CN107609829A - A kind of full-automatic robot delivery system and method - Google Patents
A kind of full-automatic robot delivery system and method Download PDFInfo
- Publication number
- CN107609829A CN107609829A CN201711032114.4A CN201711032114A CN107609829A CN 107609829 A CN107609829 A CN 107609829A CN 201711032114 A CN201711032114 A CN 201711032114A CN 107609829 A CN107609829 A CN 107609829A
- Authority
- CN
- China
- Prior art keywords
- goods
- container
- information
- dispatching
- automation equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention proposes a kind of full-automatic robot delivery system and method.The full-automatic robot delivery system and method include goods sorting vanning, long-range entirety dispenses, robot short distance dispenses automatically.The goods sorting is realized and goods is put into each cell of cellular container or goods warehousing is taken out from cell；The long-range overall dispatching realizes that lorry realizes off-sorting station to the Bidirectional transporting of container distribution points in container；Automatically dispatching realizes that robot is automatically performed container to the two-way dispatching goods of user to the robot short distance, is planned for the path of target delivery point, automatic upper and lower Cargo Lift, autonomous to target location automatically in this process.The whole process allocator based on robot has and reduces cost of labor, big degree lifting dispatching efficiency, distribution time more hommization, transmitting-receiving goods one the features such as.
Description
Technical field
The present invention relates to mobile robot field, and in particular to a kind of full-automatic robot delivery system and method.
Background technology
With Robot industry it is with rapid changepl. never-ending changes and improvements develop, the work of increasing repeatability is substituted by robot, matches somebody with somebody
It is even more the work that a repetition needs a large amount of human resources to take business, so coming in recent years, has also emerged in large numbers a collection of dispatching one after another
Service robot, but the delivery service robot developed at present substitutes artificial limited in one's ability, effect to a certain extent
The low shortcoming of rate.
The content of the invention
It is an object of the invention to provide a kind of full-automatic robot delivery system and method.
The technical solution adopted in the present invention is：
1st, a kind of full-automatic robot delivery system, it is characterised in that including goods sorting vanning, long-range overall dispatching, machine
The flows such as the automatic dispatching of people's short distance,
（1）The goods sorting vanning, scans the information on goods by automation equipment, records the dispatching target information of goods,
Sorted according to the region of goods, the goods of the same area be sequentially placed into same cellular container cell or
Person takes out goods warehousing from cell, and the information of all goods is inputted the information logging modle of container；
（2）The long-range overall dispatching, container is put lorry by automation equipment, lorry is according to the container of container point
Send a position, be transported to container distribution points, by automation equipment moving containers to fixed position, while the set time with
Afterwards, lorry reaches container distribution points, moves empty container by automation equipment or carries the container for posting part of user
Onto lorry, goods sorting point is shipped back；
（3）The robot short distance is dispensed automatically, and container reaches container distribution points, and collection is read by the master control system in the region
The distribution information of all goods in vanning, distribute the dispensing machine people in the non-region of all goods delivery tasks, dispense
Robot obtains dispatching task, is moved to container correspondence position, takes out goods by automation equipment, merges GPS, RGBD phase
The multi-sensor datas such as machine, laser radar, gyroscope, encoder realize high accuracy positioning, with reference to global map, barrier, mesh
Standard configuration send the information such as floor a little, plans the path from container distribution points to goods target location, and autonomous enters target
Dispatching point building, selects elevator floor according to goods delivery information, is sent to specified location and waits addressee to take goods away；Sender
Sent by APP ends after posting part information, according to picking information, autonomous to sender nearby takes goods away, and remembers for robot
Record goods is received and sent messages, and is moved to container distribution points, and taking out goods by automatic equipment is put into container, and inputs the goods
Distribution information.
