CN108171875A - A kind of intelligent distribution pallet piling up method and robot - Google Patents
A kind of intelligent distribution pallet piling up method and robot Download PDFInfo
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- CN108171875A CN108171875A CN201711190882.2A CN201711190882A CN108171875A CN 108171875 A CN108171875 A CN 108171875A CN 201711190882 A CN201711190882 A CN 201711190882A CN 108171875 A CN108171875 A CN 108171875A
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- goods cabinet
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/46—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/72—Auxiliary equipment, e.g. for lighting cigars, opening bottles
Abstract
The present embodiments relate to intelligent terminal fields, disclose a kind of intelligent distribution pallet piling up method and robot.Intelligent distribution pallet piling up method in the present invention is applied to a kind of robot, and robot includes：Mobile chassis, kinds of goods cabinet, identifier and processor, kinds of goods cabinet and processor are built in a housing, and mobile chassis is set to below housing, identifier, mobile chassis and processor electrical connection；Intelligent distribution pallet piling up method includes processor and receives the order instruction comprising dispatching destination and commodity to be dispensed, and determine to whether there is commodity to be dispensed in kinds of goods cabinet；There are during commodity to be dispensed in kinds of goods cabinet, control mobile chassis moves processor；Whether the customer identification information that processor identifier receives opens kinds of goods cabinet after being verified, takes for user and dispense commodity from the user for sending instruction of ordering goods.The present invention also provides a kind of robots.So that realize that user when needing to buy commodity, saves the shopping-time cost of user, while ensure the safety of sent commodity.
Description
Technical field
The present embodiments relate to intelligent terminal field, more particularly to a kind of intelligent distribution pallet piling up method and robot.
Background technology
Inventor has found that it is generally fixed point sale to sell machine in the prior art, and user is needed first if it is desired to buy commodity
It looks for and sells machine, and some complex environments, such as station, airport, space is larger, and looking for unintentionally is inconvenient.And
And scene partly being sold, such as office building scene, user is not easy to go out shopping, and what fixed point was sold in this way sells machine with regard to nothing
Method is met the needs of users.On the other hand, although having had a this form of selling goods of take-away now, by delivery period, quotient
The limitations such as product quality can not also meet the user required to time and quality.
Invention content
Embodiment of the present invention is designed to provide a kind of intelligent distribution pallet piling up method and robot so that realizes that user exists
When needing to buy commodity, the target location of the commodity distribution needed for user to user can be sold self-service and matched by robot
It closes integration to combine, saves the shopping-time cost of user, while ensure the safety of sent commodity.
In order to solve the above technical problems, embodiments of the present invention provide a kind of intelligent distribution pallet piling up method, applied to one
Kind robot, the robot include：Mobile chassis, kinds of goods cabinet, identifier and processor, the kinds of goods cabinet and the processor
It is built in a housing, the mobile chassis is set to below the housing, the identifier and processor electrical connection；
Intelligent distribution pallet piling up method includes：The processor receives the order instruction comprising dispatching destination and commodity to be dispensed, and determines
It whether there is the commodity to be dispensed in the kinds of goods cabinet；There are the commodity to be dispensed in the kinds of goods cabinet for the processor
When, the mobile chassis is controlled to move, the robot is made to be moved to dispatching destination；The processor verifies the identifier
Whether the biometric feature received belongs to the user for sending the instruction of ordering goods, and the kinds of goods are opened after being verified
Cabinet takes for user and dispenses commodity.
Embodiments of the present invention additionally provide a kind of robot, including：Mobile chassis, kinds of goods cabinet and identifier, it is described
Kinds of goods cabinet and the processor are built in a housing, and the mobile chassis is set to below the housing；And controller,
The identifier and processor electrical connection, the controller include memory and processor, wherein the memory stores
There is computer program, when described program is executed by processor, can realize following steps：It receives comprising dispatching destination and waits to match
The order of commodity is sent to instruct, and determines to whether there is the commodity to be dispensed in the kinds of goods cabinet；Exist in the kinds of goods cabinet
During the commodity to be dispensed, the mobile chassis is controlled to move, the robot is made to be moved to dispatching destination；Verification is from institute
Whether the biometric feature for stating identifier belongs to the user for sending the instruction of ordering goods, and the goods is opened after being verified
Product cabinet takes for user and dispenses commodity.
