CN108910381A - A kind of method of article carrying apparatus and article conveying - Google Patents

A kind of method of article carrying apparatus and article conveying Download PDF

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Publication number
CN108910381A
CN108910381A CN201810956916.2A CN201810956916A CN108910381A CN 108910381 A CN108910381 A CN 108910381A CN 201810956916 A CN201810956916 A CN 201810956916A CN 108910381 A CN108910381 A CN 108910381A
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article
user
picking
carrying apparatus
goods yard
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CN108910381B (en
Inventor
蒋化冰
吕威
黄鑫
康力方
邹武林
米万珠
谭舟
严婷
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Jiangsu Mumeng Intelligent Technology Co Ltd
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Jiangsu Mumeng Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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  • Economics (AREA)
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  • Development Economics (AREA)
  • Accounting & Taxation (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Finance (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Lock And Its Accessories (AREA)

Abstract

The present invention provides a kind of methods that article carrying apparatus and article convey comprising mobile mechanism is equipped with counter ontology, and the counter ontology is equipped with several layers goods yard, and every layer of goods yard is equipped with a cabinet door, and each cabinet door is equipped with smart lock；Input module obtains the corresponding conveying destination in goods yard that article is placed with for every layer of delivery user's input；Route planning module generates article landline according to conveying destination and environmental map；Mobile module is moved to the corresponding conveying destination of article landline；Identity information acquisition module obtains the identity information of picking user；Whether authentication module, the identity information for verifying picking user are legal；Control module opens the corresponding smart lock in current conveying destination, the article of corresponding goods yard storage is taken out convenient for picking user when the identity information for verifying picking user is legal.Conveying cost is reduced, article is lost during preventing article from receiving and dispatching, and increases article delivery safety and promotes transfer efficiency.

Description

A kind of method of article carrying apparatus and article conveying
Technical field
The present invention relates to article transportation art, the method for espespecially a kind of article carrying apparatus and article conveying.
Background technique
In recent years, as the development of robot technology and artificial intelligence study deepen continuously, robot is in human lives Play the part of more and more important role, is used widely in numerous areas.Robot, so that the continuous intelligence of the work and life of people Energyization, automation.
In supermarket or hospital, the article for often having picking user to push a cart is sent to each destination, and picking is used The great work intensity at family, more even, picking user can also misremember the destination of article sometimes, need to convey wrong article again Again it is delivered to correct destination, causes inefficiency, and employs picking user's artificial conveyance, since cost of labor is more next It is higher, cause the cost for conveying article also to greatly increase therewith.Further, since non-enclosed conveying article, leads to robot No picking user easily illegally obtains the article being placed in robot, therefore, object by idler in the case where accompanying participation The safety of article is more and more important in product transmission process.In addition, in article transmission process, it is how defeated instead of manually carrying out article It send, liberates labour, save labour turnover, article loss is problem urgently to be resolved during how preventing article from receiving and dispatching.
Summary of the invention
The object of the present invention is to provide a kind of method that article carrying apparatus and article convey, realizing reduces conveying cost, Article is lost during preventing article from receiving and dispatching, and increases article delivery safety and promotes the purpose of transfer efficiency.
Technical solution provided by the invention is as follows：A kind of article carrying apparatus, including mobile mechanism are equipped with counter ontology, The counter ontology is equipped with several layers goods yard, and every layer of goods yard is equipped with a cabinet door, and each cabinet door is equipped with smart lock；Further include：
Input module obtains the corresponding conveying destination in goods yard that article is placed with for every layer of delivery user's input；
Route planning module generates article landline according to conveying destination and environmental map；
Mobile module is moved to the corresponding conveying destination of article landline；
Identity information acquisition module obtains the identity information of picking user；
Whether authentication module, the identity information for verifying picking user are legal；
Control module opens the corresponding intelligence in current conveying destination when the identity information for verifying picking user is legal Lock takes out the article of corresponding goods yard storage convenient for picking user.
Further, further include：
Generation module after article carrying apparatus is moved to article landline corresponding conveying destination, or works as object Product conveying equipment starts to move, and when conveying destination corresponding apart from preset time arrival article landline, generates prompt Information is to notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
Further, further include：
Data obtaining module obtains the information of picking user input；
The mobile module, when the data obtaining module, which gets picking, finishes information, according to article landline It is moved to next conveying destination.
Further, further include：
Instruction acquisition module obtains delivery after delivery user is by input module input conveying destination The instruction of user's input；
The mobile module also gives up really when described instruction obtains module and gets delivery user's input and send instruction；With/ Or, carry placement picking when the identity information of delivery user has not been obtained in the authentication module in preset duration The required article of user, and the smart lock at cabinet door be in close state under counter ontology, start it is defeated according to the article Route is sent successively to be moved to corresponding conveying destination.
Further, the predetermined position of the counter ontology is equipped with an input module；
The control module, also when the identity information that the authentication module verifies delivery user is legal and described defeated Enter module get delivery user unlocking request when, open the smart lock at the goods yard under any one is in idle condition, Convenient for delivery user according to the order request of picking user, sorting is placed at article to the corresponding goods yard for opening smart lock, is closed Cabinet door and smart lock.
Further, every layer of goods yard of the counter ontology is correspondingly provided with an input module；
The counter ontology is equipped with transparent display area, so that delivery user is determined by the transparent display area in the free time Goods yard under state；Wherein, the material in the transparent display area is transparent material；The transparent display area is the shell of counter ontology The predeterminable area and/or cabinet door of body；
The control module, also when the authentication module verify delivery user identity information it is legal, and in sky When current input module at goods yard under not busy state gets the unlocking request of delivery user, the current input module is opened Smart lock at corresponding goods yard, convenient for delivery user according to the order request of picking user, sorting is placed article and is opened to corresponding At the goods yard of smart lock, cabinet door and smart lock are closed.
Further, further include：
Scanning record module, in delivery user according to the order request of picking user, sorting is placed article and is opened to corresponding Before at the goods yard of smart lock, the corresponding Item Information of physical tag typing of article is scanned；
Module is obtained, each article is obtained and conveys corresponding transport information；
Wireless communication module sends Item Information and transport information to server every prefixed time interval.
Further, the predetermined position of the counter ontology is equipped with an input module；Or,
Every layer of goods yard of the counter ontology is correspondingly provided with an input module.
The present invention also provides technical solution it is as follows：A kind of method of article conveying, including step：
Article carrying apparatus obtains the corresponding conveying purpose in goods yard that article is placed with for every layer of delivery user's input Ground；Article carrying apparatus is equipped with counter ontology, and the counter ontology is equipped with several layers goods yard, and every layer of goods yard is equipped with a cabinet door, Each cabinet door is equipped with smart lock；
Article carrying apparatus generates article landline according to conveying destination and environmental map；
Article carrying apparatus is moved to the corresponding conveying destination of article landline；
Whether the identity information for the picking user that article carrying apparatus verifying obtains is legal；
When the identity information of picking user is legal, article carrying apparatus opens the corresponding intelligence in current conveying destination Lock takes out the article of corresponding goods yard storage convenient for picking user.
Further, article carrying apparatus is moved to after the corresponding conveying destination of article landline, article conveying It include step before whether the identity information for the picking user that device authentication obtains is legal：
Article carrying apparatus generates prompt information to notify picking user that corresponding conveying destination is gone to carry out identity Verify simultaneously picking；Or,
After article carrying apparatus generates article landline according to conveying destination and environmental map, article conveying is set The standby corresponding conveying destination of article landline that is moved to includes before：
Article carrying apparatus starts to move, and reaches the corresponding conveying destination of article landline apart from preset time When, prompt information is generated to notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
Further, described when the identity information of picking user is legal, article carrying apparatus opens current conveying purpose The corresponding smart lock in ground, the article for taking out corresponding goods yard storage convenient for picking user include later：
When the picking for getting picking user input finishes information, article carrying apparatus is mobile according to article landline To next conveying destination.