2nd, further, a kind of allocator of full-automatic robot delivery system, it is characterised in that following delivery stream
Journey：
（1）In goods sorting point, goods to be dispensed is scanned by automation equipment, records the distribution information of corresponding goods, according to
Cargo container distribution points are sorted, and are put into the cell of unified cellular container, and the typing in container
The distribution information of goods；
（2）The container that goods is loaded with by automation equipment movement is distributed to container distribution points into lorry, and by lorry,
By automation equipment moving containers to fixed position；
（3）The master control system of container distribution points reads the distribution information of all goods in container, distributes all goods
Dispensing machine people in the non-region of dispatching task, dispensing machine people wirelessly obtain dispatching task；
（4）Dispensing machine people is moved to container correspondence position, goods is taken out by automation equipment according to dispatching task.
（5）It is real that dispensing machine people merges the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder
High accuracy positioning when real, the information such as the floor of point are dispensed with reference to global map, barrier, target, plans and is sent from container
Point arrives the path of goods target location, and autonomous enters a target dispatching point building, elevator building is selected according to goods delivery information
Layer, it is sent to specified location and waits addressee to take goods away, master control system record goods delivery finishes；
（6）In container when the goods delivery delivered is completed, master control system distribution lorry transferring containers return goods sorting
Point.
3rd, further, a kind of allocator of full-automatic robot delivery system, it is characterised in that following receive is matched somebody with somebody
Send flow：
（1）Sender is sent by APP and posts part information；
（2）Master control system receives and posts part information, dispensation machines people's addressee task；
（3）Dispensing machine people is merged the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder and realized in fact
When high accuracy positioning, with reference to global map, barrier, target dispatching point the information such as floor, plan from container distribution points to
The path of goods target position, autonomous enter target dispatching point building, select elevator floor according to goods delivery information, move
Move specified location and take goods away, and return to container distribution points, taking out goods by automation equipment is put into container units lattice
In, and input distribution information；
（4）It is put into by automation equipment moving containers in lorry, lorry dispatching container reaches goods sorting point；
（5）In goods sorting point, goods is taken out by automation equipment, records goods delivery information, completes sorting.
4th, further, allocator, it is characterised in that following addressee dispenses flow：
（1）Sender is sent by APP and posts part information；
（2）Master control system receives and posts part information, dispensation machines people's addressee task；
（3）Dispensing machine people is merged the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder and realized in fact
When high accuracy positioning, with reference to global map, barrier, target dispatching point the information such as floor, plan from container distribution points to
The path of goods target position, autonomous enter target dispatching point building, select elevator floor according to goods delivery information, move
Move specified location and take goods away, and return to container distribution points, taking out goods by automation equipment is put into container units lattice
In, and input distribution information；
（4）It is put into by automation equipment moving containers in lorry, lorry dispatching container reaches goods sorting point；
（5）In goods sorting point, goods is taken out by automation equipment, records goods delivery information, completes sorting.
The beneficial effects of the invention are as follows：
The present invention puts forward a kind of full-automatic robot delivery system and method, compared to traditional delivery service, saves
Substantial amounts of manpower, reduces the cost of labor in delivery service, and big degree improves dispatching efficiency.
Accompanying drawing
A kind of full-automatic robot delivery systems of Fig. 1 and method frame figure.
Claims (4)
1. a kind of full-automatic robot delivery system, it is characterised in that including goods sorting vanning, long-range overall dispatching, machine
The flows such as the automatic dispatching of people's short distance,
(1) the goods sorting vanning, scans the information on goods by automation equipment, records the dispatching target information of goods,
Sorted according to the region of goods, the goods of the same area be sequentially placed into same cellular container cell or
Person takes out goods warehousing from cell, and the information of all goods is inputted the information logging modle of container；
(2) the long-range overall dispatching, container is put lorry by automation equipment, lorry is according to the container of container point
Send a position, be transported to container distribution points, by automation equipment moving containers to fixed position, while the set time with
Afterwards, lorry reaches container distribution points, moves empty container by automation equipment or carries the container for posting part of user
Onto lorry, goods sorting point is shipped back；
(3) the robot short distance is dispensed automatically, and container reaches container distribution points, and collection is read by the master control system in the region
The distribution information of all goods in vanning, distribute the dispensing machine people in the non-region of all goods delivery tasks, dispense
Robot obtains dispatching task, is moved to container correspondence position, takes out goods by automation equipment, merges GPS, RGBD phase
The multi-sensor datas such as machine, laser radar, gyroscope, encoder realize high accuracy positioning, with reference to global map, barrier, mesh
Standard configuration send the information such as floor a little, plans the path from container distribution points to goods target location, and autonomous enters target
Dispatching point building, selects elevator floor according to goods delivery information, is sent to specified location and waits addressee to take goods away；Sender
Sent by APP ends after posting part information, according to picking information, autonomous to sender nearby takes goods away, and remembers for robot
Record goods is received and sent messages, and is moved to container distribution points, and taking out goods by automatic equipment is put into container, and inputs the goods
Distribution information.
