WO2024120058A1

WO2024120058A1 - Parcel delivery robot

Info

Publication number: WO2024120058A1
Application number: PCT/CN2023/128015
Authority: WO
Inventors: 黄兆
Original assignee: 丰巢网络技术有限公司
Priority date: 2022-12-06
Filing date: 2023-10-31
Publication date: 2024-06-13
Also published as: CN116224985A

Abstract

A parcel delivery robot. The parcel delivery robot uses an upper part and lower part separate design. An upper-part circuit (2) is provided in an upper part, a lower-part circuit (4) is provided in a lower part, and the upper part and the lower part are then assembled by using an upper-part port and a lower-part port of a connector (5), so as to form a whole parcel delivery robot. Moreover, a first LiDAR used for performing distance measurement within a preset area around the robot is provided in the upper-part circuit of the robot, and distance measurement of the robot is implemented by means of the first LiDAR. Within a park or a residential district, the parcel delivery robot can conveniently deliver a parcel from outdoors to a doorway of a user's house, or transfer the parcel from a user's hands to an outdoor smart parcel locker.

Description

A package delivery robot

Technical Field

The present invention relates to the field of robots, and in particular to a package delivery robot.

Background technique

In the prior art, robots used for package delivery are divided into indoor robots and outdoor robots. However, since both types of robots have detection blind spots when moving, and there are many narrow areas between indoors and outdoors, such as gates, automatic doors, elevators, etc., the activity area of indoor robots is limited to indoors and cannot adapt to movement scenarios from indoors to outdoors; similarly, the activity area of outdoor robots is also limited to outdoors and cannot adapt to movement scenarios from outdoors to indoors.

Therefore, how to make the package delivery robot adapt to the movement scenarios from indoor to outdoor has become an urgent problem to be solved.

Summary of the invention

Based on this, it is necessary to provide a parcel delivery robot to address the above technical issues, so as to solve the problem that the parcel delivery robots in the prior art cannot adapt to the movement scenarios from indoors to outdoors.

Based on the above purpose, a package delivery robot includes:

The robot upper body includes an upper body body and an upper body circuit;

The robot bottom assembly includes a bottom assembly body and a bottom assembly circuit;

A connector having an upper loading port and a lower loading port, wherein the upper loading port is connected to the upper loading of the robot, and the lower loading port is connected to the lower loading of the robot, so as to realize the assembly between the upper loading body and the lower loading body, and the connection between the upper loading circuit and the lower loading circuit;

The upper circuit includes a first processor and a first laser radar connected to the first processor, which is used to detect the distance within a preset area around the robot;

The first processor is used to drive the robot according to the detection distance of the first laser radar.

Optionally, the download circuit further includes: a second processor, and an ultrasonic ranging sensor connected to the second processor, wherein the ultrasonic ranging sensor is used to detect the distance within the blind area.

Optionally, the download circuit further includes:

The anti-collision bar module connected to the second processor is used to control the robot to stop moving according to the touch signal sent by the anti-collision bar module.

Optionally, the download circuit also includes:

A cooling fan and a temperature and humidity sensor connected to the second processor, used to control the cooling fan to work according to the temperature and humidity information detected by the temperature and humidity sensor;

an inertial measurement module connected to the second processor, used to determine the motion posture of the robot according to the speed and acceleration information sent by the inertial measurement module;

An emergency stop switch and a wheel hub motor driver are connected to the second processor, wherein the wheel hub motor driver is connected to the wheel hub motor arranged in the lower body, and the second processor is used to control the wheel hub motor driver to send a stop drive signal according to the emergency stop signal fed back by the emergency stop switch to control the wheel hub motor to stop working.

Optionally, the download circuit further includes:

A charge and discharge control board, wherein the first power supply output terminal of the charge and discharge control board is connected to a power supply board arranged in the upper body through the connector, the second power supply output terminal of the charge and discharge control board is connected to the hub motor driver, the third power supply output terminal of the charge and discharge control board is connected to the second processor, and the charge and discharge control terminal of the charge and discharge control board is connected to a battery.

Optionally, the charge and discharge control board includes:

A third processor, a battery charging branch, and a battery power supply branch, wherein the third processor is connected to a switch circuit arranged in series in the battery charging branch to control the on and off of the battery charging branch; the input end of the battery charging branch is provided with a charging interface to connect to a charging pile; the output end of the battery charging branch is connected to the battery;

The input end of the battery power supply branch is connected to the battery, and the battery power supply branch has at least four power supply output ends, which are respectively connected to the connector, the wheel hub motor driver, the second processor and the third processor.