Further, article carrying apparatus is moved to the corresponding conveying destination of article landline and includes：
Give up really when article carrying apparatus gets delivery user's input and send instruction, then carries placement picking user institute The article of demand, and the smart lock at cabinet door be in close state under counter ontology, start according to the article landline Successively it is moved to corresponding conveying destination；And/or；
When the identity information of delivery user has not been obtained in article carrying apparatus in preset duration, then carries placement and take The required article of goods user, and the smart lock at cabinet door be in close state under counter ontology, start according to the article Landline is successively moved to corresponding conveying destination.
Further, include before when article carrying apparatus gets delivery user and inputs to give up to send to instruct really：
When the predetermined position of the counter ontology is equipped with an input module, when the identity information of verifying delivery user When legal, the smart lock at the goods yard under any one is in idle condition is opened, convenient for delivery user according to picking user's Order request, sorting are placed at article to the corresponding goods yard for opening smart lock, and cabinet door and smart lock are closed.
Further, further include before when article carrying apparatus gets delivery user and inputs to give up to send to instruct really：
When every layer of goods yard of the counter ontology is correspondingly provided with an input module, by being set to the counter ontology Transparent display area determines the goods yard under being in idle condition；Wherein, the material in the transparent display area is transparent material；It is described Transparent display area is the predeterminable area and/or cabinet door of the shell of counter ontology；
When the identity information of verifying delivery user is legal, and the current input module at the goods yard under being in idle condition obtains When getting the unlocking request of delivery user, opens the current input module and correspond to the smart lock at goods yard, convenient for delivery user According to the order request of picking user, sorting is placed at article to the corresponding goods yard for opening smart lock, closes cabinet door and smart lock.
Further, order request of the delivery user according to picking user, sorting placement article to corresponding unlatching intelligence Can include at the goods yard of lock：
The corresponding Item Information of physical tag typing of article carrying apparatus scanning article；
Article carrying apparatus obtains each article and conveys corresponding transport information；
Article carrying apparatus sends Item Information and transport information to server every prefixed time interval.
The method of a kind of article carrying apparatus and article conveying that provide through the invention, can bring following at least one Beneficial effect：
1) present invention carries article by the article carrying apparatus equipped with enclosed shelf ontology and marches to destination, Article conveying is carried out by article carrying apparatus, realizes intelligent conveying, greatly reduces cost of labor and staff Task amount greatly promotes the safety of article conveying since whole enclosed article conveys.
2) present invention by article carrying apparatus according to delivery user input conveying destination voluntarily carry out article advance it is defeated Article is sent, the error rate of staff's subjectivity confirmation destination is reduced, improves the transfer efficiency of article.
3) present invention allows the smart lock corresponding to identity information to open when the identity information for verifying picking user is legal It opens, is sorted convenient for the article in the storage tank to the article storing compartment, promote the safety in article transmission process, ensure The property safety of user.
4) present invention delivery user carries out in display confirmation counter ontology every layer by transparent display area or display interface Whether goods yard is in idle condition, and is suitably in idle condition down so that delivery user be facilitated fast and efficiently to search out Goods yard carry out goods sorting placement, reduce because opening smart lock confirm verification time of the use state in each goods yard Waste, promoted delivery carries out conveying article efficiency.
5) whether the identity information of present invention verifying delivery user is legal, can be avoided idler arbitrarily for article storage In counter ontology, prevents arbitrarily to be used by idler, counter ontology is caused to be unable to the object of normal storage picking user demand The case where product.Also it can prevent the situation that dangerous goods are placed in counter ontology by idler, further promote article conveying Safety.
6) present invention delivery user is before being put into corresponding goods yard for the article for picking out, and first scanning obtains delivery user The corresponding Item Information of article to goods yard is placed, and article carrying apparatus is carried out to the transport information period of article conveying every time Property be transferred to server so that server statistics obtain each period article conveying record and report, to realize that article is defeated The real time monitoring for condition of giving a present, and user (hospital, bookstore, supermarket etc.) directly can obtain institute according to the related data of server Data are needed, the complexity and difficulty of enterprise's called data are reduced, convenient for enterprise to the control of whole system.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of article carrying apparatus and Above-mentioned characteristic, technical characteristic, advantage and its implementation of the method for article conveying are further described.
Fig. 1 is the structural schematic diagram of one embodiment of article carrying apparatus of the present invention；
Fig. 2 is the structural schematic diagram of another embodiment of article carrying apparatus of the present invention；
Fig. 3 is the structural schematic diagram of another embodiment of article carrying apparatus of the present invention；
Fig. 4 is the structural schematic diagram of another embodiment of article carrying apparatus of the present invention；
Fig. 5 is the flow chart of one embodiment of article delivery method of the present invention；
Fig. 6 is the flow chart of another embodiment of article delivery method of the present invention；
Fig. 7 is the flow chart of another embodiment of article delivery method of the present invention；
Fig. 8 is the flow chart of another embodiment of article delivery method of the present invention；
Fig. 9 is the flow chart of another embodiment of article delivery method of the present invention；
Figure 10 is the flow chart of another embodiment of article delivery method of the present invention.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated " only this ", can also indicate the situation of " more than one ".
First embodiment of the invention, as shown in Figure 1, Figure 2 and Figure 3, a kind of article carrying apparatus 1, including mobile mechanism 11, Equipped with counter ontology 12, the counter ontology 12 is equipped with several layers goods yard 13, and every layer of goods yard 13 is equipped with a cabinet door 122, each Cabinet door 122 is equipped with a smart lock；Further include：
Input module 110 obtains the corresponding conveying mesh in goods yard 13 that article is placed with for every layer of delivery user's input Ground；
Route planning module 120 generates article landline according to conveying destination and environmental map；
Mobile module 130 is moved to the corresponding conveying destination of article landline；
Identity information acquisition module 140 obtains the identity information of picking user；
Whether authentication module 150, the identity information for verifying picking user are legal；
Control module 160 opens the corresponding intelligence in current conveying destination when the identity information for verifying picking user is legal It can lock, take out the article that corresponding goods yard 13 is stored convenient for picking user.
Specifically, mobile mechanism 11 and counter ontology 12 with locomotive function can be solid-located in the present embodiment, That is mobile mechanism 11 and counter ontology 12 is integrated in one, can also detachably install according to demand several counter ontologies 12 in The bearing area of mobile mechanism 11.Mobile mechanism 11 includes but is not limited to AGV, the mobile module 130 of mobile robot.
When mobile mechanism 11 and counter ontology 12 are integrated in one, input module 110, route planning module 120, body Part data obtaining module 140, authentication module 150 and control module 160 can integrate set on mobile mechanism 11, can also collect At counter ontology 12 is set to, it can also be divided into mobile mechanism 11 and counter ontology 12 according to demand.When counter ontology 12 is removable It unloads when being installed on mobile mechanism 11, route planning module 120, input module 110, identity information acquisition module 140, authentication Module 150 and control module 160 can be divided into mobile mechanism 11 and counter ontology 12, counter ontology 12 and shifting according to demand It is connected between motivation structure 11 by wired mode or wireless communication mode, to realize that article conveys.For example, working as route planning Module 120 is set to mobile mechanism 11, input module 110, identity information acquisition module 140, authentication module 150 and control mould When block 160 is set to counter ontology 12, conveying purpose that the input module 110 at counter ontology 12 inputs order user Ground is by wired or be wirelessly transferred to route planning module 120, so that route planning module 120 is according to acquisition Conveying destination and environmental map generate article landline, and shelf ontology 12 is carry to correspondence by mobile mechanism 11 Conveying destination after, by be set to counter ontology 12 at identity information acquisition module 140 carry out obtain picking user body Part information, the legitimacy for verifying the identity information of picking user by being set to the authentication module 150 at counter ontology 12, so Smart lock is controlled according to the verification result of authentication module 150 by being set to the control module 160 at counter ontology 12 afterwards Switch state.
After counter ontology 12 gets the conveying destination of order user input, (the i.e. present invention tool of article carrying apparatus 1 Have the equipment of the function of article conveying system) according to environmental map and conveying destination, carry out the real-time product of contexture by self Product landline, so that article carrying apparatus 1 is mobile according to the article landline generated in real time, thus according to the article of generation Landline is moved, and the article being placed in counter ontology 12 is successively delivered to corresponding destination.Whenever article is defeated It is defeated from picking user to inputting itself identity information when sending equipment 1 to carry counter ontology 12 to march to a conveying destination The mode entered includes but is not limited to fingerprint input, iris input, Password Input, gesture input or radio-frequency card input, works as object The identity information that product conveying equipment 1 inputs picking user verify it is legal after, assert that picking user has picking permission, Open the corresponding smart lock in current conveying destination, after the unlatching of corresponding smart lock, corresponding cabinet door 122 automatically open or by Picking user opens manually, and picking user is enabled to take out the article at the lower corresponding goods yard 13 in the open state of cabinet door 122.
