TECHNICAL FIELD

The invention relates a delivery robot equipped with peripheral and depth cameras, thereby enabling comprehensive image capture related to the process of delivery.

STATE OF THE ART

Within the existing body of literature, delivery robots have been illustrated as autonomous entities, maintaining a two-way data exchange with a centralized server. On receiving an order from a customer through a database, the delivery robot initiates movement towards the relevant unit to pick up the package. Approximately post the order-loading phase, the robot navigates to the address specified by the customer, ensuring the delivery of the order. In this context, the tracking of the delivery can be ensured using mechanisms such as a thermal sensor, thereby guaranteeing a certain level of security. Moreover, cameras have been mounted on the delivery robot to facilitate image capture.

However, while capturing images with the cameras, a notable security vulnerability arises due to the inability of the robot to procure wide-angle images that provide a perception of depth on the front axis, as well as its failure to effectively observe and cover the blind spots. As a result, not all obstacles or objects can be wholly perceived when the delivery robot is in motion. This shortcoming contributes to the delivery not reaching the recipient in a timely manner, thereby presenting an operational challenge.

CN210909998 relates to a delivery robot. According to the invention, image capture is ensured by the strategic placement of a singular camera each on the front and back walls, and on the side walls of the delivery robot. Nonetheless, this arrangement does not completely resolve the challenge of comprehensive object detection and blind spot visibility, as it may fall short in covering all necessary angles and providing a thorough perception of depth. BRIEF DESCRIPTION OF THE INVENTION

The object of the invention is to develop a delivery robot that enables imaging of blind spots while in motion, carries out three-dimensional color image acquisitions, and provides a 360° view.

To achieve the mentioned objective, the invention describes a delivery robot comprising a cover mounted on the top to carry a delivery. The robot comprises a casing with one or more peripheral cameras mounted near the corners of the peripheral walls, and one or more depth cameras are mounted on a front wall or corners of the casing. Thus, the delivery robot can provide 360° image acquisitions while in motion. Here, the delivery robot can fully perceive obstacles or objects while in motion.

In a preferred configuration of the invention, the peripheral cameras provide fields of view that detect blind spots. Therefore, the peripheral cameras make blind spot detections allowing, for instance, the detection of an obstacle or object in the blind spot while in motion.

In a preferred configuration of the invention, the depth cameras provide fields of view looking along the front axle by containing color channels and a depth channel. Thus, three- dimensional color image acquisitions are made while in motion, enabling the detection of obstacles or objects on the axis of movement.

In a preferred configuration of the invention, a first and a second peripheral camera from the peripheral cameras are aligned with each other on the opposite front and back wall. This way, blind spots from the front and back can be imaged at equal angles.

In a preferred configuration of the invention, a third and a fourth peripheral camera from the peripheral cameras are close to and aligned with each other on the opposite side walls and the front wall. This way, blind spots from the sides can be imaged at equal angles. Here, the detection of all blind spots peripherally is performed due to the overlap of the blind spot fields of view provided on the side and those provided at the front and back.

In a preferred configuration of the invention, a first depth camera from the depth cameras is positioned near the cover while centering on the front wall. This way, a wide-angle view is provided over the front wall.

In a preferred configuration of the invention, a second and a third depth camera from the depth cameras are positioned near the cover and at the corners connected to the front wall. This way, imaging is provided at angles overlapping with the first camera, allowing a 180° view from the entire front axis. BRIEF DESCRIPTION OF THE FIGURES

Figure 1 shows the peripheral cameras of a delivery robot from the front perspective.

Figure 2 shows the peripheral cameras of a delivery robot from the back perspective.

Figure 3 shows the fields of view provided by the peripheral cameras from the front perspective.

Figure 4 shows the fields of view provided by the peripheral cameras from the top perspective.

Figure 5 shows the depth cameras and fields of view in a delivery robot from the front perspective.

Figure 6 shows the depth cameras and fields of view in a delivery robot from the top perspective.

DETAILED DESCRIPTION OF THE INVENTION

In this detailed description, the subject of the invention is explained with references to examples for better understanding, without any restrictions on development.

