CN107291083A - Small courier post house intelligent storage robot system and method - Google Patents
Small courier post house intelligent storage robot system and method Download PDFInfo
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- CVOFKRWYWCSDMA-UHFFFAOYSA-N 2-chloro-n-(2,6-diethylphenyl)-n-(methoxymethyl)acetamide;2,6-dinitro-n,n-dipropyl-4-(trifluoromethyl)aniline Chemical compound CCC1=CC=CC(CC)=C1N(COC)C(=O)CCl.CCCN(CCC)C1=C([N+]([O-])=O)C=C(C(F)(F)F)C=C1[N+]([O-])=O CVOFKRWYWCSDMA-UHFFFAOYSA-N 0.000 description 1
- 239000004783 Serene Substances 0.000 description 1
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The invention discloses small courier post house intelligent storage robot system and method, the system includes fixed man-machine interactive system and moveable storage robot, passes through wireless signal interactive information between them.Man-machine interactive system includes cargo data storehouse, touch display screen, checking video camera and wireless communication module.The information and its site particular location of all goods parcels in express delivery post house are store in cargo data storehouse；Touch display screen is used between humans and machines data exchange, and each client can select express delivery pickup/post part so as to information in refresh；Checking video camera, which is shot, superscribes express delivery list and picking people's identity document, and the checking information for wrapping up outbound is audited；Wireless communication module is both used for the network connection of man-machine interactive system, is used to send picking/delivery instruction to storage robot again.This system improves the efficiency of express delivery pickup/post part, client can be helped to save a large amount of times for seeking goods picking.
Description
Technical field
The present invention relates to small courier post house intelligent storage robot system and method, belong to warehouse logisticses robot technology
Field.
Background technology
Under internet economy and the trend of industry interconnection networking, warehouse logisticses industry is just welcoming unprecedented opportunity to develop and brand-new
Patterns of change.Application of the existing robot technology in logistics is concentrated mainly on packaging stacking, two operation rings of handling
Section, with continuing to bring out for novel robot technology, warehouse logisticses robot will be to Logistics Operational and whole logistics system
Change exerts far reaching influence.The Kiva warehouse logisticses robot of existing storage robot such as Amazon purchase, domestic Haikang prestige
Depending on " crisscross paths between fields " intelligent warehousing system etc. be all to be deployed in large-scale logistics warehouse, utilize camera identification shelf and terrestrial reference up and down
Quick Response Code carries out intelligent storage.The mode that whole shelf " picking-up " are carried to destination is only applicable to large-scale logistics by them
It is basic on the storage transport of bulky goods, a shelf in warehouse only to place same class product goods；And for small courier
The multi items of generally existing, the storage transportation demand of small packet are then felt inadequate in post house.And in reality be located at campus, cell and
In small courier post house near the doorways such as company substantially or by the way of manpower sorts or stored cloud cabinet, post is both added
The workload of station administration personnel, but also the time that buyer largely seeks goods picking can be expended.
The content of the invention
Present invention aims at for above-mentioned the deficiencies in the prior art, there is provided small courier post house intelligent storage robot
System, the system is mainly used in the small courier post house near the doorways such as campus, cell and company, general in these regions
It is small that courier packages measure big thing, and inconvenient courier collection and delivery one by one, and needs buyer to oneself getting in express delivery post house.
And both added the work of post house administrative staff substantially or by the way of manpower sorts or stored cloud cabinet in these express delivery post houses
Measure, can also expend the time that buyer largely seeks goods picking.The present invention relies on the human-computer interaction module of itself, unique path to know
The problem of other mode just can solve existing well, realizes sorting accurate to goods and is sent to specified user, make user to express delivery
Post house more succinctly facilitates when accessing goods, high efficiency and time conservation.
The present invention solves the technical scheme that its technical problem is taken：Small courier post house intelligent storage robot system,
The system includes fixed man-machine interactive system and moveable storage robot, passes through wireless signal interaction letter between them
Breath.
