CN108422918B - Unmanned express delivery vehicle, unmanned express delivery system and automatic delivery method thereof - Google Patents
Unmanned express delivery vehicle, unmanned express delivery system and automatic delivery method thereof Download PDFInfo
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- CN108422918B CN108422918B CN201810330879.4A CN201810330879A CN108422918B CN 108422918 B CN108422918 B CN 108422918B CN 201810330879 A CN201810330879 A CN 201810330879A CN 108422918 B CN108422918 B CN 108422918B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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Abstract
The invention provides an unmanned express delivery vehicle, an unmanned express delivery system and an automatic delivery method thereof, wherein the unmanned express delivery vehicle comprises an unmanned vehicle body, an express delivery shelf is arranged on the unmanned vehicle body, a circulation box with an identification tag is arranged in the express delivery shelf, and express delivery articles are arranged in different circulation boxes; the express delivery shelf is provided with a mechanical arm for taking and placing a transfer box from the express delivery shelf, and the top of the unmanned vehicle body or/and the top of the express delivery shelf is/are provided with a three-dimensional space measuring sensor; the mechanical arm is provided with a visual sensor; the unmanned vehicle body is provided with a control unit, a communication unit and a storage unit, wherein the communication unit and the storage unit are respectively connected with the control unit, and the control unit is electrically connected with a control circuit of the mechanical arm and the three-dimensional space measuring sensor. By adopting the technical scheme of the invention, a quick, efficient and cheap unmanned delivery system is realized, the goods dispatching efficiency is improved, and the labor cost is reduced.
Description
Technical Field
The invention belongs to the technical field of logistics, and particularly relates to an unmanned express delivery vehicle, an unmanned express delivery system and an automatic delivery method thereof.
Background
With the rapid development of electronic commerce, more and more online buyers in recent years develop online and offline (O2O) business very rapidly, and the electronic commerce industry currently encounters a problem of a development bottleneck, namely logistics, especially the last kilometer of the logistics. Aiming at the problem, the main solution is to utilize an express delivery person to carry out delivery or receiving, but the cost is high in this way; and this approach is difficult to continue with increasing human costs.
One important reason that express delivery is difficult to automate is that the delivery environment is complex and variable, and in addition, the shapes and the sizes of the express delivery are different, and the existing robot technology cannot accurately grasp and move various different articles. The existing full-automatic express scheme also has no good specific scheme for grabbing objects by using a mechanical arm, and people are required to match the scheme. The main reasons are also limited by the technology of the existing mechanical arm and mechanical arm, the mechanical arm cannot finish irregular-shaped objects such as light and thin files and flexible package objects with unfixed shapes, the mechanical arm cannot grasp the common express items, and the sensor and the recognition system cannot recognize and position the irregular-shaped objects.
Disclosure of Invention
Aiming at the technical problems, the invention discloses an unmanned express delivery vehicle, an unmanned express delivery system and an automatic delivery method thereof, which do not need manual assistance, so that a quick, efficient and cheap unmanned delivery system is realized. In addition, the circulation box serves as a standard and normative recyclable packaging box in the whole logistics transportation link.
In this regard, the invention adopts the following technical scheme:
the unmanned express delivery vehicle comprises an unmanned vehicle body, wherein an express delivery goods shelf is arranged on the unmanned vehicle body, a circulation box with an identification tag is arranged in the express delivery goods shelf, and express delivery articles are arranged in different circulation boxes; the automatic delivery system comprises an automatic delivery storage rack, an automatic delivery system and a control system, wherein the automatic delivery storage rack is provided with a mechanical arm for taking and placing a transfer box from the automatic delivery storage rack, and the top of the unmanned vehicle body or/and the top of the automatic delivery storage rack are provided with three-dimensional space measurement sensors for positioning and ranging with the automatic delivery storage rack; the mechanical arm is provided with a visual sensor; the unmanned vehicle body is provided with a control unit, a communication unit and a storage unit, wherein the communication unit and the storage unit are respectively connected with the control unit, and the control unit is electrically connected with a control circuit, a three-dimensional space measuring sensor and a vision sensor of the mechanical arm. The mechanical arm is located on one side of the express shelf, and the mechanical arm can be located on the upper side, the lower side, the left side and the right side of the express shelf. The visual sensor is used for detecting the positioning mark and the like of the circulation box, so that the position of the circulation box which needs to be taken out is accurately positioned. The circulation case is used for loading express delivery article or send a person to put the express delivery article into the circulation case through the express delivery cabinet to solve the express delivery parcel size difference, the hardness is different, the problem of being inconvenient for the manipulator to accurately snatch. Because goods have been placed in advance at the transfer box, the arm need not to snatch the goods, can be more efficient, swift, reliable get and put express delivery goods. The three-dimensional space measurement sensor plays a role in carrying out space measurement on the express cabinet.