Optionally, the battery charging branch includes: a first voltage detection circuit, a first switch circuit, a first current detection circuit, and a second switch circuit connected in sequence, wherein an input end of the first voltage detection circuit is connected to the charging interface, an output end of the second switch circuit is connected to the battery, and control ends of the first switch circuit and the second switch circuit are connected to the third processor; and acquisition ends of the first voltage detection circuit and the first current detection circuit are respectively connected to the third processor;

The battery power supply branch comprises: a second voltage detection circuit, a second current detection circuit, a first DCDC circuit, and a voltage stabilizer connected in sequence, wherein the input end of the second voltage detection circuit is connected to the battery, and the acquisition ends of the second voltage detection circuit and the second current detection circuit are connected to the third processor; the output end of the voltage stabilizer is connected to the third processor;

The second current detection circuit has at least four output terminals, wherein the first output terminal is connected to the second processor through the second DCDC circuit, the third output terminal is connected to the wheel hub motor driver through the third switch circuit, and the fourth output terminal is connected to the connector through the fourth DCDC circuit.

Optionally, the upper loading circuit further includes:

A depth camera, wherein the depth camera is connected to the first processor to perform area detection;

A switch, wherein the switch is respectively connected to the security camera and the first processor through preset network ports; the switch is used to send the collected data of the security camera to the first processor.

Optionally, the upper loading circuit further includes:

The fourth processor is respectively connected to the door motor control board, the display, the voice control device and the switch, and is used to control the door motor control board to drive the cabinet door set in the robot, control the display to display, and control the voice control device to give voice prompts.

Optionally, the upper loading circuit further includes:

A power board, wherein the power board is provided with a fifth processor, and the fifth processor is respectively connected to a fourth switch circuit, a fifth switch circuit, a fifth DCDC circuit, a sixth DCDC circuit, and a seventh DCDC circuit, the output end of the fourth switch circuit is connected to the first laser radar, the output end of the fifth switch circuit is connected to the first processor, the output end of the fifth DCDC circuit is connected to the fourth processor, the output end of the sixth DCDC circuit is connected to the security camera, and the output end of the seventh DCDC circuit is connected to the switch.

Optionally, the upper loading circuit further includes:

A communication board is provided with a sixth processor, and a Lora communication module, a BLE communication module and an RTK communication module respectively connected to the sixth processor, and a bus interface of the sixth processor is connected to the first processor for sending communication information to the first processor.

Optionally, the door motor control board includes:

a seventh processor, and a motor drive circuit and a Hall sensor respectively connected to the seventh processor, wherein the driving end of the motor drive circuit is connected to the motor for driving the cabinet door, and the collecting end of the Hall sensor is used to collect the driving current of the motor drive circuit;

An eighth DCDC circuit and a voltage regulator are connected in sequence, wherein the input end of the eighth DCDC circuit is connected to the output end of the power board, and the output end of the voltage regulator is connected to the seventh processor for supplying power to the seventh processor.

Optionally, the first laser radar is a 3D laser radar or a 2D laser radar.

The above technical solution has the following beneficial effects:

The package delivery robot of the present invention adopts a split design of upper and lower parts, wherein an upper circuit is arranged in the upper part, and a lower circuit is arranged in the lower part, and then the upper and lower parts are assembled using the upper port and the lower port of the connector to form a complete package delivery robot. In addition, a first laser radar for distance detection within a preset area around the robot is arranged in the upper circuit of the robot, and the robot's distance detection is realized by the first laser radar, so as to adapt to the movement scene from indoor to outdoor, and the robot has strong versatility. In addition, the robot of the present invention can realize the delivery of packages from the outdoors to the user's doorstep in a park or community, or transfer the package from the user to an outdoor smart express cabinet, which is highly convenient and solves the problem that it is inconvenient for users to go to the outdoor express cabinet to send and receive express in person, and has a good market application prospect.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

FIG1 is a schematic diagram of a parcel delivery robot provided in one embodiment of the present invention;

FIG2 is a schematic diagram of a circuit structure of a parcel delivery robot provided in one embodiment of the present invention;