Man-machine interactive system includes cargo data storehouse, touch display screen, checking video camera and wireless communication module.Goods number
According to the information and its site particular location that all goods parcels in express delivery post house are store in storehouse；Touch display screen is used for people
Data exchange between machine, each client can select express delivery pickup/post part so as to information in refresh；Verify video camera
Shooting superscribes express delivery list and picking people's identity document, and the checking information for wrapping up outbound is audited；Wireless communication module was both used
In the network connection of man-machine interactive system, it is used to send picking/delivery instruction to storage robot again.
Moveable storage robot includes mobile chassis, Path Recognition module, lift machinery claw, main control singlechip and nothing
Line communication module.Mobile chassis is by the driving wheel of left and right two and former and later two driven wheels into enabling storage robot rapid
And stably carry goods operation；Path Recognition using infrared electro to pipe, it is black on the ground of passageway between shelf by recognizing
Line amendment advance route；Lift machinery claw can accurately grip the goods parcel of every layer of placement on shelf；Main control singlechip control
The step of making whole storage robot acts；Communication of the wireless communication module for store in a warehouse robot and man-machine interactive system.
Further, storage robot path identification module of the present invention uses infrared electro to pipe, by recognizing goods
Black guide line amendment direction of advance between frame on the ground of passageway, whole module arranges 5 pairs of photoelectric tubes altogether, wherein middle three
Individual photoelectric tube is mainly used to follow line, and the photoelectric tube at two ends is used for assisting in identifying cross junction；Each pair above pipe to being provided with
One slide rheostat can adjust the distance that photoelectric tube recognizes black line, can be for adjusting module actual installation height.
Further, storage robot lift's machinery claw of the present invention utilizes elevating lever, is elevated to gripper
Each layer of gripping parcel, holds parcel using three paws, storage robot rapidly and is stably carry on shelf
Parcel is advanced.
Present invention also offers a kind of client's pickup method applied to small courier post house intelligent storage robot system
Realization, this method comprises the following steps：
Step 1：Client selects " pickup " in man-machine interactive system, then inputs pickup people cell-phone number or picking code；
Step 2：Man-machine interactive system comparison database transfers the package information for wanting pickup, will wrap up position information
(i.e.：Which shelf which layer) storage robot is issued, and send pickup instruction；
Step 3：It is parked in the storage robot of picking point and receives and rapid after parcel location information and pickup instruction follow line and arrive
Up to before the shelf of place；
Step 4：Several litres of drop gripper lifting corresponding heights of shelf layer, are positioned and postpone storage robot according to where parcel
Forward movement enables gripper to grip parcel, and original position is returned to after the robot that stored in a warehouse after holding；
Step 5：Storage robot follows rapidly line by backtracking picking point, and parcel is put on picking platform by lift machinery claw
Dormancy is waited and instructed next time afterwards；
Step 6：While robot picking is stored in a warehouse, man-machine interactive system prompting checking identity information, client is by identity
Certificate is placed on below checking video camera mug on picking platform；
Step 7：Checking video camera is taken pictures to superscribing express delivery list after parcel is put on picking platform, and parallel-connection network sends and wrapped up out
Storehouse information, now client can get express delivery and leave.
Part method is posted present invention also offers a kind of client applied to small courier post house intelligent storage robot system
Realization, this method comprises the following steps：
Step 1：Client selects " posting part " in man-machine interactive system, then inputs online post house and posts the express delivery generated after part
Odd numbers, the parcel that will be posted can leave after being placed on picking platform；
Step 2：Man-machine interactive system is stored in database will post the package information of part, and will distribute to parcel deposit position
Confidence ceases (i.e.：Which shelf which layer) storage robot is issued, and send and post part instruction；
Step 3：The storage robot of picking point is parked in receive parcel location information and post after part instruction, lift machinery claw
The rapid line that follows after parcel gripping on picking platform is reached before the shelf to be deposited part；
Step 4：Several litres of the drop gripper lifting corresponding heights of shelf layer to be deposited according to parcel, are positioned and postpone storage machine
Device people, which moves forward, makes gripper put the parcel of gripping well, unclamps and returns to original position after storage robot after parcel；
Step 5：Storage robot follows rapidly line by backtracking picking point, and dormancy is waited and instructed next time.
Beneficial effect：
1st, the present invention improves the efficiency of express delivery pickup/post part, and client can be helped to save a large amount of times for seeking goods picking.