By adopting the technical scheme, the goods are moved by using the express delivery circulation box, before the goods are transported, various express delivery articles with different shapes and different hardness are respectively packaged by the circulation box, the goods are placed in the express delivery circulation box in advance, and the goods and the express delivery circulation box are placed in the goods shelf of the unmanned express delivery vehicle together. Each goods shelf can be loaded with one or more express delivery circulation boxes, and the circulation boxes can be reused. And then taking out the normalized circulation box through the mechanical arm and putting the normalized circulation box into the express cabinet, so that the problem that the mechanical arm or the mechanical arm cannot accurately grasp and move various different articles in the prior art is solved. When the express items are transferred, the transfer box is actually an extension part of the mechanical arm, and forms a mechanical system for moving the goods together with the mechanical arm. The express delivery circulation case of high standardization is convenient for the quick efficient of arm snatch to realize quick, the reliable automation mechanized operation of high efficiency, the express delivery circulation case of standardization simultaneously can retrieve and reuse, and the protection express delivery article that the pressure of the packaging material of lightening express delivery trade can be better has also prevented the damage of express delivery article.
Preferably, the express shelf is movably arranged on the unmanned vehicle body.
Preferably, the three-dimensional space measuring sensor is a depth camera, such as a binocular camera, a laser radar and other sensors for measuring three-dimensional space distance.
As a further improvement of the invention, the transfer box is provided with the identification tags, each identification tag corresponds to an independent identification code, and the tail end of the mechanical arm is provided with the visual sensor for identifying, positioning and identifying the tags, so that the mechanical arm can accurately position the space position of the transfer box, and the mechanical arm can be locked accurately. Each circulation box is provided with an identification label, each label corresponds to an independent identification code, and a background general control center records each identification code, the position of the corresponding circulation box, the size of the circulation box and the transport address corresponding to the express items in the circulation box.
Further, the circulation box is provided with a box door, the box door is closed, the circulation box is a closed container, and the circulation box has a standard shape and size, and a user can open and close to take and put express goods.
As a further improvement of the invention, the positioning and identifying label is a two-microcode label, at least three positioning angular points are arranged on the two-microcode label, and the control unit obtains the positions of the three positioning angular points relative to the center of the visual sensor by obtaining the two-microcode identified by the visual sensor, so that the connection position of the tail end of the mechanical arm and the circulation box is calculated.
As a further improvement of the invention, the circulation box is provided with a box door switch. The user can open the door by opening and closing the door.
Preferably, the door switch comprises a rotary lock or a key lock.
The express delivery goods shelves divide the multilayer, and express delivery goods shelves are the side-opening type, and the business turn over of goods is carried out by the packing cupboard side promptly. Further, the express delivery goods shelves can be separated with unmanned express delivery car, and a plurality of express delivery goods shelves of being convenient for together pass through the transport of container car.
As a further improvement of the invention, the tail end of the mechanical arm is provided with an electromagnetic control locking device for locking the circulation box; the mechanical arm is a four-degree-of-freedom cylindrical coordinate mechanical arm. By adopting the technical scheme, the mechanical arm can well acquire the circulation box, and is more accurate and safer. The electromagnetic control locking device is used for combining the mechanical arm and the circulation box.
As a further improvement of the invention, the mechanical arm comprises a push rod, the tail end of the push rod is movably connected with the mechanical arm through a spring, electromagnets are arranged on two sides of the push rod, and the contact part of the circulation box and the mechanical arm is made of magnetic materials; the electromagnet is powered off, and the push rod is pushed out under the action of the elastic force of the spring to push the circulation box to move forwards, so that the circulation box is separated from the mechanical arm. Further, a tray is arranged at the tail end of the mechanical arm.
As a further development of the invention, the three-dimensional measuring sensor is a binocular camera, a depth camera or a 3D lidar.
As a further improvement of the invention, the left side and the right side or/and the front side and the rear side of the express goods shelf are provided with components for connecting the unmanned vehicle body with the express goods shelf. Like this, unmanned express delivery car retrieves the express delivery after, with express delivery goods shelves whole removal to the large truck on, direct transportation. Meanwhile, the logistics distribution center uniformly loads the express articles to be sent on different express delivery shelves, the express articles are transported to the distribution point of the unmanned express delivery vehicle by the large truck, and the express delivery shelves filled with the express articles are directly arranged on the express delivery vehicle, so that the distribution efficiency is improved.
As a further improvement of the invention, the visual sensor is positioned at the tail end of the mechanical arm and at one side of the push rod.
As a further improvement of the invention, the express shelf of the unmanned express vehicle is provided with a blocking or fixing piece for fixing the transfer box, and can comprise an express shelf door or a blocking piece for clamping the transfer box and the like. When the mechanical arm needs to move the circulation box, the control unit controls the actuating mechanism to open the structural characteristics of the blocking and fixing circulation box, and after the mechanical arm finishes operation, the control unit controls the actuating mechanism to close the structural characteristics of the blocking and fixing circulation box.