3 is a structural diagram of a bottom-loading circuit built into a bottom-loading body provided in one embodiment of the present invention;

4 is a schematic diagram of the circuit structure of a charge and discharge control board provided in one embodiment of the present invention;

5 is a schematic diagram of the circuit structure of a power board of an upper mounting circuit provided in one embodiment of the present invention;

6 is a schematic diagram of the circuit structure of a communication board of an upper mounting circuit provided in one embodiment of the present invention;

7 is a schematic diagram of the circuit structure of a door motor control board of an upper circuit provided in an embodiment of the present invention;

The symbols are explained as follows:

1. Upper body; 2. Upper circuit; 3. Lower body; 4. Lower circuit; 5. Connector.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should also be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element without departing from the scope of the present disclosure. As used herein, the term "and/or" includes any and all combinations of one or more related listed items.

It should also be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements.

It should also be understood that the terms "upper", "lower", "left", "right", "front", "back", "bottom", "middle", "middle", "top", etc. may be used herein to describe various elements, and the indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore these elements should not be limited by these terms.

These terms are only used to distinguish one element from another element. For example, a first element can be referred to as an "upper" element, and similarly, a second element can be referred to as an "upper" element according to the relative orientation of these elements without departing from the scope of the present disclosure.

It is further understood that the terms “comprises,” “includes,” “including” and/or “comprising” when used herein specify the presence of stated features, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. It will be further understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein.

In one embodiment, a package delivery robot is provided, as shown in FIG1 , comprising:

The robot upper body comprises an upper body body 1 and an upper body circuit 2;

The robot bottom assembly includes a bottom assembly body 3 and a bottom assembly circuit 4;

and a connector 5 having an upper loading port and a lower loading port, wherein the upper loading port is connected to the upper loading of the robot, and the lower loading port is connected to the lower loading of the robot, so as to realize the assembly between the upper loading body and the lower loading body, and the connection between the upper loading circuit and the lower loading circuit;

The upper circuit 2 includes a first processor and a first laser radar connected to the first processor, which is used to detect the distance within a preset area around the robot;

The downstream circuit 4 includes a second laser radar, which is used to connect to the first processor through the connector to perform distance detection of the blind spot around the robot; the first processor is used to drive the robot according to the detection distance of the first laser radar and the second laser radar.

In this embodiment, the upper body is connected to the upper port of the connector, and the lower body is connected to the lower port of the connector, and the upper body and the lower body are assembled through the connector. In addition, the upper body is provided with the aforementioned upper circuit, and the lower body is provided with the aforementioned lower circuit. A laser radar is specially provided in each of the upper circuit and the lower circuit, so that the laser radar distributed in the upper circuit can perform long-distance and high-precision distance detection. However, since the laser radar is arranged at a higher position, there is a detection blind spot around the robot. Therefore, the laser radar distributed in the lower circuit is required to perform blind spot distance detection. Through the mutual cooperation between the first laser radar and the second laser radar, the robot's blind spot-free distance detection is achieved to ensure that the package delivery robot can operate safely and smoothly both indoors and outdoors without obstacles.

In other embodiments, the first laser radar is a 3D laser radar, and the second laser radar is a 2D laser radar. The 3D laser radar has a long detection distance and high accuracy. In order to achieve blind spot ranging of the 3D laser radar, a single-line laser radar such as a 2D laser radar can be used to cooperate with the blind spot, so as to save economic costs and achieve the best effect of robot distance detection without blind spots.

In one embodiment, a package delivery robot is provided. Based on the package delivery robot shown in FIG. 1 , as shown in FIG. 2 , the lower loading circuit built into the lower loading body further includes:

A second processor, and an infrared ranging sensor and an ultrasonic ranging sensor (ultrasonic ranging sensor) respectively connected to the second processor, wherein the infrared ranging sensor is used for obstacle detection when the robot is traveling, and the ultrasonic ranging sensor is used for distance detection in the blind spot.

Among them, the second processor is an MCU, which is arranged on the lower control board. The MCU is provided with multiple UART (Universal Asynchronous Receiver/Transmitter) interfaces, and is connected to the RS485 module through a UART interface. The MCU is connected to the ultrasonic ranging sensor through the RS485 module. The function of the ultrasonic ranging sensor is to cooperate with the 2D laser radar in the aforementioned embodiment to play a role in blind ranging. That is, through the ranging detection of the ultrasonic ranging sensor, it can supplement the detection of the short-range blind area of the 2D laser radar and highly reflective objects such as filling glass.