2nd, the present invention saves express delivery post house human resources, reduces manpower in the operation of whole storage process whole-course automation
Cost.
3rd, intelligent storage robot of the present invention can non-stop run in 24 hours, facilitate client to arrive at any time pickup/post part, carry
Rise express delivery experience.
4th, present invention storage robot can be turned to freely in situ, it is adaptable to logistics using two driving wheel differential controls
The narrow and small aisle space in warehouse, in a disguised form expands storage area.
5th, Path Recognition module of the present invention can disobey outer irradiation source, reply logistics warehouse dusk from infrared electro to pipe
Dark deep and serene indoor environment.
Brief description of the drawings
Fig. 1 is man-machine interactive system and picking platform structural representation.
Brief description of the drawings：1- man-machine interactive system touch display screens, 2- checking cameras, 3- picking platforms, 4- simulation parcels.
Fig. 2 is storage robot and shelf structure schematic diagram.
Brief description of the drawings：1- storage mobile underpans, 2- Path Recognition modules, 3- lift machinery claws, 4- simulation parcels,
5- storages robot fuselage (including main control singlechip and wireless communication module), 6- simulation shelf.
Fig. 3 is black guide line schematic diagram on the ground of passageway between shelf in express delivery post house.
Embodiment
The invention is described in further detail with reference to Figure of description.
As illustrated in fig. 1 and 2, the invention provides a kind of small courier post house intelligent storage robot system, system master
To include two large divisions, one is fixed man-machine interactive system, two be moveable storage robot, by wireless between them
Signal interaction information.
Man-machine interactive system includes cargo data storehouse, touch display screen, checking video camera and wireless communication module.Goods number
According to the information and its site particular location that all goods parcels in express delivery post house are store in storehouse；Touch display screen is used for people
Data exchange between machine, each client can select express delivery pickup/post part so as to information in refresh；Verify video camera
Shooting superscribes express delivery list and picking people's identity document, and the checking information for wrapping up outbound is audited；Wireless communication module was both used
In the network connection of man-machine interactive system, it is used to send picking/delivery instruction to storage robot again.
Moveable storage robot includes mobile chassis, Path Recognition module, lift machinery claw, main control singlechip and nothing
Line communication module.Mobile chassis is by the driving wheel of left and right two and former and later two driven wheels into enabling storage robot rapid
And stably carry goods operation；Path Recognition using infrared electro to pipe, it is black on the ground of passageway between shelf by recognizing
Line amendment advance route；Lift machinery claw can accurately grip the goods parcel of every layer of placement on shelf；Main control singlechip control
The step of making whole storage robot acts；Communication of the wireless communication module for store in a warehouse robot and man-machine interactive system.
The process that implements of client's pickup of the present invention includes：
Step 1：Client selects " pickup " in man-machine interactive system, then inputs pickup people cell-phone number or picking code；
Step 2：Man-machine interactive system comparison database transfers the package information for wanting pickup, will wrap up position information
(which layer of which shelf) issues storage robot, and sends pickup instruction；
Step 3：It is parked in the storage robot of picking point and receives and rapid after parcel location information and pickup instruction follow line and arrive
Up to before the shelf of place；
Step 4：Several litres of drop gripper lifting corresponding heights of shelf layer, are positioned and postpone storage robot according to where parcel
Forward movement enables gripper to grip parcel, and original position is returned to after the robot that stored in a warehouse after holding；
Step 5：Storage robot follows rapidly line by backtracking picking point, and parcel is put on picking platform by lift machinery claw
Dormancy is waited and instructed next time afterwards；
Step 6：While robot picking is stored in a warehouse, man-machine interactive system prompting checking identity information, client is by identity
Certificate is placed on below checking video camera mug on picking platform；
Step 7：Checking video camera is taken pictures to superscribing express delivery list after parcel is put on picking platform, and parallel-connection network sends and wrapped up out
Storehouse information, now client can get express delivery and leave.