As a further improvement of the invention, the express shelf of the unmanned express vehicle is provided with a pushing mechanism for automatically pushing out the circulation box, and the pushing mechanism is connected with the circulation box to push out the circulation box. When one of the transfer cases is taken out, the spring of the ejector mechanism pushes the remaining transfer cases outward so that the latter transfer case is pushed to the forefront. The pushing mechanism adopts a pushing mechanism on a goods shelf of a self-service medicine taking machine of an unmanned vending machine or a hospital in the prior art.
The invention also discloses an unmanned express picking and placing system which comprises the unmanned express vehicle, an express cabinet and a total control center, wherein the express cabinet is used for receiving and storing goods, the express cabinet comprises a computer, an electromagnetic lock and a plurality of express boxes, the computer is in data communication with the total control center through a wireless module, the duty information of the express boxes and the logistics information of express items of circulation boxes in the express boxes are sent, and meanwhile the receiving information of the express items put into the express boxes is acquired from the total control center; the general control center is communicated with the communication unit of the unmanned express delivery vehicle, the unmanned express delivery vehicle is scheduled to carry and issue logistics information, the approaching target unmanned express delivery vehicle is communicated with the express delivery cabinet, and the door of the express delivery box is opened; the control unit of the unmanned express delivery vehicle controls the mechanical arm to put the transfer box into the express delivery box of the express delivery cabinet or close the box door of the express delivery box after taking out the transfer box, so as to finish the dispatching task; the customer communicates with the express cabinet through the terminal, opens the chamber door of the express box, takes out the express items in the circulation box or puts the express items into the circulation box.
The express cabinet is arranged on a street or in a residential community. The computer is communicated with the control center through the wireless module, the duty condition of the express delivery box and the required sending address of goods are transmitted to the main control center, and the main control center is responsible for dispatching the express delivery vehicle to carry. The box door of the express box can only be opened by a close target express car or a user through a close range communication mode, and the express box is prevented from being opened remotely by an illegal intrusion network.
Each circulation box is provided with an identification label, each label corresponds to an independent identification code, and a background general control center records each identification code, the position of the corresponding circulation box, the size of the circulation box and the transport address corresponding to the express items in the circulation box.
The main control center is responsible for collecting the duty condition of each express box and the express delivery condition of the unmanned express car, planning optimal delivery arrangement in real time, and transmitting instructions to the appointed express car or express box.
As a further improvement of the invention, the express cabinet is provided with a positioning mark which is convenient for the three-dimensional space measuring sensor to recognize. The control unit is convenient for quickly and accurately positioning the space position of the express cabinet.
The invention also discloses an automatic delivery method of the unmanned express delivery system, which comprises the following steps:
step S101, a computer of the express cabinet is communicated with a main control center through a wireless module, and information of the duty condition of the express cabinet is fed back to the main control center;
step S102, after the unmanned express delivery vehicle loads the express delivery articles, when the express delivery vehicle reaches a designated target express delivery cabinet according to the route information of a total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, and determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and the unmanned express delivery vehicle sends a request for opening a box door to the express delivery cabinet in a short-distance communication mode;
step S103, the express cabinet opens the door of the corresponding express cabinet and sends the relative position coordinates of the cabinet body to the unmanned express vehicle; if the empty circulation boxes are placed in the express boxes, the mechanical arm senses the specific positions of the express boxes in the box opening mode through the three-dimensional space measuring sensor, and the circulation boxes in the express boxes are placed on empty frames of express shelves on a vehicle;
step S104, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out a transfer box with express items on an express delivery shelf, the transfer box is placed into the express delivery box with a designated door, meanwhile, identification tag information of a visual sensor of the mechanical arm for identifying the transfer box is fed back to a main control center, and the main control center records the identification tag information and address information of the express delivery box placed into the corresponding transfer box; the mechanical arm closes the express box;
step S105, the total control center sends the address information of the express box to the addressee through the terminal.
