CN108910381B - Article conveying equipment and article conveying method - Google Patents

Article conveying equipment and article conveying method Download PDF

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Publication number
CN108910381B
CN108910381B CN201810956916.2A CN201810956916A CN108910381B CN 108910381 B CN108910381 B CN 108910381B CN 201810956916 A CN201810956916 A CN 201810956916A CN 108910381 B CN108910381 B CN 108910381B
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goods
conveying
article
user
article conveying
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CN108910381A (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

Abstract

The invention provides an article conveying device and an article conveying method, wherein the article conveying device comprises a moving mechanism, a conveying mechanism and a conveying mechanism, wherein the moving mechanism is provided with a container body, the container body is provided with a plurality of layers of goods positions, each layer of goods positions is provided with a cabinet door, and each cabinet door is provided with an intelligent lock; the input module is used for acquiring a conveying destination which is input by a delivery user and corresponds to a goods position with goods placed on each layer; the route planning module generates an article conveying route according to the conveying destination and the environment map; the moving module moves to a conveying destination corresponding to the article conveying route; the identity information acquisition module is used for acquiring the identity information of the goods-taking user; the identity authentication module is used for authenticating whether the identity information of the goods taking user is legal or not; and the control module is used for unlocking the intelligent lock corresponding to the current conveying destination when the identity information of the goods taking user is verified to be legal, so that the goods taking user can take out the goods stored in the corresponding goods space conveniently. The conveying cost is reduced, articles are prevented from being lost in the article receiving and dispatching process, the article conveying safety is improved, and the conveying efficiency is improved.

Description

Article conveying equipment and article conveying method
Technical Field
The invention relates to the field of article conveying, in particular to article conveying equipment and an article conveying method.
Background
In recent years, with the development of robot technology and the continuous and deep research of artificial intelligence, robots play an increasingly important role in human life and are widely applied in many fields. The robot makes the work and life of people constantly intelligent and automatic.
In a supermarket or a hospital, a goods taking user often pushes a large vehicle of goods to be delivered to each destination, the work intensity of the goods taking user is high, even more, sometimes the goods taking user can mistake the destination of the goods, the wrong goods need to be delivered again to the correct destination, the efficiency is low, and the goods taking user is hired to manually deliver the goods, and the cost of delivering the goods is greatly increased due to the fact that the labor cost is higher and higher. In addition, because articles are conveyed in an unclosed manner, the robot is easy to illegally acquire articles placed in the robot by idle personnel without accompanying a goods-taking user, and therefore, the security of the articles in the article conveying process is more and more important. In addition, in the article transportation process, how to replace the manual work to carry out article transportation, liberation labour saves the cost of labor, and how to prevent article receiving and dispatching in-process article from losing is the difficult problem that awaits a urgent need to be solved.
Disclosure of Invention
The invention aims to provide an article conveying device and an article conveying method, which are used for achieving the purposes of reducing conveying cost, preventing articles from being lost in the process of receiving and sending the articles, improving article conveying safety and improving conveying efficiency.
The technical scheme provided by the invention is as follows: an article conveying device comprises a moving mechanism, wherein the moving mechanism is provided with a container body, the container body is provided with a plurality of layers of cargo positions, each layer of cargo position is provided with a cabinet door, and each cabinet door is provided with an intelligent lock; further comprising:
the input module is used for acquiring a conveying destination which is input by a delivery user and corresponds to a goods position with goods placed on each layer;
the route planning module generates an article conveying route according to the conveying destination and the environment map;
the moving module moves to a conveying destination corresponding to the article conveying route;
the identity information acquisition module is used for acquiring the identity information of the goods-taking user;
the identity authentication module is used for authenticating whether the identity information of the goods taking user is legal or not;
and the control module is used for unlocking the intelligent lock corresponding to the current conveying destination when the identity information of the goods taking user is verified to be legal, so that the goods taking user can take out the goods stored in the corresponding goods space conveniently.
Further, the method also comprises the following steps:
and the generating module is used for generating prompt information so as to inform the goods taking user to go to the corresponding conveying destination for identity verification and goods taking when the article conveying equipment moves to the conveying destination corresponding to the article conveying route or when the article conveying equipment starts to move and reaches the conveying destination corresponding to the article conveying route within a preset time.
Further, the method also comprises the following steps:
the information acquisition module is used for acquiring information input by a goods taking user;
and the moving module moves to the next conveying destination according to the article conveying route when the information acquisition module acquires the goods taking completion information.
Further, the method also comprises the following steps:
the instruction acquisition module is used for acquiring an instruction input by the delivery user after the delivery user inputs the destination through the input module;
the moving module is also used for acquiring a confirmation transmission instruction input by a delivery user when the instruction acquisition module acquires the confirmation transmission instruction; and/or when the identity authentication module does not acquire the identity information of the delivery user within a preset time, the container body which is used for placing the articles required by the delivery user is carried, and the intelligent lock at the position of the cabinet door is in a closed state, and the container body starts to move to the corresponding conveying destination in sequence according to the article conveying route.
Further, an input module is arranged at a preset position of the container body;
the control module is also used for opening any one intelligent lock at the goods position in the idle state when the identity authentication module verifies that the identity information of the delivery user is legal and the input module obtains the unlocking request of the delivery user, so that the delivery user can sort and place the goods to the goods position where the intelligent lock is correspondingly opened according to the order request of the delivery user and close the cabinet door and the intelligent lock.
Furthermore, each layer of goods space of the container body is correspondingly provided with an input module;
the container body is provided with a transparent display area, so that a delivery user can determine a cargo space in an idle state through the transparent display area; the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body and/or a cabinet door;
the control module is also used for opening the intelligent lock at the position of the goods position corresponding to the current input module when the identity authentication module verifies that the identity information of the delivery user is legal and the current input module at the position of the goods position in the idle state obtains the unlocking request of the delivery user, so that the delivery user can sort and place the articles to the position of the goods position corresponding to the opened intelligent lock according to the order request of the delivery user and close the cabinet door and the intelligent lock.
Further, the method also comprises the following steps:
the scanning and inputting module is used for scanning the physical label of the article and inputting the corresponding article information before the delivery user sorts and places the article to the corresponding goods location where the intelligent lock is opened according to the order request of the delivery user;
the acquisition module acquires conveying information corresponding to each article conveying;
and the wireless communication module is used for sending the article information and the conveying information to the server at preset time intervals.
Further, an input module is arranged at a preset position of the container body; or the like, or, alternatively,
each layer of goods space of the container body is correspondingly provided with an input module.
The invention also provides the following technical scheme: a method of article transport comprising the steps of:
the method comprises the steps that article conveying equipment obtains a conveying destination which is input by a delivery user and corresponds to a goods position with articles placed on each layer; the article conveying equipment is provided with a container body, the container body is provided with a plurality of layers of cargo positions, each layer of cargo position is provided with a cabinet door, and each cabinet door is provided with an intelligent lock;
the article conveying equipment generates an article conveying route according to the conveying destination and the environment map;
the article conveying equipment moves to a conveying destination corresponding to the article conveying route;
the article conveying equipment verifies whether the acquired identity information of the goods taking user is legal or not;
when the identity information of the goods taking user is legal, the intelligent lock corresponding to the current conveying destination is unlocked by the article conveying equipment, so that the goods taking user can take out the articles stored in the corresponding goods space conveniently.