The present invention, which can be applied, needs to convey the scene of article in including but not limited to hospital, bookstore, supermarket etc., passes through Article is delivered to corresponding conveying destination by article carrying apparatus 1, when the identity information for verifying picking user is legal, is allowed The smart lock of identity information corresponding to picking user is opened, consequently facilitating picking user, which takes out unlatching smart lock, corresponds to goods yard 13 Locate the article of storage.Article conveying is carried out by article carrying apparatus 1, intelligent conveying is realized, greatly reduces cost of labor And the task amount of staff, and be not required to human subjective and remember confirmation conveying destination locations, by 1 basis of article carrying apparatus Voluntarily programme path conveys article for the conveying destination of order user input, reduces the confirmation of staff's artificial conveyance article subjectivity The error rate of destination is conveyed, to reduce the probability conveyed again after error, substantially increases the transfer efficiency of article.And Since article is disposed in the counter ontology 12 under locked state, this enclosed article transmission process is only closed Just there is the picking user of method permission to take out article, and entire article transmission process is allowed to be in reliable air-tight state, and it is defeated to promote article The safety sent promotes the conveying experience of user (hospital, bookstore, supermarket etc.), reduces the cost of labor of user, have High efficiency, accuracy, safety improve article transfer efficiency, delivery safety and intelligent level.
Preferably, smart lock includes but is not limited to electromagnetic lock, induction lock (such as radio frequency induction lock, acoustic control induction lock etc. Deng), Fingerprint Lock.Picking user can be have place an order, the staff of picking permission, be also possible to have place an order, picking power The robot of limit；Similarly, order user can be the staff that article permission is picked with order, be also possible to have connect It is single, pick the robot of article permission；Picking user can be the staff with picking permission, be also possible to picking The robot of permission.Environmental map can be stored by 1 preset configuration of article carrying apparatus, be also possible to download acquisition more in real time Newly.
Second embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned first embodiment, are implemented with above-mentioned first Example is compared, and is theed improvement is that, is further included：
Generation module after article carrying apparatus 1 is moved to article landline corresponding conveying destination, or works as object Product conveying equipment 1 starts to move, and when conveying destination corresponding apart from preset time arrival article landline, generates prompt Information is to notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
Specifically, generating prompt letter after article carrying apparatus 1 is moved to article landline corresponding conveying destination Breath informs that picking consumer articles are sent to, picking user is prompted to go to stopping for article carrying apparatus 1 as early as possible to notify picking user Stay position (i.e. the corresponding current conveying destination of article landline) picking.Alternatively, start to move in article carrying apparatus 1, And when reaching the corresponding conveying destination of article landline apart from preset time, generation prompt information is to notify picking to use Family informs that picking consumer articles are sent to, and prompting picking user to go to the stop place of article carrying apparatus 1 as early as possible, (i.e. article is defeated Send route corresponding current conveying destination) picking.Prompt information is generated in advance and informs user, can reduce article carrying apparatus 1 waiting picking user goes to the time of stop place, further promotes article transfer efficiency, reduces article carrying apparatus 1 etc. To waiting electric quantity consumption in the process, power resource is saved.
After picking user receives prompt information and reaches the stop place of article carrying apparatus 1, the body of picking user is obtained Part information, when the identity information of picking user is legal, i.e., the identity information of picking user is matched with default picking identity information When determining that the identity information of picking user is legal, open the corresponding smart lock in current conveying destination, user takes convenient for picking The article of the storage of goods yard 13 is corresponded to out.
The present invention opens the corresponding smart lock in current conveying destination after the identity information for determining picking user is legal, no It needs to be swiped the card or inputted one by one extraction code to carry out opening cabinet picking, as long as after determining that the identity of picking user is legal The corresponding all smart locks in current conveying destination are switched on, the triviality for successively opening cabinet picking can be reduced, promoted The picking efficiency of picking user saves the picking time that article carrying apparatus 1 waits picking user, to further promote article The article transfer efficiency of conveying equipment 1, so that the corresponding picking user in next conveying destination faster gets self-demand Article promotes usage experience.
Third embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned first embodiment, are implemented with above-mentioned first Example is compared, and is theed improvement is that,
Data obtaining module obtains the information of picking user input；
The mobile module 130, when the data obtaining module, which gets picking, finishes information, according to article conveying path Line is moved to next conveying destination.
Specifically, in the present embodiment, when article carrying apparatus 1 is moved to the corresponding conveying destination of article landline Afterwards, prompt information is generated to notify picking user, informs that picking consumer articles are sent to pair for going to article carrying apparatus 1 as early as possible The current conveying destination answered carries out picking, and picking user receives prompt information and reaches the current conveying of article carrying apparatus 1 Behind destination, the identity information of picking user is obtained, when the identity information and default picking identity information of verifying picking user Timing opens the corresponding smart lock in current conveying destination, takes out the article that corresponding goods yard 13 is stored convenient for picking user.When taking After goods user takes article away, after finishing information by the picking that data obtaining module obtains picking user input, mobile module 130 Just according to article landline, continuation is moved towards next conveying destination, in this way, taking part object away in picking user After product close cabinet door 122, whether correct picking user's having time is enabled to check the article oneself taken away.
When the present invention is legal due to the identity once picking user, the corresponding all intelligence in current conveying destination can be opened Lock facilitates the fast and accurate picking of picking user, and data obtaining module and identity information acquisition module 140 are not set to article The same position of conveying equipment 1, in this way, verifying open cabinet picking, finished with picking dispatch a car continue article conveying solely It is vertical, control doping is dispatched a car after avoiding verifying from opening the control of cabinet picking and picking together, can effectively ensure currently to convey destination The article that generation takes is taken away by picking user, and after taking article away, picking user, which can wait, voluntarily confirms that the article taken away does not have There is leakage to take or under the premise of mistake takes, just inputs picking and finish information, so that article carrying apparatus 1 is continued on to next conveying Destination carries out article conveying, promotes the accuracy of article conveying, reduces leakage and takes, takes wrong probability.
Fourth embodiment of the invention, the present embodiment is the optimal enforcement example of above-mentioned first embodiment, with above-mentioned embodiment It compares, thes improvement is that, the data obtaining module, when delivery user inputs conveying purpose by the input module 110 After ground, the instruction of delivery user's input is obtained；
The mobile module also gives up really when described instruction obtains module and gets delivery user's input and send instruction；With/ Or, carry placement picking when the identity information of delivery user has not been obtained in the authentication module in preset duration The required article of user, and the smart lock at cabinet door 122 be in close state under counter ontology 12, start according to the object Product landline is successively moved to corresponding conveying destination.
Specifically, delivery user obtains the order request of picking user in the present embodiment, wait the article of article conveying defeated Equipment 1 is sent, has including but not limited to received have conveying task, but is higher than default electricity, and conveying in self electric quantity The workload of task is lower than the article carrying apparatus 1 of default workload, and does not receive the article conveying of any conveying task and set Standby 1.Behind the conveying destination that article carrying apparatus 1 gets delivery user's input, if get confirmation conveying instruction The then beginning of article carrying apparatus 1 is moved according to article landline to corresponding conveying destination.
Confirmation conveying instruction can click confirmation in the input module 110 for being set to article carrying apparatus 1 by delivery user Conveying generates confirmation conveying instruction, so that the mobile module 130 for starting move to article carrying apparatus 1 is transmitted, it is mobile Module 130 according to article landline to start to move according to move.In addition, if article carrying apparatus 1 is default When the identity information of delivery user having not been obtained in duration, the mobile module 130 of article carrying apparatus 1 is according to article landline Start to move.