As a further improvement of the invention, the sender sends the express package comprising the following steps:
step S201, a sender sends a mail sending request containing the size of the goods through an application program of a terminal, a main control center calculates an express cabinet closest to a user and an express box with the size of the sent goods, and the main control center sends an optimal express cabinet address to the sender;
step S202, after the sender reaches the express delivery cabinet and the express delivery cabinet verifies the user information, controlling the appointed express delivery box to be opened automatically, placing the express delivery articles in a circulation box of the sender, and closing the circulation box and the box door of the express delivery box; inputting identification tag information of a circulation box for placing express items, delivery addresses of the express items and addressee information on an application program of the terminal, transmitting the information to a main control center by the application program through a network, and optimally ordering the information according to the received delivery address information by the main control center to plan a goods taking route and a delivery sequence of the unmanned express delivery vehicle;
step S203, when the unmanned express delivery vehicle reaches the designated target express delivery cabinet according to the route information of the total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and sends a door opening request to the express delivery cabinet through a short-distance communication mode, and sends a door opening request to the express delivery cabinet through the short-distance communication mode;
step S204, the express cabinet opens the door of the corresponding express box and sends the relative position coordinates of the box body to the unmanned express car, the mechanical arm senses the specific position of the express box opened by the three-dimensional space measuring sensor, the circulation box in the express box is placed on an empty shelf of the express shelf on the car, and meanwhile, the identification tag information of the vision sensor for identifying the circulation box is fed back to the general control center;
step S205, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out the transfer box above the express delivery shelf and put the transfer box into the express delivery box with the appointed door, and meanwhile, the visual sensor of the mechanical arm identifies the identification tag information of the transfer box and feeds back the identification tag information to the general control center, and the general control center records the identification tag information and the address information of the express delivery box put in the corresponding transfer box; the mechanical arm closes the express box.
As a further improvement of the present invention, in step S103 and step S204, the following steps are adopted for the robotic arm to sense the specific position of the opened express box through the three-dimensional space measurement sensor: and extracting a side plane of the express cabinet through a ransac algorithm, identifying the opened express cabinet through a similar aggregation algorithm, calculating the relative position of the opened express cabinet, and after solving the relative position, putting the transfer cabinet into the express cabinet by the mechanical arm.
As a further improvement of the invention, the mechanical arm is used for closing the express box, and the express box door is pushed and pressed by the pulley at the tail end of the mechanical arm, so that the box door is closed.
Compared with the prior art, the invention has the beneficial effects that:
firstly, adopting the technical scheme of the invention, a goods shelf for loading express goods is arranged on an unmanned express delivery vehicle, a circulation box is arranged on the goods shelf and used for loading the express goods, a mechanical arm is arranged beside the goods shelf, the mechanical arm picks up the circulation box from the goods shelf of the express delivery vehicle, and the circulation box filled with the goods is carried onto the express delivery box of the express delivery cabinet through the mechanical arm, so that a quick, efficient and cheap unmanned delivery system is realized. In addition, the circulation case is used as a standard and normative recoverable packing box in the whole logistics transportation link, and high-efficiency and low-cost goods carrying is realized.
Secondly, by adopting the technical scheme of the invention, the automatic delivery and collection of the express items are realized without manual assistance through the cooperation of the unmanned express vehicle, the express cabinet and the whole system formed by the main control center, and the express delivery can be carried out at night, so that the efficiency of delivering the goods is greatly improved, and the labor cost is greatly reduced.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned express delivery vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a circulation box according to an embodiment of the present invention.
Fig. 3 is a schematic view illustrating an internal structure of a distal end of a robot arm according to an embodiment of the present invention.
Fig. 4 is a schematic view showing an external structure of the distal end of the robot arm according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an unmanned express delivery vehicle and an express delivery cabinet according to an embodiment of the invention.
Fig. 6 is a schematic structural view of another circulation box according to an embodiment of the present invention.
The reference numerals include: 1-unmanned express delivery vehicle, 11-unmanned vehicle body, 12-express delivery shelf, 13-transfer box, 14-mechanical arm and 15-three-dimensional space measuring sensor; 131-door switch, 132-positioning and identification tag; 141-mechanical arm tail end, 142-push rod, 143-spring, 144-electromagnet and 145-visual sensor; 2-express delivery cabinet, 21-location sign.
Detailed Description
Preferred embodiments of the present invention are described in further detail below.
Example 1
As shown in fig. 1-4, an unmanned express delivery vehicle comprises an unmanned vehicle body 11, wherein an express delivery goods shelf 12 is arranged on the unmanned vehicle body 11, a circulation box 13 with an identification tag is arranged in the express delivery goods shelf 12, and express delivery articles are arranged in different circulation boxes 13; one side of the express shelf 12 is provided with a mechanical arm 14 for taking and placing a transfer box 13 from the express shelf 12, and the top of the express shelf 12 is provided with a three-dimensional space measurement sensor 15 for positioning and ranging with the express cabinet 2; the mechanical arm 14 is provided with a visual sensor 145; the unmanned vehicle body 11 is provided with a control unit, a communication unit and a storage unit, wherein the communication unit and the storage unit are respectively connected with the control unit, and the control unit is electrically connected with a control circuit of the mechanical arm 14, the three-dimensional space measuring sensor 15 and the vision sensor 145.