In Figure 1 , peripheral cameras in a delivery robot are shown from the front perspective, and in Figure 2, from the rear perspective. The delivery robot (10) shown in Figure 1 and Figure 2 contains a casing (12) carrying a delivery package. The casing (12) is mounted on a carrier body (14). Here, the carrier body (14) is a chassis of the delivery robot (10). The delivery robot (10) operates autonomously, enabling bidirectional data flow with a data center. In the autonomously working delivery robot (10), there is one or more wheels (16) allowing forward and backward movement in the horizontal direction. In the delivery robot subject to the invention, there are four wheels (16) mounted on the carrier body (chassis) (14). The wheels (16) on the carrier body (14) of the delivery robot (10) start moving with the movement command according to the data coming from the central server. In the delivery robot (10), there is a cover (18) mounted on the top of the casing (12). Here, the cover (18) is in the form of closing a storage space provided inside the casing (12) from above. Therefore, with the opening of the cover (18), the delivery package is placed in the storage space. In the delivery robot of the invention, there are one or more delivery cameras (28, 30, 32, 34). In one configuration of the invention, there are four cameras in total, including a first peripheral camera, a second peripheral camera, a third peripheral camera, and a fourth peripheral camera (28, 30, 32, 34). Here, the peripheral cameras (28, 30, 32, 34) are mounted in a location close to the corners (26) of the peripheral walls (20, 22, 24) of the casing (12). Peripheral walls consist of a front wall (20), a back wall (24), and two opposing side walls (22). In one configuration of the invention, the first and second peripheral cameras (28, 30) are mounted aligned with each other on the opposing front and rear walls (20, 24). Thus, blind spots from the front and rear can be viewed at equal angles. In another configuration of the invention, the third and fourth peripheral cameras (32, 34) are mounted on the opposing side walls (22) in a form aligned with each other and close to the front wall (20). Therefore, all blind spots are detected peripherally thanks to the overlapping of the viewing area limits by viewing blind spots from the sides at equal angles.

In Figure 3, the viewing angles provided by the peripheral cameras are shown from the front perspective, and in Figure 4, from the top perspective. Blind spot detections are made by imaging with the viewing angles (36, 38, 40, 42) provided by the peripheral cameras (28, 30, 32, 34) given in Figure 3 and Figure 4. Here, imaging is done in the first blind spot viewing angle (36) provided by the first peripheral camera (28), in the second viewing angle (38) with the second peripheral camera (30), in the third viewing angle (40) with the third peripheral camera (32), and in the fourth viewing angle (42) with the fourth peripheral camera (34). Thus, an obstacle or object remaining in the blind spot is detected while moving. Also, all blind spots are detected peripherally as a result of the overlap of blind spot viewing angles (40) (42) provided on the side with blind spot viewing angles (36) (38) provided in the front and back.

In Figure 5, depth cameras in a delivery robot and their viewing angles are shown from the front perspective, and in Figure 6, from the top perspective. In the delivery robot (10) shown in Figure 5 and Figure 6, there are one or more depth cameras (44, 46, 48). Depth cameras in one configuration of the invention consist of a first depth camera (50), a second depth camera (52), and a third depth camera (54). Depth cameras (44, 46, 48) are mounted on a front wall (20) or corners (26) of the casing (12). Thus, in the delivery robot of the invention, full detection of obstacles or objects is ensured by taking 360° images with peripheral cameras (28, 30, 32, 34) and depth cameras (44, 46, 48) while moving. In one configuration of the invention, depth cameras (44, 46, 48) have depth and color channels, providing wide viewing angles (50, 52, 54) by looking in the front axis (x). Here, imaging is done in the first viewing angle (50) with the first depth camera (44), in the second viewing angle (52) with the second depth camera (46), and in the third viewing angle (54) with the third depth camera (48). Thus, obstacles or objects on the movement axis can be detected with three- dimensional colored image receptions. Also, all depth cameras (44, 46, 48) are RGBD (red green blue depth) cameras. In one configuration of the invention, the first depth camera (44) is mounted in a position close to the cover (18), centering the front wall (20). Thus, wide- angle imaging is done from the front. Also, in the invention, the second and third depth cameras (46, 48) are located in positions close to the cover (18) and at the corners (26) connected to the front wall (20). Here, imaging is done at angles overlapping with the first camera (44). Thus, imaging is provided at an angle of 180° from the entire front axis. REFERENCE NUMBERS

10 Delivery robot 34 Fourth peripheral camera

12 Casing 36 First blind spot field of view

14 Carrier platform 38 Second blind spot field of view

16 Wheel 40 Third blind spot field of view

18 Cover 42 Fourth blind spot field of view

20 Front wall 44 First depth camera

22 Side wall 46 Second depth camera

24 Back wall 48 Third depth camera

26 Wall corner 50 First field of view

28 First peripheral camera 52 Second field of view

30 Second peripheral camera 54 Third field of view

32 Third peripheral camera x Front axle