The present invention obtains confirmation conveying instruction, or the identity information of delivery user all has not been obtained in preset duration When, article carrying apparatus 1 could be made to start to move, delivery user is enabled to confirm no article repeatedly according to order request Leakage picks, and in the case that mistake picks, just makes article carrying apparatus 1 convey the article being placed in counter ontology 12, greatly reduces mistake It picks and the case where leakage picks, so that the probability of article conveying error is reduced, since article conveying error will lead to delivery user's needs Again article needed for sorting obtains, the needs of article carrying apparatus 1 re-start conveying article and waste time, therefore it is defeated to reduce article Probability is sent, article conveying accuracy rate is able to ascend, promotes the precision of article conveying, and promote article article transfer efficiency.
Preferably, data obtaining module and instruction acquisition module can integrate set on article carrying apparatus 1, and identity information obtains Modulus block 140 is set to other regions of article carrying apparatus 1, conveys with data obtaining module and instruction acquisition module set on article The region of equipment 1 is different.
Fifth embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned fourth embodiment, are implemented with the above-mentioned 4th Example is compared, and is theed improvement is that, is further included：
The counter ontology 12 is equipped with an input module 110；
The control module, also when the identity information that the authentication module verifies delivery user is legal and described defeated Enter module 110 get delivery user unlocking request when, open the intelligence at the goods yard 13 under any one is in idle condition It can lock, convenient for delivery user according to the order request of picking user, sorting places article to the goods yard 13 of corresponding unlatching smart lock Place closes cabinet door 122 and smart lock.
Specifically, being provided with an input module 110 at the suitable position of counter ontology 12, verified in authentication module Deliver user identity information it is legal, and the input module 110 get delivery user unlocking request when, counter ontology 12 The service condition in each goods yard 13 is inquired, the article that counter ontology 12 can shoot at each goods yard 13 by built-in camera is deposited The state of putting obtains the service condition in each goods yard 13, and article when can also scan record delivery user's delivery in shipping and receiving is deposited Article picking information when putting information (model, title, the quantity of placing article) and picking user's picking (takes the type of article away Number, title, quantity), to obtain the service condition in each goods yard 13.I.e. when the order that delivery user gets delivery user is asked When asking, the article carrying apparatus 1 under being in idle condition is called, goes to the hair of delivery calling demand in article carrying apparatus 1 Behind goods user position, any one is opened according to the service condition in each goods yard 13 and is in idle condition at lower goods yard 13 Smart lock, convenient for delivery user according to the order request of picking user, sorting places article to the corresponding goods yard for opening smart lock At 13, cabinet door 122 and smart lock are closed.In addition delivery user is decided whether according to the order request of picking user Be then turned on one be in idle condition under the corresponding smart lock in goods yard 13 continue article storage, if this current is in The space in the goods yard 13 under idle state can be stored article required in the order request of picking user, then do not needed again Secondary unlock in the input of input module 110 is requested, and otherwise, input once inputs request and carries out opening cabinet progress goods sorting again It places.It can be the unlocking cipher (any one in digital, letter, symbol or any multiple combinations) of delivery user's input It is requested as unlocking.It is also possible to represent the mode of delivery subscriber identity information as request of unlocking, when delivery user carries out body Part verifying and request is unlocked, and when identity information acquisition module 140 and input module 110 are integrated in one, deliver user first The identity information of secondary input is used to verify delivery user identity legitimacy, and the second and second above identity information inputted is used Open the smart lock at the goods yard 13 under any one is in idle condition as request of unlocking.When delivery user carries out Authentication and request unlocking, and identity information acquisition module 140 and input module 110 are separately positioned in article carrying apparatus 1 When, delivery user is used to verify delivery user identity legitimacy in the identity information that identity information acquisition module 140 inputs, defeated The identity information for entering the input of module 110, which is used as unlocking, requests open the goods yard 13 under any one is in idle condition The smart lock at place.
Example is as one example below：Counter ontology 12 is equipped with several layers goods yard 13, and every layer of goods yard 13 is equipped with a cabinet door 122, Each cabinet door 122 is equipped with a smart lock, as shown in figure 3, the closed counter of transfer robot 1 is equipped with two layers of goods yard 13, conveying The object with scanning article is equipped at the suitable position on the top (not in cabinet door 122) of the entire closed counter of robot 1 Reason label (two dimensional code, bar code, RF tag) obtains corresponding Item Information function, obtains picking user or delivery user Identity information function, verifying picking user or the user that delivers identity information legal sexual function and each intelligence of control The top control panel 121 of lock-switch status function (including scan module of the present invention, identity information acquisition module 140, test by identity Demonstrate,prove module 150 and control module 160), the smart lock at the cabinet door 122 in two layers of goods yard 13 is controlled by top control panel 121.
The present invention by verifying delivery user identity it is legal and get delivery user input unlocking request when, just unlatching Smart lock at any one goods yard 13 under being in idle condition can ensure that the article that a goods yard 13 is placed is one corresponding The case where conveying destination, avoiding article conveying error, promotes accuracy, reliability and the high efficiency of article conveying.
Sixth embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned fourth embodiment, are implemented with the above-mentioned 4th Example is compared, and is theed improvement is that, is further included：
Every layer of goods yard 13 of the counter ontology 12 is correspondingly provided with an input module 110；
The counter ontology 12 is equipped with transparent display area, so that delivery user is determined by the transparent display area in sky Goods yard 13 under not busy state；Wherein, the material in the transparent display area is transparent material；The transparent display area is counter ontology The predeterminable area and/or cabinet door 122 of 12 shell；
The control module, also when the authentication module verify delivery user identity information it is legal, and in sky When the current input module 110 at goods yard 13 under not busy state gets the unlocking request of delivery user, open described current defeated Enter the smart lock at the corresponding goods yard 13 of module 110, convenient for delivery user according to the order request of picking user, article is placed in sorting To the corresponding goods yard 13 for opening smart lock, cabinet door 122 and smart lock are closed.
Specifically, goods yard 13 is arranged when every layer of goods yard 13 of counter ontology 12 is correspondingly provided with an input module 110 There is transparent display area 14, transparent display area 14 is the predeterminable area and/or cabinet door 122 of the shell of counter ontology 12, i.e., transparent exhibition Show that area 14 can be cabinet door 122, transparent display area 14 can also be the predeterminable area of the shell of counter ontology 12, transparent display Area 14 also can also be the predeterminable area and cabinet door 122 of the shell of counter ontology 12.The predeterminable area of shell can be entire shell Ti Doushi transparent display area 14, being also possible to portion is transparent display area 14.The material in transparent display area 14 is transparent glass Glass, transparent plastic etc. transparent material.
When the user that delivers gets the order request of delivery user, the article carrying apparatus under being in idle condition is called 1, behind the delivery user position that article carrying apparatus 1 goes to delivery calling demand, carried out by transparent display area 14 The use state in the every layer of goods yard 13 for the counter ontology 12 on article carrying apparatus 1 that confirmation is come, if current goods yard 13 is not In use, determining that current goods yard 13 is in idle condition when i.e. current goods yard 13 is not placed with any article, delivery is then obtained The identity information of user, after the identity information of verifying delivery user is matched with default delivery identity information, according to preset order (as from top to bottom, from left to right) selection one be in idle condition under goods yard 13W1, the input module at the 13W1 of goods yard When 110Q1 carries out input unlocking request, the smart lock at the goods yard 13 equipped with input module 110Q1 is opened, convenient for the user that delivers According to the order request of picking user, after sorting is placed at article to the corresponding goods yard 13 for opening smart lock, the user that delivers is at this The parking space in goods yard 13 cannot continue after storing the corresponding article in same conveying destination, close the cabinet door at the 13W1 of goods yard 122, the corresponding smart lock of cabinet door 122 being then shut off at the 13W1 of goods yard, then when delivery user selects again according to preset order Select one be in idle condition under goods yard 13W2, at the 13W2 of goods yard input module 110Q2 input unlock request when, open Smart lock at goods yard 13 equipped with input module 110Q2 continues to carry out goods sorting placement according to order request, until delivery Until after the completion of the goods sorting in order request that user obtains.Certainly, if calling the article carrying apparatus 1 to come Idle state under goods yard 13 the goods sorting placement delivered in the order request that user obtains cannot be finished, then additional adjust Article carrying apparatus 1 under being in idle condition with several others.