The MCU is also connected to an infrared ranging sensor through a UART interface. Preferably, two infrared ranging sensors can be provided, one infrared ranging sensor is provided on the left side of the lower installation body, and the other infrared ranging sensor is provided on the right side of the lower installation body, and is used for detecting steps when the robot transports packages between indoors and outdoors, and sending the detection information to the MCU, which transmits the detection information to the first processor, and the first processor performs calculations and judgments based on the received detection information, and controls the movement of the robot, thereby preventing the robot from falling off the steps.

As shown in FIG2 , the bottom-loading circuit built into the bottom-loading body further includes:

Among them, the anti-collision bar module may include a collision detection sensor, which is arranged around the robot to detect the intensity signal of the robot's collision during movement, and send the intensity signal to the second processor. The second processor is used to determine whether the intensity signal exceeds a set threshold, or to determine the collision level based on the intensity signal. When the intensity signal exceeds the set threshold or the collision level is a preset level, the robot is controlled to stop moving immediately, and the collision information and stop movement information of the robot are fed back to the first processor in the upper body. The first processor communicates with the external terminal to provide a collision warning information prompt and request maintenance personnel to perform maintenance inspections.

Exemplarily, at least two of the above-mentioned collision detection sensors can be set. When two are set, one collision detection sensor is set on the front side of the robot, and the other collision detection sensor is set on the rear side of the robot; when four collision detection sensors are set, one collision detection sensor can be set on the front side, rear side, left side and right side of the robot respectively.

As shown in Figures 2 and 3, the bottom-loading circuit built into the bottom-loading body also includes:

an inertial measurement module (IMU module) connected to the second processor, for determining the motion posture of the robot according to the speed and acceleration information sent by the inertial measurement module;

In this embodiment, the temperature and humidity sensor is arranged in the lower body to detect the temperature and humidity information in the lower body. Preferably, the temperature and humidity sensor can be arranged close to the second processor to detect the temperature and humidity information near the second processor. After the temperature and humidity sensor transmits the detected temperature and humidity information to the second processor, the second processor determines whether the current temperature and humidity information meets the preset temperature and humidity threshold value. If not, the cooling fan is controlled to turn on, thereby quickly achieving a decrease in temperature and humidity.

In this embodiment, the second processor needs to use the speed and acceleration information detected by the inertial measurement module, combined with the ranging information of the 3D lidar and the 2D lidar, and receive the measurement information sent by the RTK surveying instrument, to perform information fusion calculations to realize the navigation movement of the robot.

In this embodiment, an emergency stop switch is provided on the outside of the lower body. When maintenance personnel need to perform maintenance and inspection on the robot in motion, they can manually press the emergency stop switch to control the robot to stop moving immediately.

Optionally, a switch output module (light strip) can be set on the lower body of the robot to display the remaining battery power of the robot, display the power-on status, or make corresponding reminders. The first processor is connected to the light strip through the GPIO interface to control the light strip to display light.

Among them, the function of the charge and discharge control board is to control the power supply of the battery to each load end, and the load end includes the power board, hub motor driver and second processor mentioned above which are arranged in the upper body.

In one example, as shown in FIG4 , the charge and discharge control board includes:

Among them, the charging interface of the above-mentioned battery charging branch can be set to one or two. When two charging interfaces are set, one is used as the main charging pile charging interface and the other is the emergency charging interface. The main charging pile charging interface is connected to the battery through a switch circuit, and the emergency charging interface is connected to the battery through another switch circuit. It is equivalent to a main charging branch and a backup charging branch. When the main charging branch fails, the backup charging branch is used to charge the battery.

The above-mentioned battery power supply branch has at least four power supply output terminals, which convert the 24V voltage output by the battery into a charging voltage suitable for each load, so as to charge each load (hub motor driver, second processor and third processor) through each power supply output terminal, and supply power to the load built into the upper body through the connector.

In one example, as shown in FIG4 , the battery charging branch of the charge and discharge control board includes: a first voltage detection circuit, a first switch circuit, a first current detection circuit, and a second switch circuit connected in sequence, wherein the input end of the first voltage detection circuit is connected to the charging interface, the output end of the second switch circuit is connected to the battery, and the control ends of the first switch circuit and the second switch circuit are connected to the third processor; the acquisition ends of the first voltage detection circuit and the first current detection circuit are respectively connected to the third processor.