The process that implements that client of the present invention posts part includes：
Step 1：Client selects " posting part " in man-machine interactive system, then inputs online post house and posts the express delivery generated after part
Odd numbers, the parcel that will be posted can leave after being placed on picking platform；
Step 2：Man-machine interactive system is stored in database will post the package information of part, and will distribute to parcel deposit position
Confidence breath (which layer of which shelf) issues storage robot, and part instruction is posted in transmission；
Step 3：The storage robot of picking point is parked in receive parcel location information and post after part instruction, lift machinery claw
The rapid line that follows after parcel gripping on picking platform is reached before the shelf to be deposited part；
Step 4：Several litres of the drop gripper lifting corresponding heights of shelf layer to be deposited according to parcel, are positioned and postpone storage machine
Device people, which moves forward, makes gripper put the parcel of gripping well, unclamps and returns to original position after storage robot after parcel；
Step 5：Storage robot follows rapidly line by backtracking picking point, and dormancy is waited and instructed next time.
As shown in figure 3, black guide line is deployed between shelf on the ground of passageway in Fig. 3 of the present invention, spaced intermediate is white
Color square is the position that shelf are placed.The optimal path of use follows line algorithm first each node Y of whole map, and X-axis point is sat
Mark represents (y_x), and the upper left corner is set as starting point 1_1,1_2,1_3,1_4,1_5 is followed successively by the right ... and is followed successively by 2_1,3_ downwards
1、4_1、5_1……
Such as the present invention sets origin as 1_1, and target shelf are at the 2.5_5 between 2_5 and 3_5, robot
X-axis first can be walked to the right since 1_1 beginnings, often then x adds 1 by a whole section, detect x i.e. arrival identical with objective
Y-axis is walked after 1_5 under right turn, often then y adds 1 by a whole section, detect y and be equal at 2.5 i.e. 2.5_5 then arrival target shelf
Position；Storage robot respective layer on shelf grips/put down parcel, then turns around to return；Y-axis is first walked upwards, often by one
Then y subtracts 1 to individual whole section, detects y i.e. arrival 1_5 rear left fork left X-axis identical with origin, often passes through a whole section then x
Subtract 1, detect that x is identical with origin to eventually arrive at origin 1_1；Whole path be 1_1,1_2,1_3,1_4,1_5,
2_5、2.5_5、2_5、1_5、1_4、1_3、1_2、1_1。
Claims (5)
1. a kind of small courier post house intelligent storage robot system, it is characterised in that the system includes fixed man-machine friendship
Mutual system and moveable storage robot, pass through wireless signal interactive information between them；
Man-machine interactive system includes cargo data storehouse, touch display screen, checking video camera and wireless communication module；
The information and its site particular location of all goods parcels in express delivery post house are store in cargo data storehouse；
Touch display screen is used between humans and machines data exchange, and each client can select express delivery pickup/post part so as to refresh data
Information in storehouse；
Checking video camera, which is shot, superscribes express delivery list and picking people's identity document, and the checking information for wrapping up outbound is audited；
Wireless communication module is both used for the network connection of man-machine interactive system, is used to send picking/delivery to storage robot again
Instruction；
Moveable storage robot includes mobile chassis, Path Recognition module, lift machinery claw, main control singlechip and channel radio
Believe module；
Mobile chassis is by the driving wheel of left and right two and former and later two driven wheels into enabling storage robot rapidly and stably
Carry goods operation；
Path Recognition using infrared electro to pipe, by recognizing the black line amendment advance route between shelf on the ground of passageway；
Lift machinery claw can accurately grip the goods parcel of every layer of placement on shelf；
The step of main control singlechip controls whole storage robot acts；
Communication of the wireless communication module for store in a warehouse robot and man-machine interactive system.
2. a kind of small courier post house intelligent storage robot system according to claim 1, it is characterised in that the storehouse
Robot path identification module is stored up using infrared electro to pipe, by recognizing the black guide line amendment between shelf on the ground of passageway
Direction of advance, whole module arranges 5 pairs of photoelectric tubes altogether, wherein middle three photoelectric tubes are mainly used to follow line, two ends
Photoelectric tube is used for assisting in identifying cross junction；Each pair is known to that can adjust photoelectric tube provided with a slide rheostat above pipe
The distance of other black line, for adjusting module actual installation height.