Illustratively, the predeterminable area of the shell of counter ontology 12 is illustrated in figure 2 to show for the structure in transparent display area 14 It is intended to.If the transparent material of the predeterminable area of the shell of counter ontology 12 be one-way glass, counter ontology 12 shell it is pre- It is 13 polishing of goods yard by LED light if the LED light that region is installed respectively at the position relative to every layer of goods yard 13 is lighted automatically, So that delivery user can understand whether be placed with article at viewing goods yard 13 by one-way glass, to identify the goods Whether position 13 is in idle condition.Alternatively, if the transparent material of cabinet door 122 is one-way glass, in each cabinet door 122 close to goods yard The LED light that the side of 13 accommodation spaces is installed respectively is lighted automatically, is 13 polishing of goods yard by LED light, so that delivery is used Family can understand whether be placed with article at viewing goods yard 13 by one-way glass, to whether identify the goods yard 13 in sky Not busy state.
As shown in figure 4, the closed counter of transfer robot 1 is equipped with two layers of goods yard 13, the entire closing of transfer robot 1 A physical tag with scanning article is equipped at the suitable position of each cabinet door 122 (not in cabinet door 122) of formula counter (two dimensional code, bar code, RF tag) obtains corresponding Item Information function, obtains picking user or the identity for the user that delivers Informational function, verifying picking user or the user that delivers identity information legal sexual function and each intelligent lock-switch of control Control panel 121 (including scan module of the present invention, identity information acquisition module 140, the authentication module 150 of status function With control module 160), i.e., the first control panel 121, first layer are equipped at the suitable position of the cabinet door 122 in first layer goods yard 13 Smart lock at the cabinet door 122 in goods yard 13 is controlled by the first control panel 121, the suitable position of the cabinet door 122 in second layer goods yard 13 It sets place and is equipped with the second control panel 121, the smart lock at the cabinet door 122 in second layer goods yard 13 is controlled by the second control panel 121. It is herein example, other situations belong in the scope of the present invention.
Preferably, when the quantity of the input module 110 at counter ontology 12 is identical as the number of plies in goods yard 13, identity information Module 140 and input module 110 is obtained to set up separately, without being integrated in one, in this way convenient for the hardware of saving article carrying apparatus 1 at This.
The present invention by verifying delivery user identity it is legal and get delivery user input unlocking request when, just unlatching Smart lock at any one goods yard 13 under being in idle condition can ensure that the article that a goods yard 13 is placed is one corresponding The case where conveying destination, avoiding article conveying error, promotes accuracy, reliability and the high efficiency of article conveying.In addition, logical It crosses delivery user's naked eyes to judge to determine whether each goods yard 13 is in idle condition, in the case where guarantee is accurately found and is in idle condition Goods yard 13 under the premise of, can reduce the time that counter ontology 12 inquires the service condition in each goods yard 13, reduce counter sheet The CPU process demand of body 12 saves the cost of counter ontology 12.
Seventh embodiment of the invention, the present embodiment are the optimal enforcement examples of the above-mentioned 5th or sixth embodiment, with above-mentioned Five or sixth embodiment compare, the improvement is that, further include：
Scanning record module, in delivery user according to the order request of picking user, sorting is placed article and is opened to corresponding Before at the goods yard 13 of smart lock, the corresponding Item Information of physical tag typing of article is scanned；
Module is obtained, each article is obtained and conveys corresponding transport information；
Wireless communication module sends Item Information and transport information to server every prefixed time interval.
Specifically, delivery user, before the article for picking out is put into corresponding goods yard 13, first scanning obtains delivery and uses Family is placed to the corresponding Item Information of article in any goods yard 13, and then to record each article in real time defeated for article carrying apparatus 1 Corresponding transport information (conveying destination, conveys number, and conveying spends time etc.) is sent, then (such as by wireless communication module WIFI module, bluetooth module, 4G/2.4G module etc.) Item Information and transport information are periodically transferred to server.
The present invention is sent to server to the Item Information for obtaining scanning by 1 period of article carrying apparatus, so that clothes Business device is counted to obtain the object every the period according to article carrying apparatus 1 every all Item Information that preset duration is sent Product conveying record and report, thus realize the monitoring of article delivery situation, and user (hospital, bookstore, supermarket etc.) can be straight Data needed for obtaining according to the related data of server are connect, the complexity and difficulty of enterprise's called data are reduced, are convenient for enterprise pair The control of whole system.
Based on the above embodiment, example is enumerated below to be illustrated, as shown in figure 3 or 4, transfer robot 1 it is closed Counter is equipped with two layers of goods yard 13, and picking user is by phone, wechat, short message or by mobile terminal in lower single administration page etc. Etc. modes place an order, inform delivery user's order request issue instrument packet or consumptive material order request → instrument parcel room or Consumptive material storehouse receives order request (may have multiple order requests simultaneously), storehouse staff (i.e. present invention delivery user One of) according to order request tally (all posting the physical tags such as bar code or two dimensional code in each product packaging) → library Room staff issues demand of sending a car by hand-held control plate, and transfer robot 1 is (in article carrying apparatus 1 i.e. of the present invention It is a kind of) it comes storehouse doorway loading → storehouse staff is waited to come transfer robot 1 at one's side with the article that will be issued The physical tag (two with the scanning article of → storehouse staff with the identification card of itself on transfer robot 1 Tie up code, bar code, RF tag) it obtains corresponding Item Information function, obtain picking user or the identity letter for the user that delivers Cease function, the legal sexual function for the identity information for verifying picking user or delivery user and each intelligent lock-switch shape of control Control panel 121 (scan module including but not limited to of the present invention, identity information acquisition module 140, the authentication of state function Module 150 and control module 160), the control panel 121 on transfer robot 1 verifies the identification card of storehouse staff After legal, the control panel 121 (control module 160 i.e. of the present invention) on transfer robot 1 opens corresponding be in idle condition Under the corresponding cabinet door in goods yard 13 122 → since the corresponding operating room in each layer of goods yard 13 is (i.e. in present invention conveying destination One kind) article, before each article puts in, all on control panel 121 scanning obtain kinds of goods Item Information, carry out object The Item Information that scanning obtains is pre-existed the local storage space of transfer robot 1, every preset duration by product data input The case where each article conveys periodically is sent to server, so that the article conveying of each article conveying of server sync Record and report → storehouse staff select every layer of goods yard 13 of input corresponding on the control panel 121 of transfer robot 1 Conveying destination → storehouse staff clicks " confirmation vanning " on the control panel 121 of transfer robot 1, swipes the card again, First conveying destination reach with regard to starting article transmission process → transfer robot 1, itself identification of picking user Blocking the control panel 121 on transfer robot 1, transfer robot 1 can only open this corresponding smart lock in conveying destination, So that the smart lock for all corresponding to currently convey destination is opened, target is taken away certainly from opening the corresponding goods yard 13 of smart lock After the article of body demand → picking user confirmation is received, transfer robot 1 is further continued for that next conveying destination is gone to be sent After sending article, all items to complete conveying, transfer robot 1 returns to berthing space.As above during, user passes through brush identification Perhaps perhaps iris recognition or other verification modes can open smart lock to input password to card, to open corresponding goods yard Cabinet door 122 at 13.
Preferably, if every layer of goods yard 13 be all it is empty, it is defeated when storehouse staff is swiped the card with the identification card of itself The default of robot 1 is sent to open the corresponding cabinet door 122 in first layer goods yard 13；If first layer goods yard 13 is available in stock, storehouse staff When being swiped the card with the identification card of itself, the default of transfer robot 1 opens the corresponding cabinet door 122 in second layer goods yard 13；Successively class It pushes away, is that the idle state for inquiring every layer of goods yard 13 from first layer to the second layer is only exemplary example certainly herein every time It lifts, the sequence of the idle state in other poll inquiry goods yards 13 is within the scope of the invention.
Preferably, it can be the scanning at the suitable position of the predeterminable area outer wall of the shell by being set to counter ontology 12 Scanner at device (scan module i.e. of the present invention), or the suitable position by being set to mobile mechanism 11 is scanned record and puts Enter the Item Information of the article at goods yard 13 and the label information in goods yard 13, according to the Item Information of record article and goods yard 13 The anti-idle state for looking into every layer of goods yard 13 of label information.