In terms of existing technologies, the main distinction and its effect are embodiment of the present invention：Utilize mobile chassis, goods
Product cabinet, identifier and the removable robot that can load cargo of processor combination, and instructed according to ordering goods, it is specified to user
The specified commodity of destination dispatching, meanwhile, it upon arrival at a destination, is verified again according to the biometric feature of user, ensures to take
The safety of goods prevents commodity by mispick.In whole process, user without the position where active seeking robot, but by
Robot automatic moving saves time cost of the user in shopping process to destination.As it can be seen that in embodiment of the present invention
Intelligent distribution pallet piling up method and robot, can realize user need buy commodity when, by the commodity distribution needed for user extremely
The target location of user, by it is self-service sell and coordinate integration combine, save the shopping-time cost of user, while ensure to be sent
The safety of commodity.
As a further improvement, described determine to further include with the presence or absence of after the commodity to be dispensed in the kinds of goods cabinet：
When the commodity to be dispensed are not present in the processor in the kinds of goods cabinet, the mobile chassis is controlled to be moved to scheduled match
Goods point；When matching goods point reaching described, and receiving door open command, the processor opens the kinds of goods cabinet；It is closed receiving
During door instruction, the processor closes the kinds of goods cabinet, and performs the processor and the mobile chassis is controlled to be moved to dispatching
The step of destination.It increases to dispatching point and waits for the process with goods, the article held in kinds of goods cabinet is reduced conducive to robot, to the greatest extent
Amount is moved with lighter weight, application of the cooperation with goods point, moreover it is possible to which the type of merchandize for making to allow dispatching is more abundant.
As a further improvement, the robot further includes the identifier for identifying the identification label, for being put into
Dispatching commodity in the kinds of goods cabinet have identification label；With the presence or absence of the commodity to be dispensed, tool in the determining kinds of goods cabinet
Body is：The processor utilizes the information from the identifier, determines to whether there is the quotient to be dispensed in the kinds of goods cabinet
Product.It further limits the article for using tag identification technologies place in kinds of goods cabinet to be identified so that identification is quick and precisely.
As a further improvement, the camera for shooting the kinds of goods cabinet internal image is equipped in the kinds of goods cabinet；Institute
It states and whether there is the commodity to be dispensed in determining kinds of goods cabinet, specially：The processor utilizes the shadow from the camera
Picture determines to whether there is the commodity to be dispensed in the kinds of goods cabinet.It is realized using image recognition technology to being placed in kinds of goods cabinet
Article be identified so that identification quick and precisely.
As a further improvement, it is described the kinds of goods cabinet is opened after being verified after, further include：It closes the door receiving
During instruction, the controller closes the kinds of goods cabinet；The controller controls the mobile chassis movement, returns the robot
Go back to the position made an appointment.Increase the step of returning to appointed position, realize that robot may return to certain after dispatching task is completed
A position waits for, and convenient for the management to robot stand, robot is avoided to hinder other movement things in space.
As a further improvement, the control mobile chassis is moved to after dispatching destination, and the identifier
Before receiving biometric feature, further include：The robot sends arrival information to user terminal.Increase and send arrival information
The step of, convenient for user is reminded to take commodity, it is further reduced the time of the entire commercial articles vending process of user.