A kind of 2. as claimed in claim 1, delivery system of full-automatic robot delivery system, it is characterised in that following delivery
Flow：
(1) in goods sorting point, goods to be dispensed is scanned by automation equipment, records the distribution information of corresponding goods, according to
Cargo container distribution points are sorted, and are put into the cell of unified cellular container, and the typing in container
The distribution information of goods；
(2) container that goods is loaded with by automation equipment movement is distributed to container distribution points into lorry, and by lorry,
By automation equipment moving containers to fixed position；
(3) master control system of container distribution points reads the distribution information of all goods in container, distributes all goods
Dispensing machine people in the non-region of dispatching task, dispensing machine people wirelessly obtain dispatching task；
(4) dispensing machine people is moved to container correspondence position, goods is taken out by automation equipment according to dispatching task.
(5) dispensing machine people is merged the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder and realized in fact
When high accuracy positioning, with reference to global map, barrier, target dispatching point the information such as floor, plan from container distribution points to
The path of goods target position, autonomous enter target dispatching point building, select elevator floor according to goods delivery information, send
Addressee is waited to take goods away to specified location, master control system record goods delivery finishes；
(6) in container when the goods delivery delivered is completed, master control system distribution lorry transferring containers return goods sorting
Point.
A kind of 3. as claimed in claim 1, delivery system of full-automatic robot delivery system, it is characterised in that receive below
Dispense flow：
(1) sender is sent by APP and posts part information；
(2) master control system receives and posts part information, dispensation machines people's addressee task；
(3) dispensing machine people is merged the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder and realized in fact
When high accuracy positioning, with reference to global map, barrier, target dispatching point the information such as floor, plan from container distribution points to
The path of goods target position, autonomous enter target dispatching point building, select elevator floor according to goods delivery information, move
Move specified location and take goods away, and return to container distribution points, taking out goods by automation equipment is put into container units lattice
In, and input distribution information；
(4) it is put into by automation equipment moving containers in lorry, lorry dispatching container reaches goods sorting point；
(5) in goods sorting point, goods is taken out by automation equipment, records goods delivery information, completes sorting.
4. delivery system as claimed in claim 2, it is characterised in that following dispatching flow of receiving：
(1) sender is sent by APP and posts part information；
(2) master control system receives and posts part information, dispensation machines people's addressee task；
(3) dispensing machine people is merged the multi-sensor datas such as GPS, RGBD camera, laser radar, gyroscope, encoder and realized in fact
When high accuracy positioning, with reference to global map, barrier, target dispatching point the information such as floor, plan from container distribution points to
The path of goods target position, autonomous enter target dispatching point building, select elevator floor according to goods delivery information, move
Move specified location and take goods away, and return to container distribution points, taking out goods by automation equipment is put into container units lattice
In, and input distribution information；
(4) it is put into by automation equipment moving containers in lorry, lorry dispatching container reaches goods sorting point；
