the cleaning device may be installed on the bottom plate 11, and the bottom plate 11 may also be installed with other functional components such as motors and controllers, The wheels 12 can be arranged on opposite sides of the base plate 11 in pairs, and can be rotated under the driving of the motor, so as 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 identification unit, so that the mark identification unit can identify the mark on the ground through the opening 101 .

The robot chassis provided in this embodiment includes a chassis component, a mark recognition unit and a cleaning device. The mark recognition unit and the cleaning device are arranged on the chassis component at intervals along the advancing direction of the robot chassis, wherein the mark recognition unit is used to identify the landmarks on the ground. , the cleaning device faces the ground and is opposite to the marker, so as to clean the dust and debris covered on the marker, so as to ensure that the marker recognition unit can accurately identify the marker and avoid the failure of the positioning function of the robot chassis.

This embodiment provides a handling robot, including the robot chassis in the above technical solution, the robot chassis can play a bearing role and can make the handling robot move, and other functional components can be installed on the robot chassis.

Specifically, components with different functions such as storage components, clamping components, and guiding units can be installed on the robot chassis to meet the needs of different application scenarios. The handling robot provided in this embodiment can be applied to different occasions where items need to be transferred and handled , for example, it can be applied to logistics scenarios such as warehouses, production lines, and pharmacies, which are not specifically limited in this embodiment. In addition, the handling robot provided in this embodiment may be equipped with a sign recognition unit, and the sign recognition unit may recognize the ground signs, so as to realize the positioning and navigation functions, so as to move according to a preset path or an automatically recognized path. Exemplary, The handling robot can be an Automated Guided Vehicle (AGV). The handling robot in this embodiment can use the cleaning device to clean the markers on the ground, so as to ensure that the marker recognition unit can accurately identify the markers and avoid the failure of the positioning function of the robot chassis.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure. .

Claims

A robot chassis, characterized in that it includes a chassis assembly, a mark identification unit and a cleaning device, wherein the mark identification unit and the cleaning device are arranged on the chassis assembly at intervals along the advancing direction of the robot chassis;

The mark identification unit is used for identifying marks on the ground, and the cleaning device faces the ground and is opposite to the mark.
The robot chassis according to claim 1, wherein the cleaning device is located on at least one side of the sign recognition unit along the traveling direction of the robot chassis.
The robot chassis according to claim 1, wherein the sign recognition unit comprises one or more combinations of photoelectric sensors, visual sensors, and laser sensors.
The robot chassis according to any one of claims 1-3, wherein the cleaning device comprises a dust collection assembly, the dust collection assembly comprises a dust collection unit and a dust collection box, and an air inlet of the dust collection unit Facing the marker, the dust collecting unit communicates with the dust box.
The robot chassis according to any one of claims 1-3, wherein the cleaning device comprises a blower assembly, and an air outlet of the blower assembly faces the marker.
The robot chassis according to any one of claims 1-3, wherein the cleaning device includes a floor brush assembly, the floor brush assembly includes at least one floor brush, and the floor brush is located on the chassis assembly facing the ground one side, and the floor brush is in contact with the marker.
The robot chassis according to claim 6, wherein the floor brush is a cleaning roller, and the length direction of the cleaning roller has 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.
The robot chassis according to claim 6, wherein the floor brush is a fixed brush, and the fixed brush is fixedly connected to the chassis assembly.
The robot chassis according to claim 6, wherein the cleaning assembly further comprises a driving unit, the floor brush is a rotating brush head, and the rotating brush head is connected with the driving unit through a rotating shaft, so that the The rotating brush head rotates under the driving of the driving unit, and the rotating plane of the rotating brush head is parallel to the ground.
The robot chassis according to claim 9, wherein the rotating brush head includes a plurality of fur brush parts arranged at intervals around the circumference of the rotating shaft.
The robot chassis according to any one of claims 7-10, wherein there are two floor brushes, and the two floor brushes are arranged at intervals along the advancing direction of the robot chassis, and the sign recognition unit is located at between the two said floor brushes.
The robot chassis according to any one of claims 1-3, further comprising a detection unit, the detection unit and the cleaning device are arranged at intervals along the advancing direction of the robot chassis, and the detection unit is located at the The side of the chassis assembly facing the ground.
The robot chassis according to claim 12, wherein the detection unit is a sensor, and the detection end of the sensor faces the marker to determine whether the marker is blocked.
A handling robot is characterized by comprising the robot chassis according to any one of claims 1-13.