As a further improvement, the biometric feature includes at least one below：Slap vein, palmmprint, face image,
At least one of fingerprint and iris.The content of biometric feature is further limited, convenient for the realization side needed for user's selection
Formula.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 is the intelligent distribution pallet piling up method flow chart in first embodiment of the invention；
Fig. 2 is the intelligent distribution pallet piling up method flow chart in second embodiment of the invention；
Fig. 3 is the schematic diagram of the robot in the intelligent distribution pallet piling up method in third embodiment of the invention；
Fig. 4 is the schematic diagram of the robot in four embodiment of the invention；
Fig. 5 is that the memory of the robot in four embodiment of the invention is stored with performed by computer program
Flow chart.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, it can also realize the application technical solution claimed.
The first embodiment of the present invention is related to a kind of intelligent distribution pallet piling up method.Intelligent distribution cargo interests in present embodiment
Method is applied to a kind of robot, which includes：Mobile chassis, kinds of goods cabinet, identifier and processor, kinds of goods cabinet and processor
It is built in a housing, mobile chassis (such as trackless navigation mobile chassis) is set to below housing, identifier and processor electricity
Connection.This kind of robot can be placed on the larger merchandising location in the spaces such as airport, station, and it is each can also to be positioned over Business Building etc.
Class has the place of commodity retail demand.Corresponding flow is as shown in Figure 1, specific as follows：
Step 101, processor receives instruction of ordering goods.
Specifically, robot further includes communication module, is instructed using communication module reception come the order of user terminal,
Communication module, which will order goods for instructing, is sent to processor, after processor receives order instruction, parses and is specifically wrapped in order instruction
The dispatching destination contained and commodity to be dispensed.In practical application, user terminal directly can send instruction of ordering goods to robot,
Instruction of ordering goods can be sent to the robot by server.
Step 102, judge to whether there is commodity to be dispensed in kinds of goods cabinet；If so, continue to execute step 103；If it is not, then
Terminate the intelligent distribution flow of goods journey in present embodiment.
Specifically, some stocks can be stored in advance, are being received for contain things in the kinds of goods cabinet of robot
When being instructed to order, first confirm from the existing commodity in kinds of goods cabinet, user needs whether the commodity ordered have been stored in kinds of goods
In cabinet, if it is determined that kinds of goods cabinet has stored ordered commodity, then step 103 is continued to, if do not had in kinds of goods cabinet
The commodity that user needs, just terminate flow.
More specifically, confirm that the method in kinds of goods cabinet with the presence or absence of commodity to be dispensed can be that robot can have
One inventory list,, can be into inventory such as when for kinds of goods cabinet increase commodity comprising the existing commodity in kinds of goods cabinet in inventory
It adds commodity item, and the commodity sold from kinds of goods cabinet or certain commodity is taken out from kinds of goods cabinet, can be deleted from inventory
Corresponding commodity item.
Step 103, processor control mobile chassis movement.
Specifically, for processor there are during commodity to be dispensed in kinds of goods cabinet, control mobile chassis movement moves robot
It moves to dispatching destination.
Wherein, mobile chassis can move along a straight line or rotary motion, it is possible in the place placed, make robot
The movements such as advanced, turned, stopped or fallen back, robot is made to be moved to dispatching destination.More specifically, robot is moving
During dynamic, it can be moved according to preset route, the preparation method of predetermined paths can be as follows：Determining dispatching purpose
Behind ground, according to the location of robot, with reference to the site map to prestore, a route is preset.
Step 104, identifier receives biometric feature.
Specifically, identifier can be arranged on the shell of robot, for example is arranged in the enabling of kinds of goods cabinet, scanning
Direction is towards the outside of shell or the housing top end in robot, and upward, the installation position of identifier can for scanning direction
It is set with the actual height according to robot or application scenarios, not limited herein according to demand.
More specifically, biometric feature includes at least one below：Slap vein, palmmprint, face image, fingerprint and rainbow
Palm vein can be used in present embodiment at least one of film.
Step 105, whether processor verification biometric feature belongs to the user for sending instruction of ordering goods；If so, continue
Perform step 106；If it is not, then return to step 104.