(5) in goods sorting point, goods is taken out by automation equipment, records goods delivery information, completes sorting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032114.4A CN107609829A (en) | 2017-10-30 | 2017-10-30 | A kind of full-automatic robot delivery system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032114.4A CN107609829A (en) | 2017-10-30 | 2017-10-30 | A kind of full-automatic robot delivery system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107609829A true CN107609829A (en) | 2018-01-19 |
Family
ID=61081012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711032114.4A Pending CN107609829A (en) | 2017-10-30 | 2017-10-30 | A kind of full-automatic robot delivery system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107609829A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171892A (en) * | 2018-03-13 | 2018-06-15 | 深圳市三维通机器人系统有限公司 | A kind of Intelligent unattended library system |
| CN108305031A (en) * | 2018-01-30 | 2018-07-20 | 郭远 | Goods transportation system and community's Transmission system |
| CN108665217A (en) * | 2018-05-18 | 2018-10-16 | 清华大学 | Point-to-point hierarchical cargo immediate distribution system, method and application |
| CN108876260A (en) * | 2018-08-21 | 2018-11-23 | 坎德拉（深圳）科技创新有限公司 | A kind of goods delivery method and goods delivery system |
| CN109034682A (en) * | 2018-06-27 | 2018-12-18 | 深兰科技（上海）有限公司 | Allocator, device and storage medium based on Intelligent cargo cabinet and dispensing machine people |
| CN109623836A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
| WO2019238865A1 (en) * | 2018-06-13 | 2019-12-19 | Starship Technologies Oü | Delivery framework for robots |
| WO2019242429A1 (en) * | 2018-06-22 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Unmanned delivery vehicle and delivery control method and apparatus used for unmanned delivery vehicle |
| CN110632928A (en) * | 2019-09-25 | 2019-12-31 | 亳州职业技术学院 | Computer logistics control system based on Internet of things |
| CN111178792A (en) * | 2019-11-05 | 2020-05-19 | 北部湾大学 | Intelligent logistics system of container station |
| CN111951486A (en) * | 2019-05-15 | 2020-11-17 | 北京致行慕远科技有限公司 | Alarm method and device for distribution cabinet, storage medium and electronic device |
| CN112001675A (en) * | 2020-08-24 | 2020-11-27 | 山东新一代信息产业技术研究院有限公司 | Medicine distribution robot based on automatic driving technology and distribution method |
| CN112573073A (en) * | 2019-09-30 | 2021-03-30 | 坎德拉（深圳）科技创新有限公司 | Goods sorting and dispatching method, dispatching system and master control equipment |
| CN112660267A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Article transfer robot, article transfer system, and robot management device |
| CN114118892A (en) * | 2020-08-25 | 2022-03-01 | 丰田自动车株式会社 | Management system, management method, and computer-readable medium |
| CN114169826A (en) * | 2021-12-06 | 2022-03-11 | 北京云迹科技有限公司 | Cargo distribution method and device for service robot in office area |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001225926A (en) * | 2000-02-15 | 2001-08-21 | Hitachi Ltd | Delivery support system, sorting support system, and delivery method using electronic tag |
| CN106600201A (en) * | 2016-12-30 | 2017-04-26 | 中车山东机车车辆有限公司 | Intelligent railway fast cargo transportation system and method |
| CN106845732A (en) * | 2017-02-20 | 2017-06-13 | 浙江大学 | A kind of satellite-type logistics express delivery allocator |
| CN106886876A (en) * | 2017-03-16 | 2017-06-23 | 张洲杨 | Logistics distribution method |
-
2017
- 2017-10-30 CN CN201711032114.4A patent/CN107609829A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001225926A (en) * | 2000-02-15 | 2001-08-21 | Hitachi Ltd | Delivery support system, sorting support system, and delivery method using electronic tag |
| CN106600201A (en) * | 2016-12-30 | 2017-04-26 | 中车山东机车车辆有限公司 | Intelligent railway fast cargo transportation system and method |
| CN106845732A (en) * | 2017-02-20 | 2017-06-13 | 浙江大学 | A kind of satellite-type logistics express delivery allocator |
| CN106886876A (en) * | 2017-03-16 | 2017-06-23 | 张洲杨 | Logistics distribution method |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108305031A (en) * | 2018-01-30 | 2018-07-20 | 郭远 | Goods transportation system and community's Transmission system |
| CN108171892A (en) * | 2018-03-13 | 2018-06-15 | 深圳市三维通机器人系统有限公司 | A kind of Intelligent unattended library system |
| CN108665217A (en) * | 2018-05-18 | 2018-10-16 | 清华大学 | Point-to-point hierarchical cargo immediate distribution system, method and application |