3. a kind of small courier post house intelligent storage robot system according to claim 1, it is characterised in that the storehouse
Storage robot lift's machinery claw utilizes elevating lever, gripper is elevated to each layer of gripping parcel on shelf, using three hands
Pawl holds parcel, storage robot rapidly and is stably carry parcel and advances.
4. a kind of implementation method of client's pickup applied to small courier post house intelligent storage robot system, its feature exists
In methods described comprises the following steps：
Step 1：Client selects " pickup " in man-machine interactive system, then inputs pickup people cell-phone number or picking code；
Step 2：Man-machine interactive system comparison database transfers the package information for wanting pickup, and parcel position information is issued into storehouse
Robot is stored up, and sends pickup instruction；
Step 3：It is parked in the storage robot of picking point and receives the rapid line that follows after parcel location information and pickup instruction and reaches institute
Before shelf；
Step 4：Several litres of drop gripper lifting corresponding heights of shelf layer, are positioned and postpone storage robot forward according to where parcel
Movement enables gripper to grip parcel, and original position is returned to after the robot that stored in a warehouse after holding；
Step 5：Storage robot follows rapidly line by backtracking picking point, and lift machinery claw is stopped after parcel is put on picking platform
Sleep to wait and instruct next time；
Step 6：While robot picking is stored in a warehouse, man-machine interactive system prompting checking identity information, client is by identity document
Mug on picking platform is placed on below checking video camera；
Step 7：Checking video camera is taken pictures to superscribing express delivery list after parcel is put on picking platform, and parallel-connection network sends parcel outbound letter
Breath, now client can get express delivery and leave.
5. a kind of client applied to small courier post house intelligent storage robot system posts the implementation method of part, its feature exists
In methods described comprises the following steps：
Step 1：Client selects " posting part " in man-machine interactive system, then inputs online post house and posts the express delivery list generated after part
Number, the parcel that will be posted can leave after being placed on picking platform；
Step 2：Man-machine interactive system is stored in database will post the package information of part, and will distribute to parcel deposit position believe
Breath issues storage robot, and part instruction is posted in transmission；
Step 3：It is parked in the storage robot of picking point to receive parcel location information and post after part instruction, lift machinery claw will take
The rapid line that follows is reached before the shelf to be deposited part after parcel gripping in load bed；
Step 4：Several litres of the drop gripper lifting corresponding heights of shelf layer to be deposited according to parcel, are positioned and postpone storage robot
Forward movement makes gripper put the parcel of gripping well, unclamps and returns to original position after storage robot after parcel；
Step 5：Storage robot follows rapidly line by backtracking picking point, and dormancy is waited and instructed next time.
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| CN113762429A (en) * | 2020-06-04 | 2021-12-07 | 菜鸟智能物流控股有限公司 | Self-service pickup method, device, equipment, electronic equipment and storage medium |
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| CN114310953A (en) * | 2021-12-30 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Logistics robot, logistics cache system and operation method thereof |
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| CN108171893A (en) * | 2018-03-19 | 2018-06-15 | 厦门大学嘉庚学院 | A kind of intelligent internet of things system and its method of work of campus express delivery dispatching |
| CN109272266A (en) * | 2018-08-13 | 2019-01-25 | 宁波轩马信息科技有限公司 | A kind of express delivery management system and method |
| CN108876258A (en) * | 2018-08-15 | 2018-11-23 | 华南理工大学 | A kind of science and technology/industrial park logistic car the system and its operation method of express mail transport |
| WO2020103295A1 (en) * | 2018-11-19 | 2020-05-28 | 炬星科技（深圳）有限公司 | Robot-based random storage method and apparatus, electronic device and storage medium |
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| CN112288356A (en) * | 2020-10-26 | 2021-01-29 | 胜斗士(上海)科技技术发展有限公司 | Material management system |
| CN113442110A (en) * | 2021-07-23 | 2021-09-28 | 上海中通吉网络技术有限公司 | Express delivery supermarket automatic pickup robot and working method thereof |
| CN114310953A (en) * | 2021-12-30 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Logistics robot, logistics cache system and operation method thereof |
| CN114186654A (en) * | 2022-02-17 | 2022-03-15 | 节时科技(深圳)有限公司 | Post house system, method, equipment and storage medium for automatic sorting and recovery |
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Application publication date: 20171024 |