Preferably, can also distinguish at position of the predeterminable area relative to every layer of goods yard 13 of the shell of counter ontology 12 Camera is installed, the article placement status at every layer of goods yard 13 is acquired in real time by camera, to obtain every layer of goods yard 13 Idle state.Other inquire the mode whether every layer of goods yard 13 is in idle condition, and this is no longer going to repeat them, belongs to this hair In bright protection scope.
Preferably, article carrying apparatus 1 further includes：
Itself corresponding berthing space is arranged according to the article delivery requirements of server feedback in setup module.
Specifically, article carrying apparatus 1 is after conveying article according to article landline, article carrying apparatus 1 The last one the conveying purpose that can be rested in article landline is located in, and can also return equipped with charging pile, deliver user At any one or a variety of berthing spaces in the region of position.
Preferably, berthing space is the region of delivery user position, which can also be equipped with charging pile, due to server Statistics is carried out according to Item Information and transport information and generates article delivery requirements, and article delivery requirements are made with each conveyor zones Directly proportional with frequency, for example, bookstore has science and education region, science and education region is corresponding with berthing space M, history area, history area It is corresponding with berthing space N, and article carrying apparatus 1 is greater than from history area from the probability that science and education region carries out books conveying and carries out book The probability of nationality conveying, therefore, the quantity for being corresponding with the article carrying apparatus 1 of berthing space M set on science and education region, which is greater than, is set to history Region is corresponding with the quantity of the article carrying apparatus 1 of berthing space N, so that each article carrying apparatus 1 is complete in conveying task It is back to corresponding berthing space after, charges on one side convenient for article carrying apparatus 1, waits delivery user to receive on one side and takes After the order request of goods user, efficiently, it is rapidly performed by goods sorting placement, to promote article transfer efficiency.
The present invention presets the berthing space of each article carrying apparatus 1, so that each article carrying apparatus 1 be enabled to complete certainly After the article conveying task of body, it can be back to berthing space, convenient for server and the delivery each article carrying apparatus 1 of user's control Location information, when avoiding having article delivery requirements again, the position of real-time positioning object conveying equipment 1 is needed, directly from stopping Bo Quchu is scheduled article carrying apparatus 1 and carries out article conveying, can reduce the position of positioning searching article carrying apparatus 1 The article of sorting is directly placed in the corresponding goods for being correspondingly provided with the article carrying apparatus 1 of shelf ontology 12 by time, delivery user At position 13, does not need to find the demand that article carrying apparatus 1 place the article of sorting to meet delivery user, reduce hair Goods user's hunting time while promoting the usage experience of delivery user, increases article transfer efficiency.
It preferably, will in the case where for causing the picking user arrival default picking time not taken away because of extraneous factor Article, which is still stored to goods yard 13 to store, keeps preset duration, and when more than not taking article after preset duration away yet, article conveying is set Standby 1 feedback situation will be stored to the takeaway that goods yard 13 is stored to delivery user puts back to original position.
Preferably, article carrying apparatus 1 can also obtain environmental information, and the environmental information of acquisition includes but is not limited to it The location information of his robot, the location information of barrier (staff, building, communal facility etc.), robot is according to object Destination and cartographic information and environmental information in product conveying task carry out independent navigation and generate navigation routine in real time, so that machine Device people is mobile according to the navigation circuit generated in real time, to march to corresponding destination.The present invention is led by robot autonomous Boat movement, enables robot have perception, decision, ability to act, to realize during marching to destination reliably and securely Mobile, by infrared sensor, laser radar, camera etc. identifies the environmental information around robot, carries out avoidance, improves The independence and place adaptability run in robot operational process, and can effectively avoid easy when more robots synchronous operation The collision and congestion phenomenon of generation, to greatly improve operation stability when the synchronous operation operation of more robots and reliable Property, there is very strong practical value and market popularization value.In addition, the row for avoiding robot from being obtained according to server advance planning The inflexible traveling of route line, once encounter barrier, robot possibly can not effective avoidance, by robot autonomous navigation, Can automatic sensing circumstances not known effective avoidance effect, intelligent autonomous significant effect, environmental suitability are strong in advance.
In the following, enumerating hospital's article conveying scene：
The goods yard 13 that there are counter ontology 12 several layers to be set side by side, the predeterminable area of the shell of counter ontology 12 is transparent, It is preferable to use transparent plastic materials.
13 outer wall of goods yard is provided with input module 110, for input the conveying destination to be gone of setting (such as operating room, Clinic perhaps hospital ward etc.) it can also be used to input default identity information be set for verifying delivery user or taking Whether the identity of goods user is legal.It is preferable to use keyboard interface, the password representative delivery of input number, letter, symbol combination is used Family (such as the staff in pharmacy, the staff or the staff in medical treatment consumptive materials warehouse in medical instrument warehouse etc.) or The identity information of person's picking user (doctor of operating room, clinic or hospital ward, nurse, nurse etc.), deliver user Article will be conveyed to corresponding conveying destination in keyboard interface input article carrying apparatus 1.
For the conveying scene of the medical treatment consumptive materials of operating room, such as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4, the picking user of operating room It is placed an order/is informed by telephone the staff in medical treatment consumptive materials warehouse by ordering system.
The staff in medical treatment consumptive materials warehouse prepares corresponding medical treatment consumptive materials after being connected to list on plate, while on plate It clicks " determination ", the picking user of operating room will receive the message of " preparing ".
The staff in medical treatment consumptive materials warehouse inputs password in keyboard interface, and opening any one can be used (the i.e. present invention Idle state) article carrying apparatus 1 goods yard 13 any one cabinet door 122, the medical treatment consumptive materials of picking user demand are put Enter in the cabinet door 122, be then shut off cabinet door 122, inputs the hand to be gone on the keyboard interface at the cabinet door 122 for being set to goods yard 13 Art room label, then " determination " is clicked, (such as first click " operating room 6 " and click " ok " again).
After the staff in medical treatment consumptive materials warehouse places according to the sorting of order information completion medical treatment consumptive materials, article is inputted Conveying sign on (such as the staff in medical treatment consumptive materials warehouse brushes the work of the RFID card or medical treatment consumptive materials warehouse of itself Personnel click " starting to convey "), article carrying apparatus 1, which sets out, carries out conveying article to corresponding operating room 6.
It is automatic that 6 inside of operating room is notified (support to be installed after article carrying apparatus 1 reaches the doorway of corresponding operating room 6 Prompt picking user to carry out the device of picking), for example, by sound, shine, any one or various ways in vibration mention Wake up picking user.
The picking user (such as nurse) of operating room 6 comes out the RFID card for brushing itself or inputs picking code in keyboard interface Carry out whether verifying picking user is the user with picking permission, when the identity information and default picking body of verifying picking user When part information matches, the counter ontology 12 on article carrying apparatus 1 opens the cabinet door 122 for corresponding to the RFID card of nurse, or The cabinet door 122 of the picking code of nurse's input.
Nurse takes out medical treatment consumptive materials from the goods yard 13 for opening cabinet door 122, then shuts cabinet door 122, is set at cabinet door 122 Smart lock article carrying apparatus 1 of the closed state information reporting to article carrying apparatus 1, the automatic root of article carrying apparatus 1 It is automatically moved into next operating room according to the article landline of itself plane-generating, or automatically returns to medical treatment consumptive materials storehouse Library.
In the following, enumerating supermarket's article conveying scene：
The goods yard 13 that there are counter ontology 12 several layers to be set side by side, the predeterminable area of the shell of counter ontology 12 is transparent, It is preferable to use transparent plastic materials.
13 outer wall of goods yard is provided with input module 110, for inputting the conveying destination to be gone of setting (such as toothpaste, paper Towel etc. and other items sells area), it can also be used to input and default identity information be set for verifying delivery user (such as each object The staff of product warehouse area) or the identity of picking user (such as each staff for selling area) it is whether legal.It is preferred that Whether the data obtaining module with face identification functions is legal as the identity that input module 110 inputs identification user, delivery User is in the conveying destination of data obtaining module input article.
For the conveying scene of the toothpaste of supermarket, the picking user that toothpaste sells area is placed an order/is made a phone call by ordering system Notify the staff of toothpaste warehouse area.