Further, after the article conveying equipment moves to the conveying destination corresponding to the article conveying route, before the article conveying equipment verifies whether the acquired identity information of the goods taking user is legal, the method comprises the following steps:
the article conveying equipment generates prompt information so as to inform a goods taking user to go to a corresponding conveying destination for identity verification and goods taking; or the like, or, alternatively,
after the article conveying equipment generates an article conveying route according to the conveying destination and the environment map, the article conveying equipment comprises the following steps before moving to the conveying destination corresponding to the article conveying route:
when the article conveying equipment starts to move and reaches a conveying destination corresponding to the article conveying route at a preset time, prompt information is generated so as to inform a goods taking user to go to the corresponding conveying destination for identity verification and goods taking.
Further, when the identity information of the goods taking user is legal, the intelligent lock corresponding to the current conveying destination is opened by the article conveying equipment, so that the goods taking user can conveniently take out the articles stored in the corresponding goods space and then the intelligent lock comprises:
and when the goods taking completion information input by the goods taking user is acquired, the goods conveying equipment moves to the next conveying destination according to the goods conveying route.
Further, the moving of the article transport apparatus to the transport destination corresponding to the article transport route includes:
when the article conveying equipment acquires a confirmation conveying instruction input by a delivery user, the container body which is used for placing articles required by the delivery user and has a closed intelligent lock at a cabinet door starts to move to a corresponding conveying destination in sequence according to the article conveying route; and/or;
when the article conveying equipment does not acquire the identity information of the delivery user within the preset time, the article conveying equipment bears the articles required by the delivery user, and the intelligent lock at the cabinet door is in the container body in the closed state, and the intelligent lock starts to move to the corresponding conveying destination in sequence according to the article conveying route.
Further, before the article conveying equipment acquires the delivery confirmation instruction input by the delivery user, the method comprises the following steps:
when the preset position of the container body is provided with the input module, when the identity information of the delivery user is verified to be legal, the intelligent lock at any cargo space in the idle state is opened, so that the delivery user can sort and place articles to the cargo space corresponding to the opened intelligent lock according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
Further, before the article conveying equipment acquires the delivery confirmation instruction input by the delivery user, the method further comprises the following steps:
when each layer of goods space of the container body is correspondingly provided with one input module, the goods space in an idle state is determined through the transparent display area arranged on the container body; the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body and/or a cabinet door;
when the identity information of the delivery user is verified to be legal, and the current input module at the goods position in the idle state acquires the unlocking request of the delivery user, the intelligent lock at the goods position corresponding to the current input module is opened, so that the delivery user can sort and place the articles to the goods position where the intelligent lock is correspondingly opened according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
Further, the step of sorting and placing the articles to the corresponding cargo space where the intelligent lock is unlocked by the delivery user according to the order request of the delivery user comprises:
the article conveying equipment scans physical labels of articles and inputs corresponding article information;
the article conveying equipment acquires conveying information corresponding to each article conveying;
the article conveying equipment sends article information and conveying information to the server at preset time intervals.
The article conveying equipment and the article conveying method provided by the invention can bring at least one of the following beneficial effects:
1) according to the invention, the article conveying equipment provided with the closed goods shelf body is used for carrying articles to move to a destination, and the article conveying equipment is used for conveying the articles, so that intelligent conveying is realized, the labor cost and the task load of workers are greatly reduced, and the safety of article conveying is greatly improved due to the whole-course closed article conveying.
2) According to the invention, the article conveying equipment automatically conveys the articles according to the conveying destination input by the delivery user, so that the error rate of subjective destination confirmation of workers is reduced, and the conveying efficiency of the articles is improved.
3) When the identity information of the goods taking user is verified to be legal, the intelligent lock corresponding to the identity information is allowed to be unlocked, so that the goods in the storage box of the goods storage cabinet can be conveniently sorted, the safety of the goods in the conveying process is improved, and the property safety of a user is guaranteed.
4) According to the invention, the delivery user can display and confirm whether each layer of goods position in the container body is in the idle state through the transparent display area or the display interface, so that the delivery user can conveniently and quickly and efficiently find out the proper goods position in the idle state to sort and place the goods, the waste of verification time for confirming the use state of each goods position by opening the intelligent lock is reduced, and the efficiency of delivering the goods by delivery is improved.
5) The method and the device verify whether the identity information of the delivery user is legal or not, can avoid idle personnel from storing articles in the container body at will, and avoid the situation that the container body cannot normally store the articles required by the delivery user due to the fact that the idle personnel are used at will. And the condition that idle and miscellaneous personnel place dangerous articles in the container body can be avoided, and the article conveying safety is further improved.
6) According to the invention, before the goods selected by the delivery user are placed in the corresponding goods location, the delivery user scans and acquires the goods information corresponding to the goods placed in the goods location by the delivery user, and periodically transmits the conveying information of each time of goods conveying by the goods conveying equipment to the server, so that the server counts and acquires the goods conveying record and report of each period, thereby realizing real-time monitoring of goods conveying conditions, and a user (hospital, bookstore, supermarket and the like) can directly acquire required data according to the related data of the server, thereby reducing the complexity and difficulty of data calling of enterprises, and facilitating the control of the enterprises on the whole system.
Drawings
The above features, technical features, advantages and modes of realisation of an article transfer apparatus and a method of transferring articles will be further described in the following, in a clearly understandable manner, with reference to the accompanying drawings, which illustrate preferred embodiments.
FIG. 1 is a schematic structural view of one embodiment of the article transport apparatus of the present invention;
FIG. 2 is a schematic structural view of another embodiment of the article transport apparatus of the present invention;
FIG. 3 is a schematic structural view of another embodiment of the article transport apparatus of the present invention;
FIG. 4 is a schematic structural view of another embodiment of the article transport apparatus of the present invention;
FIG. 5 is a flow chart of one embodiment of the method of article transport of the present invention;
FIG. 6 is a flow chart of another embodiment of the method of article transport of the present invention;
FIG. 7 is a flow chart of another embodiment of the method of article transport of the present invention;
FIG. 8 is a flow chart of another embodiment of the method of article transport of the present invention;
FIG. 9 is a flow chart of another embodiment of the method of article transport of the present invention;
fig. 10 is a flow chart of another embodiment of the method of article transport of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In a first embodiment of the present invention, as shown in fig. 1, fig. 2 and fig. 3, an article conveying apparatus 1 includes a moving mechanism 11, which is provided with a container body 12, wherein the container body 12 is provided with a plurality of layers of cargo spaces 13, each layer of cargo space 13 is provided with a cabinet door 122, and each cabinet door 122 is provided with an intelligent lock; further comprising:
the input module 110 is used for acquiring a conveying destination which is input by a delivery user and corresponds to the goods location 13 with the goods placed on each layer;
a route planning module 120 for generating an article transport route according to the transport destination and the environment map;
a moving module 130 which moves to a conveying destination corresponding to the article conveying route;
the identity information acquisition module 140 acquires the identity information of the goods-taking user;
the identity authentication module 150 is used for authenticating whether the identity information of the goods-taking user is legal or not;
when the identity information of the goods taking user is verified to be legal, the control module 160 opens the intelligent lock corresponding to the current conveying destination, so that the goods taking user can take out the goods stored in the corresponding goods space 13 conveniently.