Fig. 2 is a preferred structure of the transfer box, the transfer box 13 is provided with positioning and identifying labels 132, each positioning and identifying label 132 corresponds to an independent identifying code, and as can be seen in conjunction with fig. 1, the tail end of the mechanical arm 14 is provided with a vision sensor 145 for identifying the positioning and identifying label 132. The positioning and identifying tag 132 is a two-microcode tag, three positioning angular points are arranged on the two-microcode tag, and the control unit obtains the positions of the three positioning angular points relative to the center of the vision sensor 145 by obtaining the two-microcode identified by the vision sensor 145, so as to calculate the connection position of the tail end of the mechanical arm 14 and the circulation box 13. The circulation box 13 is provided with a box door switch 131, and a user can open the box door through the box door switch 131. Preferably, the door switch 131 includes a rotation lock or a key lock. The three-dimensional space measurement sensor 15 is a binocular camera, a depth camera or a 3D laser radar.
As shown in fig. 3 and 4, the end of the mechanical arm 14 is provided with an electromagnetic locking device for locking the circulation box 13; the mechanical arm 14 is a four-degree-of-freedom cylindrical coordinate mechanical arm 14. The mechanical arm 14 comprises a push rod 142, the tail end of the push rod 142 is movably connected with the mechanical arm 14 through a spring 143, electromagnets 144 are arranged on two sides of the push rod 142, and the box body of the circulation box 13 is made of magnetic materials such as iron and nickel; when the electromagnet 144 is powered off, the push rod 142 is pushed out under the action of the elastic force of the spring 143 to push the circulation box 13 to move forwards, so that the circulation box 13 is separated from the mechanical arm 14. The vision sensor 145 is located at the arm end 141 and on one side of the push rod 142. The mechanical arm moves to the target transfer box, the transfer box 13 is sucked by the electromagnet 144 of the mechanical arm 14, and the transfer box 13 is pulled out of the express shelf 12. The transfer box 13 is moved into the express cabinet by the mechanical arm 14, and finally, the electromagnet on the mechanical arm 14 is cut off, the magnetic force disappears, and the push rod 142 on the mechanical arm 14 pushes the transfer box 13 to move forwards, so that the transfer box 13 is separated from the mechanical arm 14.
The visual sensor 145 of the arm end 141, i.e. a small camera, specifically detects the position of the transfer box 13 by: the circulation box 13 is provided with a positioning and identification tag 132 of a two-dimensional code, the two-dimensional code is both an identification tag and a positioning tag, the two-dimensional code is provided with unique information of the circulation box 13, and the two-dimensional code is fixed at the position of the circulation box 13. Three positioning corner points are arranged on the two-dimensional code. The computer calculates the connection position of the tail end 141 of the mechanical arm and the target circulation box by identifying the positions of the three positioning angular points of the two-dimensional code relative to the vision sensor 145, namely the center of the camera.
Further, the express shelf 12 of the unmanned express vehicle 1 is provided with a pushing mechanism for automatically pushing out the circulation box 13, and the pushing mechanism is connected with the circulation box 13 to push out the circulation box 13. When one of the turn boxes 13 is taken out, the spring 143 of the ejector mechanism pushes the remaining turn boxes 13 outward so that the following turn box 13 is pushed to the forefront. The express shelf 12 is movably arranged on the unmanned vehicle body 11, so that the express shelf can be conveniently moved to a large truck integrally for centralized transportation.
Further, the left and right sides or/and front and back both sides of express delivery goods shelves 12 are equipped with the connecting elements who is used for being connected between unmanned vehicle body 11 and the express delivery goods shelves 12, and the whole express delivery goods shelves 12 of being convenient for follow unmanned express delivery car and directly install or uninstall.
Further, each layer on the express shelf 12 has a small shutter that opens and closes automatically.
As shown in fig. 6, the transfer box 13 may be an upper opening type, and the positioning and identifying tag 132 is provided at a side of the transfer box 13, and a door of the transfer box 13 is opened from the upper side.
Example 2
As shown in fig. 5, an unmanned express delivery system includes an unmanned express delivery vehicle 1 of embodiment 1, an express delivery cabinet 2 for receiving and storing goods, and a main control center, wherein the express delivery cabinet 2 includes a computer, an electromagnetic lock, and a plurality of express delivery boxes, the computer communicates with the main control center through a wireless module, sends the duty information of the express delivery boxes and the logistics information of the express delivery items of a circulation box 13 in the express delivery boxes, and obtains the receiving information of the express delivery items put into the express delivery boxes from the main control center; the general control center is communicated with the communication unit of the unmanned express delivery vehicle 1, the unmanned express delivery vehicle 1 is scheduled to carry and send logistics information, the approaching target unmanned express delivery vehicle 1 is communicated with the express delivery cabinet 2, and the door of the express delivery box is opened; the control unit of the unmanned express delivery vehicle 1 controls the mechanical arm 14 to put the transfer box 13 into the express delivery box of the express delivery cabinet 2 or close the door of the express delivery box after taking out the transfer box 13, so as to finish the dispatching task; the customer communicates with the express cabinet 2 through the terminal, opens the chamber door of the express box, takes out the express items in the circulation box 13 or puts the express items into the circulation box 13. Because goods have been placed in advance in circulation case 13, arm 14 need not to snatch the goods, as long as snatch circulation case 13, can more high-efficient like this, swift, reliable get and put express delivery goods.