Among them, the third processor can be an MCU, which obtains the charging voltage on the battery charging branch through the first voltage detection circuit, and obtains the charging current on the battery charging branch through the first current detection circuit. The MCU performs threshold judgment on the collected charging voltage and charging current, and when it is judged that overvoltage and/or overcurrent occurs, the control switch circuit is disconnected to stop charging the battery; or when the MCU judges that the battery is fully charged, the control switch circuit is disconnected to protect the battery.

Optionally, when a main charging branch and a backup charging branch are set in the battery charging branch, the aforementioned first voltage detection circuit and the first switching circuit are distributed in the main charging branch and the backup charging branch, and the output ends of the two first switching circuits are connected to the first current detection circuit and the second switching circuit, and are connected to the battery through the second switching circuit, so that the third processor can control the on and off of the main charging branch and the backup charging branch respectively, that is, the third processor realizes switching between the main charging branch and the backup charging branch by controlling the first switching circuits arranged in series in the main charging branch and the backup charging branch respectively.

In one example, as shown in FIG4 , the battery power supply branch in the charge and discharge control board includes:

A second voltage detection circuit, a second current detection circuit, a first DCDC circuit, and a voltage regulator LDO are connected in sequence, wherein the input end of the second voltage detection circuit is connected to the battery, and the acquisition ends of the second voltage detection circuit and the second current detection circuit are connected to the third processor; and the output end of the voltage regulator is connected to the third processor;

The second current detection circuit has at least four output ends, wherein the first output end is connected to the second processor through a second DCDC circuit, the second output end is connected to the second laser radar through a third DCDC circuit, the third output end is connected to the hub motor driver through a third switching circuit, and the fourth output end is connected to the connector through a fourth DCDC circuit.

The function of the battery power supply branch is to control the power supply for the third processor in the charge and discharge control board of the battery, and to control the power supply for each load in the upper and lower bodies. The power supply control process includes: the second voltage detection circuit and the second current detection circuit respectively detect the power supply voltage and the power supply current in the power supply branch, and send the power supply voltage and the power supply current to the third processor through the acquisition terminal, and the third processor compares and judges the voltage and current. When it is judged that the voltage power supply is abnormal and/or the current power supply is abnormal, an alarm is issued, and the alarm information is fed back to the first processor.

In one example, as shown in FIG2 , the upper loading circuit further includes:

A switch, wherein the switch is respectively connected to the security camera and the first processor through preset network ports, and the switch is also connected to the second laser radar through the network port of the connector; the switch is used to send the collected data of the security camera and the second laser radar to the first processor.

The above-mentioned depth camera is used for regional detection, and is preferably arranged in the upper body to ensure that the area detected by the depth camera is not blocked, so as to achieve the best regional detection effect.

The above-mentioned switch adopts an eight-port switch, which is used to realize data exchange between various modules in the upper body, and to realize data exchange between various modules in the upper body and various modules in the lower body. For example, the four security cameras (360° surround cameras) installed around the robot can send the camera information to the first processor in the upper body through the switch; the second laser radar set in the lower body can also send the collected distance measurement information to the first processor in the upper body through the switch.

In one example, as shown in FIG2 , the upper loading circuit further includes:

The fourth processor can be implemented by an Android machine, and the Android system is combined with a display and a voice control device to realize human-computer interaction; and the Android machine is provided with an RS485 interface, which is connected to the door motor control board through the RS485 interface to realize the transmission of instructions or information between the Android machine and the door motor control board. Further, the Android machine is provided with an Ethernet port, which is connected to a switch through the Ethernet port, and the information interaction between the Android machine and the first processor is realized through the switch.

In one example, as shown in FIG. 2 and FIG. 5 , the upper loading circuit further includes:

Among them, the function of the power board is to control the power supply of each load in the upper body. The fifth processor in the power board can be an MCU, which is provided with multiple GPIO interfaces. Each switching circuit and each DCDC circuit are connected through each GPIO interface to control each switching circuit and each DCDC circuit to supply power to each load.

In this example, the MCU of the power board is connected to the second processor via an RS485 module for communicating with the second processor and receiving instructions sent by the second processor, such as emergency power supply stop instructions for all or part of the loads, and controlling the corresponding switching circuits and DCDC circuits to shut down according to the received instructions to stop supplying power to the relevant loads.