Specifically, in this embodiment, the moving mechanism 11 with moving function and the container body 12 can be fixedly connected together, that is, the moving mechanism 11 and the container body 12 are integrated into a whole, and a plurality of container bodies 12 can be detachably mounted in the bearing area of the moving mechanism 11 according to the requirement. The moving mechanism 11 includes, but is not limited to, an AGV, a moving module 130 of a moving robot.
When the moving mechanism 11 and the container body 12 are integrated, the input module 110, the route planning module 120, the identity information obtaining module 140, the identity verification module 150 and the control module 160 may be integrated with the moving mechanism 11, or integrated with the container body 12, or separately installed on the moving mechanism 11 and the container body 12 according to the requirement. When the container body 12 is detachably mounted on the moving mechanism 11, the route planning module 120, the input module 110, the identity information acquiring module 140, the identity verifying module 150 and the control module 160 can be separately disposed on the moving mechanism 11 and the container body 12 according to requirements, and the container body 12 and the moving mechanism 11 are in communication connection in a wired manner or a wireless manner, so that article transportation is realized. For example, when the routing module 120 is disposed on the moving mechanism 11, the input module 110, the identity information acquiring module 140, the identity verifying module 150 and the control module 160 are disposed on the container body 12, the input module 110 arranged at the container body 12 transmits the delivery destination input by the order receiving user to the route planning module 120 in a wired or wireless way, so that the route planning module 120 generates an article conveying route according to the acquired conveying destination and the environment map, and after the moving mechanism 11 carries the shelf body 12 to the corresponding conveying destination, the identity information of the goods taking user is obtained through the identity information obtaining module 140 arranged at the container body 12, the validity of the identity information of the goods-taking user is verified by the identity verification module 150 arranged at the container body 12, then the control module 160 arranged at the container body 12 controls the on-off state of the intelligent lock according to the verification result of the identity verification module 150.
After the container body 12 obtains the delivery destination input by the order receiving user, the article delivery device 1 (i.e. the device having the function of the article delivery system of the present invention) performs autonomous planning to generate an article delivery route in real time according to the environment map and the delivery destination, so that the article delivery device 1 moves according to the article delivery route generated in real time, and moves according to the generated article delivery route to sequentially deliver the articles placed in the container body 12 to the corresponding destinations. Every time when the article conveying equipment 1 bears the container body 12 and travels to a conveying destination, the article taking user inputs the identity information of the article taking user, the input mode includes but is not limited to fingerprint input, iris input, password input, gesture input or radio frequency card input, after the article conveying equipment 1 verifies that the identity information input by the article taking user is legal, the article taking user is determined to have the article taking authority, the intelligent lock corresponding to the current conveying destination is opened, after the corresponding intelligent lock is opened, the corresponding cabinet door 122 is automatically opened or manually opened by the article taking user, and the article taking user can take out the article corresponding to the goods position 13 when the cabinet door 122 is in the opened state.
The intelligent lock can be applied to occasions needing to convey articles, such as hospitals, bookstores, supermarkets and the like, the articles are conveyed to the corresponding conveying destinations through the article conveying equipment 1, and when the identity information of the goods taking user is verified to be legal, the intelligent lock corresponding to the identity information of the goods taking user is allowed to be unlocked, so that the goods stored at the goods space 13 corresponding to the intelligent lock can be conveniently taken out and unlocked by the goods taking user. Carry out article through article conveying equipment 1 and carry, realize intelligent transport, greatly reduced the cost of labor and staff's task volume, and do not need artifical subjective memory to confirm the transport destination position, plan the route by article conveying equipment 1 according to the transport destination of connecing single user input by oneself and carry article, reduce the error rate that the staff's manual work carried article subjective affirmation transport destination to reduce the probability of carrying again after makeing mistakes, improved the conveying efficiency of article greatly. And because the article is placed in the container body 12 in the locked state, the closed article conveying process has the authority to take out the article only by a legal article taking user, so that the whole article conveying process is in a reliable closed state, the article conveying safety is improved, the conveying experience of a user (a hospital, a bookstore, a supermarket and the like) is improved, the labor cost of the user is reduced, the efficiency, the accuracy and the safety are realized, and the article conveying efficiency, the conveying safety and the intelligent level are improved.
Preferably, the smart lock includes, but is not limited to, an electromagnetic lock, an inductive lock (e.g., a radio frequency inductive lock, a voice-activated inductive lock, etc.), a fingerprint lock. The goods taking user can be a worker with the authority of placing orders and taking goods, and can also be a robot with the authority of placing orders and taking goods; similarly, the order receiving user can be a worker with the authority to receive orders and pick up articles, or a robot with the authority to receive orders and pick up articles; the goods picking user can be a worker with goods picking authority or a robot with goods picking authority. The environment map may be stored in the article transport apparatus 1 in advance, or may be downloaded and updated in real time.
The second embodiment of the present invention, which is an optimized embodiment of the first embodiment, is improved in that, compared with the first embodiment, the present invention further includes:
and the generating module is used for generating prompt information so as to inform the goods taking user to go to the corresponding conveying destination for identity verification and goods taking when the article conveying equipment 1 moves to the conveying destination corresponding to the article conveying route or when the article conveying equipment 1 starts to move and reaches the conveying destination corresponding to the article conveying route within a preset time.
Specifically, after the article conveying device 1 moves to the conveying destination corresponding to the article conveying route, prompt information is generated so as to notify the pickup user of the arrival of the article, and prompt the pickup user to forward to the stop position of the article conveying device 1 (i.e., the current conveying destination corresponding to the article conveying route) as soon as possible to pick up the article. Or, when the article conveying equipment 1 starts to move and reaches the conveying destination corresponding to the article conveying route by a preset time, prompt information is generated so as to inform the pickup user of the arrival of the article, and prompt the pickup user to forward to the stop position of the article conveying equipment 1 (namely, the current conveying destination corresponding to the article conveying route) for pickup as soon as possible. And prompt information is generated in advance to inform the user, so that the time for waiting for the goods taking user to go to the stop position of the goods conveying equipment 1 can be reduced, the goods conveying efficiency is further improved, the standby power consumption of the goods conveying equipment 1 in the waiting process is reduced, and the electric energy resource is saved.