The express delivery cabinet 2 is provided with a positioning mark 21 which is convenient for the three-dimensional space measuring sensor 15 to recognize. When the unmanned express delivery car 1 arrives at the targeting express delivery cabinet 2, the three-dimensional space measurement sensor 15 determines the relative position of the express delivery cabinet 2 and the unmanned express delivery car 1 by detecting the positioning mark 21 on the express delivery cabinet 2, the position of each express delivery box on the express delivery cabinet 2 is known, and the unmanned express delivery car 1 sends a box door opening request to the express delivery cabinet 2 in a close range communication mode. The express cabinet 2 opens the door of the corresponding express box and sends the relative position coordinates of the express box to the unmanned express vehicle 1.
The general control center opens the express box, and the express items on the circulation box 13 can be delivered to the express box together for storage. The user can also send the express delivery through the express delivery case of express delivery cabinet. The circulation box 13 is provided with a box door switch which can be opened and closed by a user. The circulation box 13 is provided with a positioning and identifying label 132 which is convenient for the visual sensor 145 to identify, so that the mechanical arm can accurately position the space position of the circulation box 13, and is convenient for accurate combination. Each circulation box 13 is provided with an identification tag, each tag corresponds to an independent identification code, and the total control center records each identification code and corresponds to the position of the circulation box 13.
The method for specifically taking and placing the express circulation box 13 by the unmanned express taking and placing system comprises the following steps: the control unit takes the circulation box 13 out of the express shelf 12 through the mechanical arm 14 according to the order of picking and placing the pieces planned by the general control center, and ensures that the position relation between the circulation box 13 and the tail end 141 of the mechanical arm is determined. A three-dimensional space measuring sensor 15 is installed on the unmanned express delivery vehicle 1, and functions to determine the relative position of the opened express delivery box and the unmanned express delivery vehicle 1. The control unit senses the specific position of the opened express delivery box through the three-dimensional space measuring sensor 15, the specific method is that the side plane of the express delivery box is extracted through a ransac algorithm, the opened express delivery box is identified through a similar aggregation algorithm, the relative position of the opened express delivery box is calculated, the movement track of the mechanical arm in space is calculated by a computer, and then the mechanical arm is controlled to put the transfer box into the express delivery box according to the calculated movement track. After the express box is moved forward, the control unit controls the mechanical arm, and the pulley at the tail end of the mechanical arm pushes and presses the express box door, so that the box door is closed. After the user finishes picking up the goods, the circulation box 13 can be kept in the express cabinet 2 for the next repeated use.
Example 3
A delivery method of an unmanned express delivery system, the unmanned express delivery system employing the system of embodiment 2, comprising the steps of:
step S101, a computer of the express cabinet is communicated with a main control center through a wireless module, and information of the duty condition of the express cabinet is fed back to the main control center;
step S102, after the unmanned express delivery vehicle loads the express delivery articles, when the express delivery vehicle reaches a designated target express delivery cabinet according to the route information of a total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, and determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and the unmanned express delivery vehicle sends a request for opening a box door to the express delivery cabinet in a short-distance wireless communication mode;
step S103, the express cabinet opens the door of the corresponding express cabinet and sends the relative position coordinates of the cabinet body to the unmanned express vehicle; if the empty circulation boxes are placed in the express boxes, the mechanical arm senses the specific positions of the express boxes in the box opening mode through the three-dimensional space measuring sensor, and the circulation boxes in the express boxes are placed on empty frames of express shelves on a vehicle;
step S104, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out a transfer box with express items on an express delivery shelf, the transfer box is placed into the express delivery box with a designated door, meanwhile, identification tag information of a visual sensor of the mechanical arm for identifying the transfer box is fed back to a main control center, and the main control center records the identification tag information and address information of the express delivery box placed into the corresponding transfer box; the mechanical arm closes the express box;
step S105, the total control center sends the address information of the express box to the addressee through the terminal.
The above process is then repeated.