Specifically, when identifier is scanned to the palm vein of user, palm vein information is sent to processor, processor
Carry out the verification of palm vein.The method specifically verified can be：When receiving order instruction, according to the sender for instruction of ordering goods
It determines the palm vein information of the user and stores.When being verified, then by the palm vein information received and the palm arteries and veins to prestore
Line information is compared, if comparing result is meets, then just be can determine that the palm vein received belongs to and is sent above-mentioned order
The user of instruction, conversely, being then not belonging to.
Step 106, kinds of goods cabinet is opened.
Specifically, after step 105 is verified, controller opens kinds of goods cabinet, takes for user and dispenses commodity.More
Body says, kinds of goods cabinet can have it is rotary open the door, it is rotary to open the door rotation to open kinds of goods cabinet during unlatching.More specifically,
Rotary to open the door equipped with electric control lock, electric control lock can be installed on the upper surface or lower surface of enabling, and electric control lock also connects with controller
It connects, when determining to open kinds of goods cabinet, electric control lock receives unlock instruction and is unlocked, and rotary open the door carries out Unscrew again.Rotation
Rotatable enabling will not increase the additional area occupied of robot, and more durable, convenient for operation of the user when taking commodity.
In practical application, subsequent settlement process is further included：Wide-angle camera built in kinds of goods cabinet, for what user took away
Commodity visual pattern is transmitted to processor and is identified by the recognizer engine in processor, generates bill, and close in kinds of goods cabinet
Automatic-settlement afterwards.
It is noted that user take originally order commodity when, can also take other commodity, take other
Commodity settle accounts the commodity for increasing order newly as user later.
In terms of existing technologies, the main distinction and its effect are present embodiment：Utilize mobile chassis, kinds of goods
Cabinet, identifier and the removable robot that can load cargo of processor combination, and instructed according to ordering goods, the mesh specified to user
The specified commodity of ground dispatching, meanwhile, upon arrival at a destination, verified again according to the biometric feature of user, ensure picking
Safety, prevent commodity by mispick.In whole process, user is without the position where active seeking robot, but by machine
Device people automatic moving saves time cost of the user in shopping process to destination.As it can be seen that the intelligence in present embodiment
Pallet piling up method is dispensed, can realize user when needing to buy commodity, by the target location of the commodity distribution needed for user to user,
By it is self-service sell and coordinate integration combine, save the shopping-time cost of user, while ensure the safety of sent commodity.And
User can not only order goods in advance, by the automatic delivery of robot, can also according to existing commodity in the kinds of goods cabinet of robot into
It directly does shopping at row scene.
It is noted that being the biometric feature that user is obtained by robot in present embodiment, and verified
The mode of enabling, and in practical application, bar code (Quick Response Code, the item for including robot identification information can also be provided by robot
Shape code etc.), for user's barcode scanning, carry the order for sending door open command in bar code, user after scanning, according to the robot of acquisition
The robot, is appointed as the target side of door open command by identification information, while carries in door open command sender (i.e. user
Identification information), it is verified for robot；Robot confirms whether door open command orders goods from transmission and refers to after door open command is received
The user of order is confirmed as if being, opens kinds of goods cabinet, is taken for user and is dispensed commodity.In this way, it need to only be moved eventually in personal hand-held
End places an order, robot can voluntarily path planning, commodity needed for user are sent to user region, above-mentioned technology can be realized
Second embodiment of the present invention is related to a kind of intelligent distribution pallet piling up method.Second embodiment is in the first embodiment party
It is further improved on the basis of formula, mainly thes improvement is that：When determining to be not present in kinds of goods cabinet in first embodiment
During the commodity of goods to be dispensed, flow will be terminated, and increased the step of actively matching goods in present embodiment newly, even if not in kinds of goods cabinet
Middle commodity can also increase the commodity in kinds of goods cabinet, and the robot specified is made to realize with delivery by matching goods.In addition, this reality
Apply mode also by increase kinds of goods cabinet close and robot return and etc., realize robot can be returned after dispatching task is completed
It is waited for some position, convenient for the management to robot stand.