After the goods taking user receives the prompt message and arrives at the stop position of the article conveying equipment 1, the identity information of the goods taking user is obtained, when the identity information of the goods taking user is legal, namely when the identity information of the goods taking user is matched with the preset goods taking identity information, the identity information of the goods taking user is determined to be legal, the intelligent lock corresponding to the current conveying destination is opened, and the goods taking user can take out the articles stored in the corresponding goods position 13 conveniently.
According to the invention, after the identity information of the goods taking user is determined to be legal, the intelligent lock corresponding to the current conveying destination is opened, the intelligent locks do not need to be individually swiped or the picking code is input to unlock, open and pick the goods, and all the intelligent locks corresponding to the current conveying destination are opened only after the identity of the goods taking user is determined to be legal, so that the complexity of unlocking, opening and picking the goods in sequence can be reduced, the goods taking efficiency of the goods taking user is improved, the goods taking time of the goods taking user for waiting by the goods conveying equipment 1 is saved, the goods conveying efficiency of the goods conveying equipment 1 is further improved, the goods taking user corresponding to the next conveying destination can take the goods required by the goods taking user more quickly, and the use experience is improved.
The third embodiment of the present invention, which is the optimized embodiment of the first embodiment described above, is improved in that,
the information acquisition module is used for acquiring information input by a goods taking user;
the moving module 130 moves to the next conveying destination according to the article conveying route when the information obtaining module obtains the pick-up completion information.
Specifically, in this embodiment, after the article conveying device 1 moves to the conveying destination corresponding to the article conveying route, prompt information is generated so as to notify the pickup user that the article is delivered to the corresponding current conveying destination of the article conveying device 1 as soon as possible to pick up the article, after the pickup user receives the prompt information and reaches the current conveying destination of the article conveying device 1, the identity information of the pickup user is obtained, and when the identity information of the pickup user is verified to be matched with the preset pickup identity information, the intelligent lock corresponding to the current conveying destination is unlocked, so that the pickup user can take out the article stored in the corresponding cargo space 13 conveniently. After the goods taking user takes the goods away, the information acquisition module acquires the goods taking completion information input by the goods taking user, and the moving module 130 continues to move towards the next conveying destination according to the goods conveying route, so that after the goods taking user takes part of the goods away and closes the cabinet door 122, the goods taking user can have time to check whether the taken goods are correct.
According to the invention, once the identity of the goods taking user is legal, all intelligent locks corresponding to the current conveying destination can be opened, so that the goods taking user can conveniently and rapidly and accurately take the goods, and the information acquisition module and the identity information acquisition module 140 are not arranged at the same position of the goods conveying equipment 1, so that the unlocking and the cabinet opening for goods taking are verified, the goods taking is independent from the goods taking and delivery continuing to be carried out after the goods taking is finished, the verification that the cabinet opening for goods taking control and the delivery control after the goods taking are mixed together is avoided, the goods taken by the current conveying destination can be effectively ensured to be taken by the goods taking user, and after the goods are taken, the goods taking user can input the goods taking finishing information on the premise that the goods taken by the user are automatically confirmed to be not missed or mistakenly taken, so that the goods conveying equipment 1 continues to move to the next conveying destination for goods conveying, the goods conveying accuracy is improved, and the missing, and (4) taking the probability of error.
A fourth embodiment of the present invention is an optimized embodiment of the first embodiment, and compared with the first embodiment, the improvement is that the information obtaining module obtains an instruction input by the delivery user after the delivery user inputs the destination through the input module 110;
the moving module is also used for acquiring a confirmation transmission instruction input by a delivery user when the instruction acquisition module acquires the confirmation transmission instruction; and/or when the identity authentication module does not acquire the identity information of the delivery user within the preset time, the container body 12, on which the articles required by the delivery user are placed, is loaded, and the intelligent lock at the cabinet door 122 is in the closed state, starts to move to the corresponding delivery destination in sequence according to the article delivery route.
Specifically, in the present embodiment, the article transport apparatus 1 in which the delivery user acquires the order request of the pickup user and waits for the transport of the article includes, but is not limited to, the article transport apparatus 1 which has already accepted the transport job but has a power amount higher than a preset power amount and a workload of the transport job lower than a preset workload, and the article transport apparatus 1 which has not accepted any transport job. After the article transport facility 1 acquires the transport destination input by the delivery user, if the confirmation transport instruction is acquired, the article transport facility 1 starts moving to the corresponding transport destination according to the article transport route.
The confirmation conveyance instruction may be generated by the delivery user clicking the confirmation conveyance at the input module 110 provided in the article conveying device 1, so as to transmit a start movement instruction to the movement module 130 of the article conveying device 1, and the movement module 130 thereby starts movement according to the article conveying route according to the movement instruction. In addition, if the item conveying equipment 1 does not acquire the identity information of the delivery user within the preset time period, the moving module 130 of the item conveying equipment 1 starts moving according to the item conveying route.
According to the goods delivery method and the goods delivery device, the goods delivery device 1 can be moved only when the delivery confirmation instruction is obtained or the identity information of the delivery user is not obtained within the preset time, so that the delivery user can repeatedly confirm that no goods are missed and the goods placed in the container body 12 are delivered under the condition of wrong delivery according to the order request, the conditions of wrong delivery and missed delivery are greatly reduced, and the probability of goods delivery errors is reduced.
Preferably, the information acquisition module and the instruction acquisition module may be integrally provided in the article transportation device 1, and the identity information acquisition module 140 is provided in another area of the article transportation device 1, which is different from the area where the information acquisition module and the instruction acquisition module are provided in the article transportation device 1.
A fifth embodiment of the present invention is a preferred embodiment of the fourth embodiment, and is improved over the fourth embodiment in that the fifth embodiment further includes:
the container body 12 is provided with an input module 110;
the control module further opens any one of the intelligent locks at the cargo space 13 in the idle state when the identity authentication module verifies that the identity information of the delivery user is legal and the input module 110 obtains the unlocking request of the delivery user, so that the delivery user can sort the placed articles to the cargo space 13 where the intelligent lock is correspondingly opened according to the order request of the pickup user and close the cabinet door 122 and the intelligent lock.