Optionally, the voltage output from the output end of the fourth switching circuit to the first laser radar is 24V, the voltage output from the output end of the fifth switching circuit to the first processor is 24V, the voltage output from the output end of the fifth DCDC circuit to the fourth processor is 12V, the voltage output from the output end of the sixth DCDC circuit to the security camera is 12V, and the voltage output from the output end of the seventh DCDC circuit to the switch head is 5V.

In one example, as shown in FIG6 , the upper loading circuit further includes:

Among them, the BLE communication module is used to realize the communication between the first processor of the current robot and other robots, the communication between the current robot and the charging pile, and the near-field communication between the current robot and the smart express cabinet. When the communication distance between the robot and other robots, between the charging pile and the smart express cabinet is far, the Lora communication module can be used instead of the BLE communication module for long-distance communication. The role of the RTK communication module is to realize the navigation and positioning of the robot outdoors.

In one example, as shown in FIG7 , the door motor control board includes:

An eighth DCDC circuit and a voltage regulator LDO are connected in sequence, the input end of the eighth DCDC circuit is connected to the output end of the power board, and the output end of the voltage regulator is connected to the seventh processor for powering the seventh processor.

Among them, the seventh processor can be an MCU, which is connected to the RS485 module through the UART interface, and is connected to the Android machine (the fourth processor) through the RS485 module. It is used to communicate with the Android machine, execute the control instructions sent by the Android machine (this control instruction is a package take-out instruction or a storage instruction issued by the user through the display), and control the motor drive circuit to output a drive signal to drive the robot's cabinet door motor, so that the user can take out the package in the robot's cabinet, or store the package to be deposited in the robot's cabinet.

The above-mentioned Hall sensor is used to collect the driving current of the motor drive circuit and send it to the seventh processor for the seventh processor to determine whether the driving current is within the normal threshold range. If it is determined that it is not within the normal threshold range, a driving current adjustment request is sent to the Android machine, and the Android machine sends the driving current adjustment request to the first processor. The first processor outputs a current adjustment instruction to the Android machine according to the driving current adjustment request, which is then fed back by the Android machine to the seventh processor to readjust the driving current of the motor drive circuit.

In one example, the first processor may be an industrial computer, which is used to perform overall integrated control of the robot, for example, to control the wheel hub motor and drive the wheel hub motor to move; to receive motion-related information sent by various close-range obstacle avoidance sensors (ultrasonic sensors, infrared sensors, etc.) to ensure that the robot can move smoothly; to control the anti-collision bar and emergency stop button for emergency stop, and the control of the light strip; and to receive and forward IMU data, etc.

The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

A package delivery robot, comprising:

The robot upper body includes an upper body body and an upper body circuit;

The robot bottom assembly includes a bottom assembly body and a bottom assembly circuit;

A connector having an upper loading port and a lower loading port, wherein the upper loading port is connected to the upper loading of the robot, and the lower loading port is connected to the lower loading of the robot, so as to realize the assembly between the upper loading body and the lower loading body, and the connection between the upper loading circuit and the lower loading circuit;

The upper circuit includes a first processor and a first laser radar connected to the first processor, which is used to detect the distance within a preset area around the robot;

The first processor is used to drive the robot according to the detection distance of the first laser radar.
The package delivery robot as described in claim 1 is characterized in that the lower loading circuit also includes: a second processor, and an ultrasonic ranging sensor connected to the second processor, and the ultrasonic ranging sensor is used to detect the distance in the blind area.
The package delivery robot according to claim 2, characterized in that the lower loading circuit further comprises:

The anti-collision bar module connected to the second processor is used to control the robot to stop moving according to the touch signal sent by the anti-collision bar module.
The package delivery robot according to claim 2 or 3, characterized in that the lower loading circuit further comprises:

A cooling fan and a temperature and humidity sensor connected to the second processor, used to control the cooling fan to work according to the temperature and humidity information detected by the temperature and humidity sensor;

an inertial measurement module connected to the second processor, used to determine the motion posture of the robot according to the speed and acceleration information sent by the inertial measurement module;