| WO2019238865A1 (en) * | 2018-06-13 | 2019-12-19 | Starship Technologies Oü | Delivery framework for robots |
| WO2019242429A1 (en) * | 2018-06-22 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Unmanned delivery vehicle and delivery control method and apparatus used for unmanned delivery vehicle |
| CN109034682A (en) * | 2018-06-27 | 2018-12-18 | 深兰科技（上海）有限公司 | Allocator, device and storage medium based on Intelligent cargo cabinet and dispensing machine people |
| CN108876260A (en) * | 2018-08-21 | 2018-11-23 | 坎德拉（深圳）科技创新有限公司 | A kind of goods delivery method and goods delivery system |
| CN109623836A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
| CN111951486A (en) * | 2019-05-15 | 2020-11-17 | 北京致行慕远科技有限公司 | Alarm method and device for distribution cabinet, storage medium and electronic device |
| CN110632928A (en) * | 2019-09-25 | 2019-12-31 | 亳州职业技术学院 | Computer logistics control system based on Internet of things |
| CN112573073A (en) * | 2019-09-30 | 2021-03-30 | 坎德拉（深圳）科技创新有限公司 | Goods sorting and dispatching method, dispatching system and master control equipment |
| CN112573073B (en) * | 2019-09-30 | 2023-03-28 | 坎德拉（深圳）科技创新有限公司 | Goods sorting and dispatching method, dispatching system and master control equipment |
| CN112660267A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Article transfer robot, article transfer system, and robot management device |
| CN111178792A (en) * | 2019-11-05 | 2020-05-19 | 北部湾大学 | Intelligent logistics system of container station |
| CN112001675A (en) * | 2020-08-24 | 2020-11-27 | 山东新一代信息产业技术研究院有限公司 | Medicine distribution robot based on automatic driving technology and distribution method |
| CN114118892A (en) * | 2020-08-25 | 2022-03-01 | 丰田自动车株式会社 | Management system, management method, and computer-readable medium |
| CN114169826A (en) * | 2021-12-06 | 2022-03-11 | 北京云迹科技有限公司 | Cargo distribution method and device for service robot in office area |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107609829A (en) | A kind of full-automatic robot delivery system and method | |
| CN108100548B (en) | Automatic sorting method and system for storage robot | |
| CN108672308B (en) | Cargo sorting system and method | |
| TWI833758B (en) | Improved storage and retrieval systems | |
| JP7419432B2 (en) | Robot control system, method, computing device, and storage medium | |
| CN205837747U (en) | The automatic radio frequency of goods | |
| CN107833003B (en) | Logistics transportation system and method | |
| CN110641700A (en) | Community-oriented unmanned aerial vehicle distribution system and distribution method | |
| CN111815210A (en) | Outdoor and indoor full-automatic unmanned distribution system and method | |
| CN100569387C (en) | Be used to distribute the method and apparatus of parcel or similar conveying articles | |
| CN108876236B (en) | Receiving and returning logistics system based on unmanned aerial vehicle intelligent express cabinet | |
| EP4033315A1 (en) | Goods processing system and goods processing method | |
| CN105858045A (en) | Automatic cargo picking system and automatic cargo picking method | |
| US20200231185A1 (en) | Systems and methods for automated guided vehicle control | |
| US11691180B2 (en) | Sorting system and method | |
| CN105717892A (en) | Automatic logistics system, method, and automatic logistics warehouse | |
| CN106541880A (en) | A kind of Intelligent transportation device | |
| CN111675057A (en) | Intelligent cargo conveying system applied to residential buildings and residential districts | |
| CN111784928A (en) | Intelligent unmanned distribution system and method | |
| CN209821882U (en) | Outdoor and indoor full-automatic unmanned distribution system | |
| JP2019531887A (en) | Article automatic transfer system and method | |
| CN211055378U (en) | Unmanned aerial vehicle distribution system for community | |
| CN107944793A (en) | Logistics transportation system and method | |
| US20180365631A1 (en) | Order picking system and order picking method for preparing at least a portion of a corresponding order | |
| JP2022545882A (en) | Sorting system, sorting method, computer program and computer readable medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180119 |
|
| WD01 | Invention patent application deemed withdrawn after publication |