Specifically, an input module 110 is arranged at a proper position of the container body 12, when the identity authentication module verifies that the identity information of the shipping user is legal, and the input module 110 obtains an unlocking request of the shipping user, the container body 12 queries the use condition of each cargo space 13, the container body 12 can shoot the article storage state of each cargo space 13 through a built-in camera to obtain the use condition of each cargo space 13, and can scan and record the article storage information (the model, the name and the quantity of the placed articles) when the shipping user ships and the article pickup information (the model, the name and the quantity of the picked articles) when the pickup user picks up the articles when the picking up the articles, so that the use condition of each cargo space 13 is obtained. That is, when a delivery user obtains an order request of the delivery user, the article conveying equipment 1 in the idle state is called, after the article conveying equipment 1 goes to the position of the delivery user with a delivery calling requirement, any one of the intelligent locks at the cargo positions 13 in the idle state is opened according to the use condition of each cargo position 13, so that the delivery user can sort and place articles to the cargo position 13 corresponding to the opened intelligent lock according to the order request of the delivery user, and close the cabinet door 122 and the intelligent lock. The delivery user determines whether to additionally unlock the intelligent lock corresponding to the goods location 13 in the idle state for continuously storing the goods according to the order request of the delivery user, if the space of the goods location 13 in the idle state can store the goods required in the order request of the delivery user, the unlocking request does not need to be input again in the input module 110, and otherwise, the input request is input once again for unlocking and opening the cabinet for sorting and placing the goods. The unlocking password (any one or any combination of numbers, letters and symbols) input by the shipping user can be used as the unlocking request. Or, the method may be represented by identity information of the shipping user as an unlocking request, when the shipping user performs identity authentication and requests unlocking, and the identity information obtaining module 140 and the input module 110 are integrated into one, the identity information input by the shipping user for the first time is used to verify the identity validity of the shipping user, and the identity information input for the second time and more than the second time is used as an unlocking request to unlock any one of the intelligent locks at the empty cargo space 13. When the shipping user performs authentication and requests unlocking, and the identity information obtaining module 140 and the input module 110 are separately installed on the article transporting apparatus 1, the identity information input by the shipping user at the identity information obtaining module 140 is used to verify the identity validity of the shipping user, and the identity information input at the input module 110 is used as an unlocking request to unlock any intelligent lock at the idle cargo space 13.
An example is illustrated below: the container body 12 is provided with a plurality of layers of goods positions 13, each layer of goods positions 13 is provided with a cabinet door 122, each cabinet door 122 is provided with an intelligent lock, as shown in fig. 3, a closed container of the conveying robot 1 is provided with two cargo spaces 13, a top control panel 121 (including the scanning module, the identity information obtaining module 140, the identity verification module 150, and the control module 160) having a function of scanning a physical tag (two-dimensional code, barcode, or radio frequency tag) of an article to obtain corresponding article information, a function of obtaining identity information of a pickup user or a delivery user, a function of verifying validity of identity information of the pickup user or the delivery user, and a function of controlling a switch state of each intelligent lock is provided at a suitable position on a top end (not inside a cabinet door 122) of the whole closed container of the conveying robot 1, and the intelligent locks at the cabinet doors 122 of the two cargo spaces 13 are controlled by the top control panel 121.
According to the invention, by verifying the identity of the delivery user to be legal and acquiring the unlocking request input by the delivery user, any intelligent lock at the cargo space 13 in the idle state is unlocked, so that an article placed in one cargo space 13 can be ensured to correspond to one conveying destination, the condition of article conveying error is avoided, and the accuracy, reliability and high efficiency of article conveying are improved.
A sixth embodiment of the present invention is a preferable embodiment of the fourth embodiment, and is improved over the fourth embodiment in that the present invention further includes:
an input module 110 is correspondingly arranged on each layer of goods space 13 of the container body 12;
the container body 12 is provided with a transparent display area, so that a delivery user determines a cargo space 13 in an idle state through the transparent display area; the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body 12 and/or a cabinet door 122;
the control module further opens the intelligent lock at the position of the cargo space 13 corresponding to the current input module 110 when the identity authentication module verifies that the identity information of the delivery user is legal and the current input module 110 at the position of the cargo space 13 in the idle state obtains the unlocking request of the delivery user, so that the delivery user can sort and place the articles to the position of the cargo space 13 corresponding to the opened intelligent lock according to the order request of the delivery user, and close the cabinet door 122 and the intelligent lock.
Specifically, when each layer of the cargo space 13 of the container body 12 is correspondingly provided with one input module 110, the cargo space 13 is provided with the transparent display area 14, the transparent display area 14 is a preset area of the shell of the container body 12 and/or a cabinet door 122, that is, the transparent display area 14 may be the cabinet door 122, the transparent display area 14 may also be a preset area of the shell of the container body 12, and the transparent display area 14 may also be a preset area of the shell of the container body 12 and a cabinet door 122. The predetermined area of the housing may be the entire housing being the transparent display area 14 or a portion of the housing being the transparent display area 14. The transparent display area 14 is made of transparent materials such as transparent glass, transparent plastic, etc.
When a delivery user obtains an order request of the delivery user, the article transport equipment 1 in an idle state is called, after the article transport equipment 1 goes to the position of the delivery user with a delivery calling requirement, the use state of each layer of cargo space 13 of a container body 12 on the article transport equipment 1 is confirmed through a transparent display area 14, if the current cargo space 13 is not used, namely no article is placed on the current cargo space 13, the current cargo space 13 is determined to be in the idle state, then the identity information of the delivery user is obtained, after the identity information of the delivery user is verified to be matched with the preset delivery identity information, a cargo space 13W1 in the idle state is selected according to a preset sequence (such as from top to bottom and from left to right), when an unlocking request is input by an input module 110Q1 at the cargo space 13W1, an intelligent lock at the cargo space 13 with an input module 110Q1 is opened, after a delivery user sorts and places items to the goods location 13 corresponding to the opened intelligent lock according to an order request of a pickup user, the delivery user closes the cabinet door 122 at the goods location 13W1 after the storage space of the goods location 13 cannot continuously store the items corresponding to the same delivery destination, then closes the intelligent lock corresponding to the cabinet door 122 at the goods location 13W1, then when the delivery user selects one goods location 13W2 in an idle state again according to a preset sequence, and inputs an unlocking request into the input module 110Q2 at the goods location 13W2, the intelligent lock at the goods location 13 provided with the input module 110Q2 is opened, and the items are continuously sorted and placed according to the order request until the items on the order request acquired by the delivery user are sorted and completed. Of course, if the idle cargo space 13 of one article transportation device 1 cannot sort and place the articles in the order request acquired by the delivery user, then a plurality of other article transportation devices 1 in idle status are additionally invoked.
Illustratively, as shown in FIG. 2, a schematic structural diagram of the container body 12 with a predetermined area of the shell being a transparent display area 14 is shown. If the transparent material of the preset area of the shell of the container body 12 is the one-way glass, the LED lamps respectively installed at the preset area of the shell of the container body 12 corresponding to the position of each layer of the goods space 13 are automatically turned on, and the goods space 13 is polished by the LED lamps, so that a delivery user can clearly see whether goods are placed at the goods space 13 through the one-way glass, and then whether the goods space 13 is in an idle state is distinguished. Or, if the transparent material of cabinet door 122 is one-way glass, the LED lamp that installs respectively in each cabinet door 122 one side that is close to goods position 13 accommodation space lights automatically, shines for goods position 13 through the LED lamp to make the delivery user can clearly see whether goods have been placed in goods position 13 department through one-way glass, thereby distinguish whether this goods position 13 is in idle state.