The sender sending the express package comprises the following steps:
step S201, a sender sends a mail sending request containing the size of the goods through an application program of a terminal, a main control center calculates an express cabinet closest to a user and an express box with the size of the sent goods, and the main control center sends an optimal express cabinet address to the sender;
step S202, after the sender reaches the express delivery cabinet and the express delivery cabinet verifies the user information, controlling the appointed express delivery box to be opened automatically, placing the express delivery articles in a circulation box of the sender, and closing the circulation box and the box door of the express delivery box; inputting identification tag information (identification number) of a circulation box for placing express items, delivery addresses of the express items and addressee information on an application program of the terminal, transmitting the information to a main control center by the application program through a network, and optimally sorting the information according to the received delivery address information by the main control center to plan a delivery route and a delivery sequence of the unmanned express delivery vehicle;
step S203, when the unmanned express delivery vehicle reaches the designated target express delivery cabinet according to the route information of the total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and sends a door opening request to the express delivery cabinet through a short-distance communication mode, and sends a door opening request to the express delivery cabinet through the short-distance communication mode;
step S204, the express cabinet opens the door of the corresponding express box and sends the relative position coordinates of the box body to the unmanned express car, the mechanical arm senses the specific position of the express box opened by the three-dimensional space measuring sensor, the circulation box in the express box is placed on an empty shelf of the express shelf on the car, and meanwhile, the identification tag information of the vision sensor for identifying the circulation box is fed back to the general control center;
step S205, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out the transfer box above the express delivery shelf and put the transfer box into the express delivery box with the appointed door, and meanwhile, the visual sensor of the mechanical arm identifies the identification tag information of the transfer box and feeds back the identification tag information to the general control center, and the general control center records the identification tag information and the address information of the express delivery box put in the corresponding transfer box; the mechanical arm closes the express box.
Therefore, besides receiving the express delivered by the express delivery vehicle, the user can send the express package by using the express delivery box. The method specifically comprises the steps that a user sends a mail sending request containing the size of the goods through client software, and a total control center calculates an express cabinet nearest to the user and an express box with the size of the sent goods. And the total control center sends the optimal express cabinet address to the user. The user arrives at the express cabinet, and the user information such as the mobile phone two-dimensional code is verified. After verification is passed, the appointed express delivery box is automatically opened, and a user needs to place express delivery articles in the circulation box and close the express delivery box door. The general control center automatically plans unmanned express delivery car to get the piece.
By adopting the technical scheme, the problem of delivering goods in the last kilometer is solved, and the delivery or receiving of goods by an express delivery person is not needed, so that the labor cost is greatly reduced. The technology has the greatest advantages that express delivery can be carried out at night, and the goods delivery efficiency is greatly improved.
In step S103 and step S204, the following steps are adopted for the mechanical arm to sense the concrete position of the opened express box through the three-dimensional space measurement sensor: and extracting a side plane of the express cabinet through a ransac algorithm, identifying the opened express cabinet through a similar aggregation algorithm, calculating the relative position of the opened express cabinet, and after solving the relative position, putting the transfer cabinet into the express cabinet by the mechanical arm.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (8)
1. An unmanned express delivery system, its characterized in that: the automatic goods delivery system comprises an unmanned express delivery vehicle, an express delivery cabinet and a general control center, wherein the express delivery cabinet is used for receiving and storing goods, the unmanned express delivery vehicle comprises an unmanned vehicle body, an express delivery goods shelf is arranged on the unmanned vehicle body, a circulation box with an identification tag is arranged in the express delivery goods shelf, and the express delivery goods are arranged in different circulation boxes; the automatic delivery system comprises an automatic delivery storage rack, an automatic delivery system and a control system, wherein the automatic delivery storage rack is provided with a mechanical arm for taking and placing a transfer box from the automatic delivery storage rack, and the top of the unmanned vehicle body or/and the top of the automatic delivery storage rack are provided with three-dimensional space measurement sensors for positioning and ranging with the automatic delivery storage rack; the mechanical arm is provided with a visual sensor; the unmanned vehicle body is provided with a control unit, a communication unit and a storage unit, wherein the communication unit and the storage unit are respectively connected with the control unit, and the control unit is electrically connected with a control circuit of the mechanical arm, a three-dimensional space measuring sensor and a vision sensor;
the circulation box is provided with identification tags, each identification tag corresponds to an independent identification code, and a visual sensor for identifying, positioning and identifying the tag is arranged at the tail end of the mechanical arm;
the express cabinet comprises a computer, an electromagnetic lock and a plurality of express boxes, wherein the computer is in data communication with a main control center through a wireless module, sends the duty information of the express boxes and the logistics information of express items of a circulation box in the express boxes, and simultaneously obtains the receiving information of the express items put into the express boxes from the main control center; the general control center is communicated with the communication unit of the unmanned express delivery vehicle, the unmanned express delivery vehicle is scheduled to carry and issue logistics information, the approaching target unmanned express delivery vehicle is communicated with the express delivery cabinet, and the door of the express delivery box is opened; the control unit of the unmanned express delivery vehicle controls the mechanical arm to put the transfer box into the express delivery box of the express delivery cabinet or take out the transfer box, and then the door of the express delivery box is closed; the customer communicates with the express cabinet through the terminal, opens the chamber door of the express box, takes out the express items in the circulation box or puts the express items into the circulation box.