The staff of toothpaste warehouse area prepares corresponding toothpaste after being connected to list on plate, while clicking on plate " determination ", the picking user that toothpaste sells area will receive the message of " preparing ".
The staff of toothpaste warehouse area inputs password in keyboard interface or brushes the RFID of itself in radio frequency card-reading zone Card opens the cabinet door 122 under any one idle state in goods yard 13, the toothpaste of picking user demand is put into the cabinet door 122 In corresponding goods yard 13, the cabinet door 122 in the goods yard 13 is closed, is inputted on the keyboard interface at the cabinet door 122 for being set to goods yard 13 It is delivered to toothpaste and sells area, then click " determination ", (such as first click " toothpaste sells area " and click " ok " again).
After the staff of toothpaste warehouse area places according to the sorting of order information completion toothpaste, input article conveying is opened Beginning instruction (such as the staff of toothpaste warehouse area brushes the RFID card of itself or the staff of toothpaste warehouse area clicks and " opens Begin conveying "), article carrying apparatus 1 set out carry out conveying article to toothpaste sell area.
Article carrying apparatus 1 reaches after corresponding toothpaste sells area, automatic that toothpaste is notified to sell area and (be equipped with support prompt The device of picking user progress picking), for example, by sound, shine, any one or the various ways prompting in vibration take Goods user.
The picking user (such as toothpaste shop-assistant) that toothpaste sells area brushes the RFID card of itself or inputs in keyboard interface Picking code carries out whether verifying picking user is the user with picking permission, when the identity information for verifying picking user and presets When picking identity information matches, the counter ontology 12 on article carrying apparatus 1 opens the RFID card for corresponding to toothpaste shop-assistant The cabinet door 122 of cabinet door 122 or the picking code of toothpaste shop-assistant input.
Toothpaste shop-assistant takes out toothpaste from the goods yard 13 for opening cabinet door 122, then shuts cabinet door 122, is set to cabinet door 122 The closed state information reporting of the smart lock at place is to the article carrying apparatus 1 of article carrying apparatus 1, and article carrying apparatus 1 is automatically According to the article landline of itself plane-generating be automatically moved into it is next sell area, or automatically return to toothpaste warehouse Area.
Preferably, further include：
Environmental information detection module obtains environmental information；
Route planning module 120 generates article conveying path according to conveying destination, the environmental information and environmental map Line.
Specifically, the environmental information that robot obtains includes but is not limited to the location information of other robot, barrier The location information of (staff, building, communal facility etc.), robot is according to the destination and ground in article conveying task Figure information and environmental information carry out independent navigation and generate distribution route in real time, so that robot is according to the navigation circuit generated in real time It is mobile, to march to corresponding destination.The present invention is moved by robot autonomous navigation, and robot is enabled to have perception, determine Plan, ability to act are reliably and securely moved during marching to destination with realizing, pass through infrared sensor, laser thunder It reaches, camera etc. identifies the environmental information around robot, carries out avoidance, improves oneself run in robot operational process Main property and place adaptability, and can effectively avoid incident collision and congestion phenomenon when more robot synchronous operation, thus The operation stability and reliability when more robot synchronous operation operations are greatly improved, there is very strong practical value and city Field promotional value.In addition, the traveling that the travelling route for avoiding robot from being obtained according to server advance planning is inflexible, once it encounters Barrier, robot possibly can not effective avoidance, by robot autonomous navigation, can automatic sensing circumstances not known it is effective in advance Avoidance effect, intelligent autonomous significant effect, environmental suitability are strong.
Eighth embodiment of the invention, as shown in figure 5, a kind of article delivery method includes：
S100 article carrying apparatus obtains the corresponding conveying in goods yard that article is placed with for every layer of delivery user's input Destination；Article carrying apparatus is equipped with counter ontology, and the counter ontology is equipped with several layers goods yard, and every layer of goods yard is equipped with a cabinet Door, each cabinet door are equipped with smart lock；
S200 article carrying apparatus generates article landline according to conveying destination and environmental map；
S300 article carrying apparatus is moved to the corresponding conveying destination of article landline；
Whether the identity information for the picking user that the verifying of S400 article carrying apparatus obtains is legal；
For S500 when the identity information of picking user is legal, article carrying apparatus opens the corresponding intelligence in current conveying destination It can lock, the article of corresponding goods yard storage is taken out convenient for picking user.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to above-mentioned first Embodiment, this is no longer going to repeat them.
Ninth embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned 8th embodiment, are implemented with the above-mentioned 8th Example is compared, and is theed improvement is that, as shown in fig. 6, S300 article carrying apparatus is moved to the corresponding conveying mesh of article landline Ground after, S400 article carrying apparatus verifying obtain picking user identity information it is whether legal before includes：
S350 article carrying apparatus generates prompt information to notify picking user that corresponding conveying destination is gone to carry out Authentication and picking；Or, as shown in fig. 7, S200 article carrying apparatus is according to conveying destination and environmental map product After product landline, S300 article carrying apparatus is moved to the corresponding conveying destination of article landline and includes before：
S250 article carrying apparatus starts to move, and reaches the corresponding conveying purpose of article landline apart from preset time When ground, prompt information is generated to notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to above-mentioned second Embodiment, this is no longer going to repeat them.
Tenth embodiment of the invention, the present embodiment are the optimal enforcement examples of above-mentioned 9th embodiment, are implemented with the above-mentioned 9th Example is compared, and is theed improvement is that, for S500 when the identity information of picking user is legal, article carrying apparatus opens current conveying mesh The corresponding smart lock in ground, taken out convenient for picking user after the article of corresponding goods yard storage and include：
For S600 when the picking for getting picking user input finishes information, article carrying apparatus is according to article landline It is moved to next conveying destination.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to above-mentioned third Embodiment, this is no longer going to repeat them.
Eleventh embodiment of the invention, as shown in figure 8, the present embodiment is the optimal enforcement example of above-mentioned 8th embodiment, with Above-mentioned 8th embodiment is compared, and is theed improvement is that, S300 article carrying apparatus is moved to the corresponding conveying of article landline Destination includes step：
S310 gives up really when article carrying apparatus gets delivery user's input and send instruction, then carries and place picking use The required article in family, and the smart lock at cabinet door be in close state under counter ontology, start according to the article convey Route is successively moved to corresponding conveying destination；And/or；
S320 then carries and puts when the identity information of delivery user has not been obtained in article carrying apparatus in preset duration Set the required article of picking user, and the smart lock at cabinet door be in close state under counter ontology, start according to Article landline is successively moved to corresponding conveying destination.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to the above-mentioned 4th Embodiment, this is no longer going to repeat them.
Twelveth embodiment of the invention, the present embodiment is the optimal enforcement example of above-mentioned 11st embodiment, with the above-mentioned tenth One embodiment is compared, and improvements exist, as shown in figure 9, S310 gets the confirmation of delivery user's input when article carrying apparatus Include before conveying instruction：
S301 is when the predetermined position of the counter ontology is equipped with an input module, when the identity of verifying delivery user When information is legal, the smart lock at the goods yard under any one is in idle condition is opened, is used convenient for delivery user according to picking The order request at family, sorting are placed at article to the corresponding goods yard for opening smart lock, and cabinet door and smart lock are closed.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to the above-mentioned 5th Embodiment, this is no longer going to repeat them.
Thriteenth embodiment of the invention, the present embodiment is the optimal enforcement example of above-mentioned 11st embodiment, with the above-mentioned tenth One embodiment is compared, and improvements exist, and as shown in Figure 10, S310 gets the confirmation of delivery user's input when article carrying apparatus Include before conveying instruction：
S302 is when every layer of goods yard of the counter ontology is correspondingly provided with an input module, by being set to the counter sheet The transparent display area of body determines the goods yard under being in idle condition；Wherein, the material in the transparent display area is transparent material； The transparent display area is the predeterminable area and/or cabinet door of the shell of counter ontology；
S303 is legal when the identity information of verifying delivery user, and the current input mould at the goods yard under being in idle condition When block gets the unlocking request of delivery user, opens the current input module and correspond to the smart lock at goods yard, convenient for delivery User sorts and places at article to the corresponding goods yard for opening smart lock, close cabinet door and intelligence according to the order request of picking user It can lock.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to the above-mentioned 6th Embodiment, this is no longer going to repeat them.