As shown in fig. 4, the closed container of the conveying robot 1 is provided with two cargo spaces 13, a suitable position of each door 122 (not in the door 122) of the entire closed container of the conveying robot 1 is provided with a control panel 121 (including the scanning module, the identity information obtaining module 140, the identity verification module 150 and the control module 160) having a function of scanning a physical tag (two-dimensional code, barcode, radio frequency tag) of an article to obtain corresponding article information, a function of obtaining identity information of a pickup user or a delivery user, a function of verifying the validity of the identity information of the pickup user or the delivery user, and a function of controlling the on-off state of each intelligent lock (including the scanning module, the identity information obtaining module 140, the identity verification module 150 and the control module 160 of the present invention), that is, a first control panel 121 is provided at the suitable position of the door 122 of the first cargo space 13, an intelligent lock at the door 122 of the first cargo space 13 is controlled by the first control panel 121, a second control panel 121 is, the smart lock at the door 122 of the second level cargo space 13 is controlled by a second control panel 121. This is merely an example, and other aspects are within the scope of the invention.
Preferably, when the number of the input modules 110 at the container body 12 is the same as the number of layers of the cargo space 13, the identity information acquisition module 140 and the input modules 110 are separated and not integrated, which facilitates to save the hardware cost of the article transporting apparatus 1.
According to the invention, by verifying the identity of the delivery user to be legal and acquiring the unlocking request input by the delivery user, any intelligent lock at the cargo space 13 in the idle state is unlocked, so that an article placed in one cargo space 13 can be ensured to correspond to one conveying destination, the condition of article conveying error is avoided, and the accuracy, reliability and high efficiency of article conveying are improved. In addition, whether each cargo space 13 is in an idle state is determined through the visual judgment of a delivery user, the time for inquiring the service condition of each cargo space 13 by the container body 12 can be reduced on the premise of ensuring that the cargo space 13 in the idle state is accurately found, the CPU processing requirement of the container body 12 is reduced, and the cost of the container body 12 is saved.
A seventh embodiment of the present invention, which is a preferred embodiment of the fifth or sixth embodiment, is improved in that, compared with the fifth or sixth embodiment, the present invention further includes:
the scanning and inputting module is used for scanning the physical label of the article and inputting the corresponding article information before the delivery user sorts and places the article to the corresponding goods location 13 where the intelligent lock is opened according to the order request of the delivery user;
the acquisition module acquires conveying information corresponding to each article conveying;
and the wireless communication module is used for sending the article information and the conveying information to the server at preset time intervals.
Specifically, before placing the picked articles into the corresponding cargo space 13, the delivery user scans and acquires article information corresponding to the articles placed in any cargo space 13 by the delivery user, and the article conveying device 1 records conveying information (conveying destination, conveying frequency, conveying time and the like) corresponding to each article conveying in real time, and then periodically transmits the article information and the conveying information to the server through the wireless communication module (such as a WIFI module, a bluetooth module, a 4G/2.4G module and the like).
According to the invention, the article information obtained by scanning is periodically sent to the server through the article conveying equipment 1, so that the server carries out statistics according to all the article information sent by the article conveying equipment 1 every preset time length to obtain article conveying records and reports every other period, thereby realizing monitoring of article conveying conditions, and users (hospitals, bookstores, supermarkets and the like) can directly obtain required data according to related data of the server, so that the complexity and difficulty of data calling of enterprises are reduced, and the enterprises can conveniently control the whole system.
Based on the above embodiments, the following description is given by way of example, as shown in fig. 3 or 4, a closed container of a conveying robot 1 is provided with two layers of cargo spaces 13, a cargo-taking user places an order by telephone, WeChat, SMS or by a mobile terminal on a next management page, etc., and informs a delivery user that an order request is sent to an instrument package or consumable item order request → an instrument package warehouse or consumable item warehouse receives the order request (there may be multiple order requests at the same time), a warehouse worker (i.e. one of the delivery users of the present invention) sorts the cargo (each item package is pasted with a physical tag such as a barcode or a two-dimensional code) → the warehouse worker sends a vehicle dispatching request through a handheld control panel according to the order request, the conveying robot 1 (i.e. one of the article conveying devices 1 of the present invention) comes to a warehouse door to wait for the cargo storage room to come to the conveying robot 1 with the items to be sent → the warehouse worker uses the identity of the worker to identify himself/herself The identification card approaches a control panel 121 (including but not limited to a scanning module, an identity information acquisition module 140, an identity verification module 150 and a control module 160) on the conveying robot 1, which has a function of scanning a physical label (two-dimensional code, barcode, radio frequency label) of an article to obtain corresponding article information, a function of acquiring identity information of a goods-taking user or a goods-delivering user, a function of verifying the validity of the identity information of the goods-taking user or the goods-delivering user, and a function of controlling the on-off state of each intelligent lock, after the control panel 121 on the conveying robot 1 verifies that the identity identification card of a warehouse worker is valid, the control panel 121 on the conveying robot 1 (i.e. the control module 160 in the invention) opens a cabinet door 122 corresponding to a goods location 13 in an idle state → each layer of goods location 13 corresponds to one operating room (i.e. one of conveying destinations in the invention), before each article is put in, scanning the article information of the obtained article on the control panel 121, and inputting the article information, namely, the scanned and obtained article information firstly exists in the local storage space of the conveying robot 1, and periodically sending the condition of article conveying every time to the server every preset time interval, so that the server synchronizes the article conveying records and reports of article conveying every time → storehouse workers select and input the conveying destination corresponding to each layer of goods space 13 on the control panel 121 of the conveying robot 1 → the storehouse workers click on the control panel 121 of the conveying robot 1 to confirm the packing, swiping the card again, starting the article conveying process → the conveying robot 1 reaches the first conveying destination, the goods taker approaches the control panel 121 on the conveying robot 1 with the own identification card, and the conveying robot 1 only opens the intelligent lock corresponding to the conveying destination, so that all the intelligent locks corresponding to the current conveying destinations are opened, the object takes the required articles from the goods space 13 corresponding to the opened intelligent locks → the goods taking user confirms to receive the goods, the conveying robot 1 continues to go to the next conveying destination again to dispatch the articles, and after all the articles are conveyed, the conveying robot 1 returns to the parking area. In the above process, the user can open the smart lock by swiping an identification card or inputting a password, or iris recognition, or other verification methods, so as to open the cabinet door 122 at the corresponding cargo space 13.
Preferably, if each layer of goods space 13 is empty, when the storehouse worker swipes the card with the own identity card, the conveying robot 1 defaults to open the cabinet door 122 corresponding to the first layer of goods space 13; if the first-layer goods location 13 has goods, when a storehouse worker swipes a card by using the identity identification card of the storehouse worker, the conveying robot 1 defaults to open the cabinet door 122 corresponding to the second-layer goods location 13; by analogy, each time the idle status of the cargo space 13 on each floor is queried from the first floor to the second floor, although this is merely an exemplary example, and other polling sequences for querying the idle status of the cargo space 13 are within the scope of the present invention.