Flow chart in present embodiment is as shown in Fig. 2, specific as follows：
Step 201 and 203 in present embodiment is similar with the step 101 in first embodiment and 103, herein not
It repeats again.
Step 202, judge to whether there is commodity to be dispensed in kinds of goods cabinet；If so, continue to execute step 203；If it is not,
Then perform step 204.
Step 204, the movement of processor control mobile chassis, robot are moved to goods point.
Specifically, can be that robot presets one for fill-ins with goods point, in this way when robot determines goods
There is no commodity to be dispensed or commodity to be dispensed are uneven full-time in product cabinet, it is possible to first be moved to and replenish with goods point.
Step 205, when reaching with goods point, and receiving door open command, processor opens kinds of goods cabinet.
Specifically, it is preset with goods point will not only to determine whether present position has arrived at for processor, and also to confirm is
No to receive door open command, which can be sent by the operating terminal for matching goods point, and when acknowledging receipt of, processor is opened
Kinds of goods cabinet.Such as when reaching with goods point, but also confiscating door open command, robot can be waited for original place.
Below by an example explanation specifically with goods process, the operating personnel with goods point can be equipped with operating terminal,
When robot is moved to goods point, robot can be shown by display screen needs increased commodity or whole to operation in advance
End, which is sent, needs increased commodity, and operating personnel send enabling when determining that robot is had arrived at goods point, to the robot and refer to
It enables, when the kinds of goods cabinet of robot is opened, carries out manually matching goods according to increased inventory is needed.In addition, machine in practical application
Input equipment is also provided on device people, inputs operation password for operating personnel, a certain specific operation password can correspond to kinds of goods
The door open command of cabinet, robot obtain door open command when receiving the operation password, then open kinds of goods cabinet.
Step 206, when receiving shutdown instruction, processor closes shopping cabinet.
Specifically, closing the door the method for reseptance of instruction can be similar with door open command, can such as be sent out by operating terminal
It send, can also be obtained by the input equipment that robot carries, the method for reseptance for instruction of closing the door does not limit herein.
After kinds of goods cabinet is closed, continue to execute processor control mobile chassis mobile robot in step 203 and be moved to and match
The step of sending destination performs step 207 again later.
Step 207, robot sends arrival information to user terminal.
Specifically, robot first sends arrival information when being moved to dispatching destination to user terminal, reminds user
The commodity of order have reached.After sending arrival information, i.e., wait in situ, continue to execute step 208.
208 to 210 with the step 104 in first embodiment to 106 similar, details are not described herein.
Step 211, when receiving shutdown instruction, controller closes kinds of goods cabinet.
Specifically, this step and step 206 are similar, but the sender for instruction of closing the door is different, and the shutdown of this step refers to
Order can come from user terminal, can be from the server being correspondingly connected with robot.In practical application, it can also be set in
Kinds of goods cabinet is closed after several minutes after unlatching kinds of goods cabinet, user's operation is avoided to forget to close after opening.
Step 212, controller control mobile chassis movement, the position that robot return is made to make an appointment.
Specifically, the position made an appointment can be certain that the homeposition of robot or robot reside
A position can also be the idle region such as charging station or depopulated zone.In this way so that robot can enter standby mode, return
Starting point or resident position, convenient for the location management to robot.
More specifically, this step causes robot to return to the position of agreement according to cruise mode, wherein, cruise mode is
Refer to：After robot completes with goods, by built-in map, user's shopping hotspot map is established according to history shopping information, so
Shopping hot spot is based on by path planning algorithm in processor afterwards and establishes homeward shopping hot spot route.
The process with goods is waited for as it can be seen that being increased in present embodiment to dispatching point, is reduced in kinds of goods cabinet conducive to robot
The article held is moved as possible with lighter weight, application of the cooperation with goods point, moreover it is possible to make the type of merchandize for allowing to dispense more
It is abundant.In addition, increasing the step of returning to appointed position, realize that robot may return to some position etc. after dispatching task is completed
It treats, convenient for the management to robot stand, robot is avoided to hinder other movement things in space.Meanwhile increase hair
The step of sending arrival information convenient for user is reminded to take commodity, is further reduced the time of the entire commercial articles vending process of user.