An emergency stop switch and a wheel hub motor driver are connected to the second processor, wherein the wheel hub motor driver is connected to the wheel hub motor arranged in the lower body, and the second processor is used to control the wheel hub motor driver to send a stop drive signal according to the emergency stop signal fed back by the emergency stop switch to control the wheel hub motor to stop working.
The package delivery robot according to claim 4, characterized in that the lower loading circuit further comprises:

A charge and discharge control board, wherein the first power supply output terminal of the charge and discharge control board is connected to a power supply board arranged in the upper body through the connector, the second power supply output terminal of the charge and discharge control board is connected to the hub motor driver, the third power supply output terminal of the charge and discharge control board is connected to the second processor, and the charge and discharge control terminal of the charge and discharge control board is connected to a battery.
The package delivery robot according to claim 5, characterized in that the charging and discharging control board includes:

A third processor, a battery charging branch, and a battery power supply branch, wherein the third processor is connected to a switch circuit arranged in series in the battery charging branch to control the on and off of the battery charging branch; the input end of the battery charging branch is provided with a charging interface to connect to a charging pile; the output end of the battery charging branch is connected to the battery;

The input end of the battery power supply branch is connected to the battery, and the battery power supply branch has at least four power supply output ends, which are respectively connected to the connector, the wheel hub motor driver, the second processor and the third processor.
The package delivery robot according to claim 6, characterized in that the battery charging branch comprises: a first voltage detection circuit, a first switch circuit, a first current detection circuit, and a second switch circuit connected in sequence, the input end of the first voltage detection circuit is connected to the charging interface, the output end of the second switch circuit is connected to the battery, and the control ends of the first switch circuit and the second switch circuit are connected to the third processor; the acquisition ends of the first voltage detection circuit and the first current detection circuit are respectively connected to the third processor;

The battery power supply branch comprises: a second voltage detection circuit, a second current detection circuit, a first DCDC circuit, and a voltage stabilizer connected in sequence, wherein the input end of the second voltage detection circuit is connected to the battery, and the acquisition ends of the second voltage detection circuit and the second current detection circuit are connected to the third processor; the output end of the voltage stabilizer is connected to the third processor;

The second current detection circuit has at least four output terminals, wherein the first output terminal is connected to the second processor through a second DCDC circuit, the third output terminal is connected to the hub motor driver through a third switch circuit, and the fourth output terminal is connected to the connector through a fourth DCDC circuit.
The package delivery robot according to claim 1, wherein the upper loading circuit further comprises:

A depth camera, wherein the depth camera is connected to the first processor to perform area detection;

A switch, wherein the switch is respectively connected to the security camera and the first processor through preset network ports; the switch is used to send the collected data of the security camera to the first processor.
The package delivery robot according to claim 8, wherein the upper loading circuit further comprises:

The fourth processor is respectively connected to the door motor control board, the display, the voice control device and the switch, and is used to control the door motor control board to drive the cabinet door set in the robot, control the display to display, and control the voice control device to give voice prompts.
The package delivery robot according to claim 9, characterized in that the upper loading circuit further comprises:

A power board, wherein the power board is provided with a fifth processor, and the fifth processor is respectively connected to a fourth switch circuit, a fifth switch circuit, a fifth DCDC circuit, a sixth DCDC circuit, and a seventh DCDC circuit, the output end of the fourth switch circuit is connected to the first laser radar, the output end of the fifth switch circuit is connected to the first processor, the output end of the fifth DCDC circuit is connected to the fourth processor, the output end of the sixth DCDC circuit is connected to the security camera, and the output end of the seventh DCDC circuit is connected to the switch.
The package delivery robot according to claim 1, 8 or 10, characterized in that the upper loading circuit further comprises:

A communication board is provided with a sixth processor, and a Lora communication module, a BLE communication module and an RTK communication module respectively connected to the sixth processor, and a bus interface of the sixth processor is connected to the first processor for sending communication information to the first processor.
The package delivery robot according to claim 10, wherein the door motor control board comprises:

a seventh processor, and a motor drive circuit and a Hall sensor respectively connected to the seventh processor, wherein the driving end of the motor drive circuit is connected to the motor for driving the cabinet door, and the collecting end of the Hall sensor is used to collect the driving current of the motor drive circuit;

An eighth DCDC circuit and a voltage regulator are connected in sequence, wherein the input end of the eighth DCDC circuit is connected to the output end of the power board, and the output end of the voltage regulator is connected to the seventh processor for supplying power to the seventh processor.