Preferably, the idle state of each layer of cargo space 13 can be checked back according to the recorded article information and the label information of the cargo space 13 by scanning the scanner (i.e. the scanning module of the present invention) arranged at the proper position of the outer wall of the preset area of the shell of the container body 12 or the scanner arranged at the proper position of the moving mechanism 11 to record the article information of the article placed at the cargo space 13 and the label information of the cargo space 13.
Preferably, cameras may be respectively installed at positions of the preset area of the shell of the container body 12 corresponding to each layer of the cargo space 13, and the placement state of the articles at each layer of the cargo space 13 is acquired in real time through the cameras, so that the idle state of each layer of the cargo space 13 is acquired. Other ways of inquiring whether the cargo space 13 on each floor is in the idle state are not described in detail herein, and all of them fall within the scope of the present invention.
Preferably, the article transport apparatus 1 further includes:
and the setting module is used for setting the corresponding parking area according to the article conveying requirement fed back by the server.
Specifically, after the article conveying device 1 conveys the article according to the article conveying route, the article conveying device 1 may stop at the last conveying destination in the article conveying route, and may return to a parking area provided with one or more of charging piles and an area where the shipping user is located.
Preferably, the parking area is an area where the shipping user is located, the area may further be provided with a charging pile, the server performs statistics according to the article information and the transportation information to generate article transportation requirements, the article transportation requirements are proportional to the frequency of use of each transportation area, for example, a book store has a science and education area, the science and education area corresponds to the parking area M, a history area, the history area corresponds to the parking area N, and the probability that the article transportation device 1 transports books from the science and education area is greater than the probability that the article transportation device 1 transports books from the history area, therefore, the number of the article transportation devices 1 located in the science and education area corresponding to the parking area M is greater than the number of the article transportation devices 1 located in the history area corresponding to the parking area N, so that each article transportation device 1 returns to its corresponding parking area after completing a transportation task, thereby facilitating charging of the article transportation device 1, after waiting for the delivery user to receive the order request of the delivery user, the articles are efficiently and quickly sorted and placed, so that the article conveying efficiency is improved.
The invention presets the parking area of each article conveying device 1, so that each article conveying device 1 can return to the parking area after completing the article conveying task of the article conveying device 1, a server and a delivery user can conveniently control the position information of each article conveying device 1, the condition that the position of the article conveying device 1 needs to be positioned in real time when the article conveying requirement is met again is avoided, the article conveying device 1 is dispatched from the parking area directly for conveying the articles, the time for positioning and searching the position of the article conveying device 1 can be reduced, the delivery user directly places the sorted articles at the corresponding goods positions 13 of the article conveying devices 1 correspondingly provided with the goods shelf bodies 12, the requirement that the delivery user does not need to search the article conveying devices 1 for placing the sorted articles is met, the searching time of the delivery user is reduced, and the use experience of the delivery user is improved, the article conveying efficiency is increased.
Preferably, when the goods are not taken away when the goods taking user reaches the preset goods taking time due to external factors, the goods are still stored in the goods space 13 for a preset time, and the goods are not taken away after the preset time is exceeded, the goods conveying equipment 1 feeds back the situation to the goods delivery user, so that the goods stored in the goods space 13 are taken away and put back to the original position.
Preferably, the article carrying apparatus 1 may further acquire environmental information including, but not limited to, position information of other robots, position information of obstacles (workers, buildings, public facilities, etc.), the robot autonomously navigates in real time according to the destination in the article carrying task and the map information and the environmental information to generate a navigation route so that the robot moves according to the navigation route generated in real time to travel to the corresponding destination. According to the invention, the robot has sensing, decision-making and action capabilities through autonomous navigation movement of the robot, so that the robot can safely and reliably move in the process of moving to a destination, the environmental information around the robot is identified through an infrared sensor, a laser radar, a camera and the like, the obstacle avoidance is carried out, the autonomy and the site adaptability of the operation of the robot in the operation process are improved, and the collision and congestion phenomena which are easy to occur when a plurality of robots are synchronously operated can be effectively avoided, so that the operation stability and reliability of the plurality of robots are greatly improved when the robots are synchronously operated, and the robot has strong practical value and market popularization value. In addition, the robot is prevented from traveling according to a traveling route planned by the server in advance, once the robot encounters an obstacle, the robot cannot effectively avoid the obstacle, the robot can automatically sense the effective obstacle avoiding effect of the unknown environment in advance through autonomous navigation of the robot, the intelligent autonomous moving effect is obvious, and the environment adaptability is strong.
In the following, a hospital article transport scenario is exemplified:
the container body 12 has a plurality of layers of cargo space 13 arranged in parallel, and the predetermined area of the shell of the container body 12 is transparent, preferably made of transparent plastic.
The external wall of the cargo space 13 is provided with an input module 110 for inputting a destination (such as an operating room, an outpatient room, or an inpatient ward) to be set, and also for inputting preset identity information for verifying whether the identity of the delivery user or the pickup user is legal. Preferably, a keyboard interface is used, and the password of the input number, letter and symbol combination represents the identity information of the delivery user (such as a pharmacy staff, a medical equipment warehouse staff or a medical consumables warehouse staff, etc.) or the picking user (an operating room, an outpatient room, or a doctor, a nurse, etc. in an inpatient unit), and the delivery user inputs the article conveying equipment 1 at the keyboard interface, namely, conveys the article to the corresponding conveying destination.
For the delivery scenario of medical consumables in the operating room, as shown in fig. 1, 2, 3, and 4, the delivery user in the operating room notifies the staff in the medical consumables warehouse by placing orders/calling through the ordering system.
The staff of the medical supplies warehouse prepares the corresponding medical supplies after receiving the order on the flat plate, and clicks the 'confirm' on the flat plate, and the goods taking user in the operating room receives the 'ready' message.
The staff of the medical supplies warehouse inputs the password on the keyboard interface, opens any one of the cabinet doors 122 of the goods space 13 of any available (i.e. the idle state of the invention) goods conveying equipment 1, puts the medical supplies required by the goods taking user into the cabinet door 122, then closes the cabinet door 122, inputs the labels of the operating rooms to be taken on the keyboard interface arranged at the cabinet door 122 of the goods space 13, and then clicks on "ok" (for example, clicking on "operating room 6" and then "ok").
After the staff in the medical supplies warehouse finishes sorting and placing the medical supplies according to the order information, an article conveying starting instruction is input (for example, the staff in the medical supplies warehouse brushes the RFID card of the staff, or the staff in the medical supplies warehouse clicks 'start conveying'), and the article conveying equipment 1 starts conveying the articles to the corresponding operating room 6.
After the article conveying equipment 1 reaches the door of the corresponding operating room 6, the inside of the operating room 6 is automatically informed (provided with a device for prompting the goods taking user to take goods), for example, the goods taking user is prompted in any one or more of sound, light and vibration.
The goods taking user (such as a nurse) in the operating room 6 comes out to swipe the RFID card of the user or inputs a goods taking code on a keyboard interface to verify whether the goods taking user is a user with a goods taking authority, and when the identity information of the goods taking user is verified to be matched with the preset goods taking identity information, the container body 12 on the article conveying equipment 1 opens the cabinet door 122 corresponding to the RFID card of the nurse or the cabinet door 122 of the goods taking code input by the nurse.