Third embodiment of the present invention is related to a kind of intelligent distribution pallet piling up method.Third embodiment and first embodiment
It is roughly the same, it is in place of the main distinction：In the first embodiment, robot is confirmed in kinds of goods cabinet according to the inventory to prestore
Some commodity.And in third embodiment of the invention, confirm existing commodity in kinds of goods cabinet using image recognition technology.It utilizes
The article placed in kinds of goods cabinet is identified in image recognition technology realization so that identification quick and precisely, it is changeable more to adapt to article
Application scenarios.
Specifically, as shown in figure 3, being equipped with to shoot kinds of goods cabinet internal image in kinds of goods cabinet 3 in present embodiment
Camera 1, camera 1 is fixed on the laminate 2 or top plate of kinds of goods cabinet, if the kinds of goods cabinet 3 in Fig. 3 has two layers, can set
Two cameras 1, one is arranged on top plate, and for shooting the commodity image in the kinds of goods cabinet of upper strata, another is arranged on middle layer
The bottom surface of plate 2, for shooting the commodity image in lower floor's kinds of goods cabinet.In addition, 4 enabling for representing kinds of goods cabinets 3 in Fig. 3,5 represent
Mobile chassis.
Specifically, it tells and camera is installed inside kinds of goods cabinet, and the video information transmission of camera shooting is extremely located
Device is managed, for identifying the commodity displayed in kinds of goods cabinet, and is stored in memory, is equipped in processor for visual identity
Neural network algorithm identifies engine, for identifying commodity in kinds of goods cabinet.That is, robot is beforehand through image recognition technology
It identifies the commodity in kinds of goods cabinet, and summarizes for inventory information, confirm existing commodity in kinds of goods cabinet further according to inventory information later.
In practical application, user by it is hand-held can communication terminal release order after shopping instruction, robot receives by long-range
User's shopping instruction that server is sent, and with determining customer objective coordinate, plan track route, while check in system inventory
Whether need to be dispensed commodity；If without commodity to be dispensed, automatic planning to dispatching point route in system inventory.
When robot is moved to dispatching point, band dispatching inventory information is sent, and remind dispatching person's polishing to dispatching person's terminal
Kinds of goods.In practical application, the commodity restocking flow corresponding to kinds of goods cabinet mentioned in second embodiment can be with this embodiment party
Image recognition technology superposition in formula uses, and specifically includes：Camera is used to shoot kinds of goods cabinet interior product video image, video
The neural network algorithm identification engine that image passes through in processor is handled, and the commodity in video image are detected, are known
Not, classify, and export result；Later, robot is received with goods door open command (Tathagata autogamy goods person's matches goods door open command), goods
When in product cabinet by restocking commodity, which obtains kinds of goods cabinet inner video image, by all identification merchandise newss, is stored in system library
It deposits.
In addition can also have another identification process in practical application, when determine in kinds of goods cabinet whether there is commodity to be dispensed
When, processor utilizes the image from camera, determines to whether there is commodity to be dispensed in kinds of goods cabinet.More specifically,
Processor can identify the extensive stock in image according to color, shape, static things and the mobile things in image, so as to really
The list of articles stored in order product cabinet.
As it can be seen that present embodiment is identified the article placed in kinds of goods cabinet using image recognition technology realization so that
Identification is quick and precisely.
Four embodiment of the invention is related to a kind of robot, as shown in figure 4, including：Mobile chassis 5, kinds of goods cabinet 3 and knowledge
Other device 8, kinds of goods cabinet 3 and processor 6 are built in a housing, and mobile chassis 5 is set to below housing；It further includes：Controller,
Identifier 8 and processor 6 are electrically connected, and controller includes memory 7 and processor 6.Wherein, memory 7 is stored with computer journey
Sequence when program is performed by processor 6, can realize step as shown in Figure 5：
Step 501, the order instruction comprising dispatching destination and commodity to be dispensed is received, and determines whether deposited in kinds of goods cabinet
In commodity to be dispensed.