Fourteenth embodiment of the invention, the present embodiment are the optimal enforcements of above-mentioned 12nd or the 13rd any embodiment Example, compared with above-mentioned 12nd or the 13rd any embodiment, thes improvement is that, the delivery user is according to picking user's Order request, sorting, which is placed at article to the corresponding goods yard for opening smart lock, includes：
The corresponding Item Information of physical tag typing of article carrying apparatus scanning article；
Article carrying apparatus obtains each article and conveys corresponding transport information；
Article carrying apparatus sends Item Information and transport information to server every prefixed time interval.
Specifically, the present embodiment is the corresponding embodiment of the method for above-mentioned apparatus embodiment, specific effect is referring to the above-mentioned 7th Embodiment, this is no longer going to repeat them.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.

Claims (14)

1. a kind of article carrying apparatus, including mobile mechanism, which is characterized in that be equipped with counter ontology, the counter ontology is equipped with Several layers goods yard, every layer of goods yard are equipped with a cabinet door, and each cabinet door is equipped with smart lock；Further include：
Input module obtains the corresponding conveying destination in goods yard that article is placed with for every layer of delivery user's input；
Route planning module generates article landline according to conveying destination and environmental map；
Mobile module is moved to the corresponding conveying destination of article landline；
Identity information acquisition module obtains the identity information of picking user；
Whether authentication module, the identity information for verifying picking user are legal；
Control module opens the corresponding smart lock in current conveying destination, just when the identity information for verifying picking user is legal The article of corresponding goods yard storage is taken out in picking user.
2. article carrying apparatus according to claim 1, which is characterized in that further include：
Generation module, after article carrying apparatus is moved to article landline corresponding conveying destination, or when article is defeated It send equipment to start to move, and when conveying destination corresponding apart from preset time arrival article landline, generates prompt information To notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
3. article carrying apparatus according to claim 1, which is characterized in that further include：
Data obtaining module obtains the information of picking user input；
The mobile module, it is mobile according to article landline when the data obtaining module, which gets picking, finishes information To next conveying destination.
4. article carrying apparatus according to claim 1, which is characterized in that further include：
Instruction acquisition module obtains delivery user after delivery user is by input module input conveying destination The instruction of input；
The mobile module also gives up really when described instruction obtains module and gets delivery user's input and send instruction；And/or When the identity information of delivery user has not been obtained in the authentication module in preset duration, carries and place picking user Required article, and the smart lock at cabinet door be in close state under counter ontology, start according to the article conveying path Line is successively moved to corresponding conveying destination.
5. article carrying apparatus according to claim 4, it is characterised in that：
The predetermined position of the counter ontology is equipped with an input module；
The control module, also when the identity information that the authentication module verifies delivery user is legal, and the input mould When block gets the unlocking request of delivery user, the smart lock at the goods yard under any one is in idle condition is opened, is convenient for User deliver according to the order request of picking user, sorts and places at article to the corresponding goods yard for opening smart lock, close cabinet door And smart lock.
6. article carrying apparatus according to claim 4, it is characterised in that：
Every layer of goods yard of the counter ontology is correspondingly provided with an input module；
The counter ontology is equipped with transparent display area, so that delivery user is in idle condition by transparent display area determination Under goods yard；Wherein, the material in the transparent display area is transparent material；The transparent display area is the shell of counter ontology Predeterminable area and/or cabinet door；
The control module, also when the identity information that the authentication module verifies delivery user is legal, and in idle shape When current input module at goods yard under state gets the unlocking request of delivery user, it is corresponding to open the current input module Smart lock at goods yard, convenient for delivery user according to the order request of picking user, sorting places article and opens intelligence to corresponding At the goods yard of lock, cabinet door and smart lock are closed.
7. article carrying apparatus according to claim 5 or 6, which is characterized in that further include：
Scanning record module, in delivery user according to the order request of picking user, sorting places article and opens intelligence to corresponding Before at the goods yard of lock, the corresponding Item Information of physical tag typing of article is scanned；
Module is obtained, each article is obtained and conveys corresponding transport information；
Wireless communication module sends Item Information and transport information to server every prefixed time interval.
8. a kind of method of article conveying, which is characterized in that including step：
Article carrying apparatus obtains the corresponding conveying destination in goods yard that article is placed with for every layer of delivery user's input；Object Product conveying equipment is equipped with counter ontology, and the counter ontology is equipped with several layers goods yard, and every layer of goods yard is equipped with a cabinet door, each cabinet Door is equipped with smart lock；
Article carrying apparatus generates article landline according to conveying destination and environmental map；
Article carrying apparatus is moved to the corresponding conveying destination of article landline；
Whether the identity information for the picking user that article carrying apparatus verifying obtains is legal；
When the identity information of picking user is legal, article carrying apparatus opens the corresponding smart lock in current conveying destination, just The article of corresponding goods yard storage is taken out in picking user.
9. the method for article conveying according to claim 8, it is characterised in that：
Article carrying apparatus is moved to after the corresponding conveying destination of article landline, and article carrying apparatus verifying obtains It include step before whether the identity information of picking user is legal：
Article carrying apparatus generates prompt information to notify picking user that corresponding conveying destination is gone to carry out authentication And picking；Or,
After article carrying apparatus generates article landline according to conveying destination and environmental map, article carrying apparatus is moved Include before moving to the corresponding conveying destination of article landline：
Article carrying apparatus starts to move, and when conveying destination corresponding apart from preset time arrival article landline, raw At prompt information to notify picking user that corresponding conveying destination is gone to carry out authentication and picking.
10. the method for article according to claim 8 conveying, which is characterized in that the identity information as picking user When legal, article carrying apparatus opens the corresponding smart lock in current conveying destination, takes out corresponding goods yard convenient for picking user and deposits Include after the article put：
When the picking for getting picking user input finishes information, article carrying apparatus is moved to down according to article landline One conveying destination.
11. article delivery method according to claim 8, which is characterized in that article carrying apparatus is moved to article conveying The corresponding conveying destination of route includes：
Give up really when article carrying apparatus gets delivery user's input and send instruction, then it is required to carry placement picking user Article, and the smart lock at cabinet door be in close state under counter ontology, start according to the article landline successively It is moved to corresponding conveying destination；And/or；
When the identity information of delivery user has not been obtained in article carrying apparatus in preset duration, then carries and place picking use The required article in family, and the smart lock at cabinet door be in close state under counter ontology, start according to the article convey Route is successively moved to corresponding conveying destination.
12. article delivery method according to claim 11, which is characterized in that used when article carrying apparatus gets delivery Family input gives up to send before instruction really：
When the predetermined position of the counter ontology is equipped with an input module, when the identity information of verifying delivery user is legal When, the smart lock at the goods yard under any one is in idle condition is opened, convenient for delivery user according to the order of picking user Request, sorting are placed at article to the corresponding goods yard for opening smart lock, and cabinet door and smart lock are closed.
13. article delivery method according to claim 11, which is characterized in that used when article carrying apparatus gets delivery Family input gives up to send before instruction really：
When every layer of goods yard of the counter ontology is correspondingly provided with an input module, by being set to the transparent of the counter ontology Show area determines the goods yard under being in idle condition；Wherein, the material in the transparent display area is transparent material；It is described transparent Show area is the predeterminable area and/or cabinet door of the shell of counter ontology；
When the identity information of verifying delivery user is legal, and the current input module at the goods yard under being in idle condition is got Deliver user unlocking request when, open the current input module and correspond to the smart lock at goods yard, convenient for deliver user according to The order request of picking user, sorting are placed at article to the corresponding goods yard for opening smart lock, and cabinet door and smart lock are closed.
14. article delivery method according to claim 12 or 13, which is characterized in that the delivery user uses according to picking The order request at family, sorting, which is placed at article to the corresponding goods yard for opening smart lock, includes：
The corresponding Item Information of physical tag typing of article carrying apparatus scanning article；
Article carrying apparatus obtains each article and conveys corresponding transport information；
Article carrying apparatus sends Item Information and transport information to server every prefixed time interval.
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