2. The unmanned express delivery system of claim 1, wherein: the express shelf is divided into multiple layers, and is side-opened.
3. The unmanned express delivery system of claim 1, wherein: the circulation box is provided with a box door switch; the left side and the right side or/and the front side and the rear side of the express goods shelf are provided with components used for being connected with an unmanned vehicle body.
4. The unmanned express delivery system of claim 1, wherein: the tail end of the mechanical arm is provided with an electromagnetic control locking device for locking the circulation box, and the mechanical arm is a four-degree-of-freedom cylindrical coordinate mechanical arm.
5. The unmanned express delivery system of claim 4, wherein: the mechanical arm comprises a push rod, the tail end of the push rod is movably connected with the mechanical arm through a spring, electromagnets are arranged on two sides of the push rod, and the contact part of the circulation box and the mechanical arm is made of a magnetic material; the electromagnet is powered off, and the push rod is pushed out under the action of the elastic force of the spring to push the circulation box to move forwards, so that the circulation box is separated from the mechanical arm.
6. The unmanned express delivery system of claim 1, wherein: the express delivery goods shelves of unmanned express delivery car are equipped with the ejecting mechanism that promotes the circulation case automatically, ejecting mechanism and circulation case contact promote it.
7. An automated delivery method of an unmanned express delivery system according to claim 1, wherein: which comprises the following steps:
step S101, a computer of the express cabinet is communicated with a main control center through a wireless module, and information of the duty condition of the express cabinet is fed back to the main control center;
step S102, after the unmanned express delivery vehicle loads the express delivery articles, when the express delivery vehicle reaches a designated target express delivery cabinet according to the route information of a total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, and determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and the unmanned express delivery vehicle sends a request for opening a box door to the express delivery cabinet in a short-distance communication mode;
step S103, the express cabinet opens the door of the corresponding express cabinet and sends the relative position coordinates of the cabinet body to the unmanned express vehicle; if the empty circulation boxes are placed in the express boxes, the mechanical arm senses the specific positions of the express boxes in the box opening mode through the three-dimensional space measuring sensor, and the circulation boxes in the express boxes are placed on empty frames of express shelves on a vehicle;
step S104, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out a transfer box with express items on an express delivery shelf, the transfer box is placed into the express delivery box with a designated door, meanwhile, identification tag information of a visual sensor of the mechanical arm for identifying the transfer box is fed back to a main control center, and the main control center records the identification tag information and address information of the express delivery box placed into the corresponding transfer box; the mechanical arm closes the express box;
step S105, the total control center sends the address information of the express box to the addressee through the terminal.
8. The automated delivery method of an unmanned express delivery system of claim 7, wherein: the sender sending the express package comprises the following steps:
step S201, a sender sends a mail sending request containing the size of the goods through an application program of a terminal, a main control center calculates an express cabinet closest to a user and an express box with the size of the sent goods, and the main control center sends an optimal express cabinet address to the sender;
step S202, after the sender reaches the express delivery cabinet and the express delivery cabinet verifies the user information, controlling the appointed express delivery box to be opened automatically, placing the express delivery articles in a circulation box of the sender, and closing the circulation box and the box door of the express delivery box; inputting identification tag information of a circulation box for placing express items, delivery addresses of the express items and addressee information on an application program of the terminal, transmitting the information to a main control center by the application program through a network, and optimally ordering the information according to the received delivery address information by the main control center to plan a goods taking route and a delivery sequence of the unmanned express delivery vehicle;
step S203, when the unmanned express delivery vehicle reaches the designated target express delivery cabinet according to the route information of the total control center, the three-dimensional space measurement sensor performs positioning identification on the express delivery cabinet, determines that the relative position of the express delivery cabinet and the express delivery vehicle is in a set range, and sends a door opening request to the express delivery cabinet through a short-distance communication mode, and sends a door opening request to the express delivery cabinet through the short-distance communication mode;
step S204, the express cabinet opens the door of the corresponding express box and sends the relative position coordinates of the box body to the unmanned express car, the mechanical arm senses the specific position of the express box opened by the three-dimensional space measuring sensor, the circulation box in the express box is placed on an empty shelf of the express shelf on the car, and meanwhile, the identification tag information of the vision sensor for identifying the circulation box is fed back to the general control center;
step S205, a control unit of the unmanned express delivery vehicle controls the mechanical arm to take out the transfer box above the express delivery shelf and put the transfer box into the express delivery box with the appointed door, and meanwhile, the visual sensor of the mechanical arm identifies the identification tag information of the transfer box and feeds back the identification tag information to the general control center, and the general control center records the identification tag information and the address information of the express delivery box put in the corresponding transfer box; the mechanical arm closes the express box.
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