Specifically, this step includes the existing quotient in kinds of goods cabinet according to the inventory list deposited in memory in inventory
Product such as when increasing commodity for kinds of goods cabinet, can add commodity item into inventory, and the commodity sold from kinds of goods cabinet or
Certain commodity are taken out from kinds of goods cabinet, corresponding commodity item can be deleted from inventory.
Step 502, there are during commodity to be dispensed in kinds of goods cabinet, control mobile chassis movement is moved to robot and matches
Send destination.
Step 503, it verifies whether the biometric feature from identifier belongs to the user for sending instruction of ordering goods, and is testing
Card opens kinds of goods cabinet after passing through, and takes for user and dispenses commodity.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, are decomposed into multiple steps, as long as including identical logical relation, all in the protection domain of this patent
It is interior；To inessential modification is either added in algorithm in flow or introduces inessential design, but do not change its algorithm
Core design with flow is all in the protection domain of the patent.
It is not difficult to find that present embodiment be with the corresponding system embodiment of first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
Fifth embodiment of the invention is related to a kind of robot.5th embodiment is roughly the same with the 4th embodiment,
It is in place of the main distinction：In the 4th embodiment, existing commodity in kinds of goods cabinet are confirmed according to the inventory to prestore.And at this
It invents in the 5th embodiment, confirms existing commodity in kinds of goods cabinet using image recognition technology.Utilize image recognition technology reality
Now the article placed in kinds of goods cabinet is identified so that identification quick and precisely, more adapts to the changeable application scenarios of article.
When controller determines to whether there is commodity to be dispensed in kinds of goods cabinet, processor utilizes the information from identifier,
It determines to whether there is commodity to be dispensed in kinds of goods cabinet.More specifically, the robot in present embodiment further includes：For shooting
The camera of kinds of goods cabinet internal image；Controller determined in kinds of goods cabinet with the presence or absence of commodity to be dispensed, specially：Processor utilizes
Image information from camera determines to whether there is commodity to be dispensed in kinds of goods cabinet.
It is noted that memory is connected with processor using bus mode, bus can include any number of mutual
One or more processors and the various of memory are electrically connected to together by the bus and bridge of connection, bus.Bus can also incite somebody to action
The various other of such as peripheral equipment, voltage-stablizer and management circuit or the like are electrically connected to together, these are all abilities
Well known to domain, therefore, it will not be further described herein.Bus interface is provided between bus and transceiver and is connect
Mouthful.Transceiver can be an element or multiple element, such as multiple receivers and transmitter, provide passing
The unit to communicate on defeated medium with various other devices.The data handled through processor are passed on the radio medium by antenna
Defeated, further, antenna also receives data and transfers data to processor.
Processor is responsible for bus and common processing, can also provide various functions, including timing, peripheral interface,
Voltage adjusting, power management and other control functions.And memory can be used to store processor in execution operation when institute
The data used.
That is, it will be understood by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions making
It obtains an equipment (can be microcontroller, chip etc.) or processor (processor) performs each embodiment method of the application
All or part of step.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
Since third embodiment is corresponded with present embodiment, present embodiment can be mutual with third embodiment
Match implementation.The relevant technical details mentioned in third embodiment are still effective in the present embodiment, implement in third
The attainable technique effect of institute can similarly be realized in the present embodiment in mode, no longer superfluous here in order to reduce repetition
It states.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in third embodiment.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of intelligent distribution pallet piling up method, which is characterized in that applied to a kind of robot, the robot includes：Mobile chassis,
Kinds of goods cabinet, identifier and processor, the kinds of goods cabinet and the processor are built in a housing, the mobile chassis setting
Below the housing, the mobile chassis, the identifier are electrically connected respectively with the processor；
The intelligent distribution pallet piling up method includes：
The processor receives the order instruction comprising dispatching destination and commodity to be dispensed, and determine in the kinds of goods cabinet whether
There are the commodity to be dispensed；
The processor, there are the mobile chassis during commodity to be dispensed, is controlled to move, makes described in the kinds of goods cabinet
Robot is moved to dispatching destination；
Whether the biometric feature that the processor verification identifier receives is from the use for sending the instruction of ordering goods
The kinds of goods cabinet after being verified, is opened in family, takes for user and dispenses commodity.
2. intelligent distribution pallet piling up method according to claim 1, which is characterized in that described to determine whether deposited in the kinds of goods cabinet
After the commodity to be dispensed, further include：
When the commodity to be dispensed are not present in the processor in the kinds of goods cabinet, the mobile chassis is controlled to be moved to predetermined
Match goods point；
When matching goods point reaching described, and receiving door open command, the processor opens the kinds of goods cabinet；
When receiving shutdown instruction, the processor closes the kinds of goods cabinet, and performs the processor and control the movement
Chassis is moved to the step of dispatching destination.
3. intelligent distribution pallet piling up method according to claim 1, which is characterized in that the unlatching kinds of goods cabinet is taken for user
Before dispensing commodity, further include：
Receive door open command；
It is described unlatching kinds of goods cabinet, for user take dispatching commodity be specially：It is ordered the door open command is confirmed to come from described in transmission
During the user of goods instruction, kinds of goods cabinet is opened, takes for user and dispenses commodity.
4. intelligent distribution pallet piling up method according to claim 1, which is characterized in that the biometric feature include at least with
It is one of lower：Slap at least one of vein, palmmprint, face image, fingerprint and iris.
5. intelligent distribution pallet piling up method according to claim 1, which is characterized in that be equipped in the kinds of goods cabinet for shooting
State the camera of kinds of goods cabinet internal image；
It whether there is the commodity to be dispensed in the determining article cabinet, specially：The processor is utilized from the camera shooting
The image of head determines to whether there is the commodity to be dispensed in the article cabinet.
6. intelligent distribution pallet piling up method according to claim 1, which is characterized in that described that the goods is opened after being verified
After product cabinet, further include：
When receiving shutdown instruction, the controller closes the kinds of goods cabinet；
The controller controls the mobile chassis movement, the position that the robot return is made to make an appointment.
7. intelligent distribution pallet piling up method according to claim 6, which is characterized in that the position made an appointment includes：It fills
Power station or idle region.
8. intelligent distribution pallet piling up method according to claim 1, which is characterized in that the control mobile chassis is moved to
After dispensing destination, and before identifier reception biometric feature, further include：
The robot sends arrival information to user terminal.
9. a kind of robot, which is characterized in that including：Mobile chassis, kinds of goods cabinet and identifier, the kinds of goods cabinet and the processing
Device is built in a housing, and the mobile chassis is set to below the housing；And controller, the identifier and described
Processor is electrically connected, and the controller includes memory and processor, wherein the memory is stored with computer program, it is described
When program is executed by processor, following steps can be realized：
The order instruction comprising dispatching destination and commodity to be dispensed is received, and determines to treat with the presence or absence of described in the kinds of goods cabinet
Dispense commodity；
There are the mobile chassis during commodity to be dispensed, is controlled to move in the kinds of goods cabinet, move the robot
To dispatching destination；
Whether biometric feature of the verification from the identifier belongs to the user for sending the instruction of ordering goods, and logical in verification
Later the kinds of goods cabinet is opened, takes for user and dispenses commodity.
10. robot according to claim 9, which is characterized in that further include：For shooting the kinds of goods cabinet internal image
Camera；
The controller determined in kinds of goods cabinet with the presence or absence of the commodity to be dispensed, specially：The processor is utilized from institute
The image information of camera is stated, determines to whether there is the commodity to be dispensed in the kinds of goods cabinet.
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