The nurse takes out the medical supplies from the cargo space 13 with the cabinet door 122 opened, then closes the cabinet door 122, reports the closing state information of the intelligent lock arranged at the cabinet door 122 to the article conveying equipment 1 of the article conveying equipment 1, and the article conveying equipment 1 automatically moves to the next operating room according to the article conveying route generated by self planning or automatically returns to the medical supplies warehouse.
Below, a supermarket article transportation scenario is exemplified:
the container body 12 has a plurality of layers of cargo space 13 arranged in parallel, and the predetermined area of the shell of the container body 12 is transparent, preferably made of transparent plastic.
The external wall of the goods space 13 is provided with an input module 110 for inputting and setting a destination (for example, a selling area of toothpaste, paper towel, etc.) for delivery, and also for inputting and setting preset identity information for verifying whether the identity of a delivery user (for example, a worker in each goods warehouse area) or a pickup user (for example, a worker in each selling area) is legal. Preferably, an information acquisition module with a face recognition function is used as the input module 110 to input whether the identity of the user is legal or not, and the delivery user inputs the delivery destination of the article in the information acquisition module.
For a delivery scene of toothpaste in a supermarket, a goods taking user in a toothpaste selling area gives an order/calls through an ordering system to inform staff in a toothpaste warehouse area.
Staff in the toothpaste warehouse area prepares corresponding toothpaste after receiving the order on the flat plate, clicks 'confirm' on the flat plate, and a delivery user in the toothpaste vending area receives a 'ready' message.
A worker in the toothpaste warehouse area inputs a password on a keyboard interface or brushes an RFID card of the worker in a radio frequency card reading area, opens the cabinet door 122 of any idle state of the goods space 13, puts the toothpaste required by a goods taking user into the goods space 13 corresponding to the cabinet door 122, closes the cabinet door 122 of the goods space 13, inputs and conveys the toothpaste to a toothpaste selling area on the keyboard interface of the cabinet door 122 of the goods space 13, and clicks 'ok' (for example, clicking 'toothpaste selling area' and then clicking 'ok').
After the staff in the toothpaste warehouse area finishes sorting and placing toothpaste according to the order information, an article conveying starting instruction is input (for example, the staff in the toothpaste warehouse area brushes an RFID card of the staff, or the staff in the toothpaste warehouse area clicks 'start conveying'), and the article conveying equipment 1 starts to convey articles to a toothpaste selling area.
After the article conveying device 1 reaches the corresponding toothpaste selling area, the toothpaste selling area (provided with a device for prompting the user to take the article) is automatically notified, for example, the user is prompted to take the article by any one or more of sound, light and vibration.
The goods taking user (such as a toothpaste salesperson) in the toothpaste selling area swipes the RFID card of the user or inputs the goods taking code on a keyboard interface to verify whether the goods taking user is a user with the goods taking authority, and when the identity information of the goods taking user is verified to be matched with the preset goods taking identity information, the container body 12 on the article conveying equipment 1 opens the cabinet door 122 of the RFID card corresponding to the toothpaste salesperson or the cabinet door 122 of the goods taking code input by the toothpaste salesperson.
The toothpaste salesperson takes out toothpaste from the goods space 13 with the cabinet door 122 opened, then closes the cabinet door 122, reports closing state information of the intelligent lock arranged at the cabinet door 122 to the article conveying equipment 1 of the article conveying equipment 1, and the article conveying equipment 1 automatically moves to the next selling area according to an article conveying route generated by self planning or automatically returns to a toothpaste warehouse area.
Preferably, the method further comprises the following steps:
the environment information detection module is used for acquiring environment information;
and a route planning module 120 for generating an article conveying route according to the conveying destination, the environment information and the environment map.
Specifically, the environment information acquired by the robot includes, but is not limited to, position information of other robots, position information of obstacles (workers, buildings, public facilities, etc.), and the robot autonomously navigates a delivery route in real time according to a destination in an article transporting task and map information and the environment information, so that the robot moves according to the navigation route generated in real time to travel to the corresponding destination. According to the invention, the robot has sensing, decision-making and action capabilities through autonomous navigation movement of the robot, so that the robot can safely and reliably move in the process of moving to a destination, the environmental information around the robot is identified through an infrared sensor, a laser radar, a camera and the like, the obstacle avoidance is carried out, the autonomy and the site adaptability of the operation of the robot in the operation process are improved, and the collision and congestion phenomena which are easy to occur when a plurality of robots are synchronously operated can be effectively avoided, so that the operation stability and reliability of the plurality of robots are greatly improved when the robots are synchronously operated, and the robot has strong practical value and market popularization value. In addition, the robot is prevented from traveling according to a traveling route planned by the server in advance, once the robot encounters an obstacle, the robot cannot effectively avoid the obstacle, the robot can automatically sense the effective obstacle avoiding effect of the unknown environment in advance through autonomous navigation of the robot, the intelligent autonomous moving effect is obvious, and the environment adaptability is strong.
An eighth embodiment of the present invention, as shown in fig. 5, is a method of conveying an article, comprising:
s100, the article conveying equipment acquires a conveying destination which is input by a delivery user and corresponds to a goods position with articles placed on each layer; the article conveying equipment is provided with a container body, the container body is provided with a plurality of layers of cargo positions, each layer of cargo position is provided with a cabinet door, and each cabinet door is provided with an intelligent lock;
s200, the article conveying equipment generates an article conveying route according to a conveying destination and an environment map;
s300, the article conveying equipment moves to a conveying destination corresponding to the article conveying route;
s400, the article conveying equipment verifies whether the acquired identity information of the goods taking user is legal or not;
s500, when the identity information of the goods taking user is legal, the intelligent lock corresponding to the current conveying destination is unlocked by the goods conveying equipment, so that the goods taking user can take out the goods stored in the corresponding goods space conveniently.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects are referred to the above first embodiment, which are not described in detail herein.
A ninth embodiment of the present invention, which is an optimized embodiment of the above eighth embodiment, is improved over the eighth embodiment in that, as shown in fig. 6, after the article transporting apparatus moves to the transporting destination corresponding to the article transporting route in S300, before the article transporting apparatus verifies whether the acquired identity information of the pickup user is legal in S400, the method includes:
s350, the article conveying equipment generates prompt information so as to inform a goods taking user to go to a corresponding conveying destination for identity verification and goods taking; or, as shown in fig. 7, after the article transportation device generates the article transportation route according to the transportation destination and the environment map in S200, before the article transportation device moves to the transportation destination corresponding to the article transportation route in S300, the method includes:
s250, when the article conveying equipment starts to move and reaches a conveying destination corresponding to the article conveying route within a preset time, prompt information is generated so as to inform a goods taking user to go to the corresponding conveying destination for identity verification and goods taking.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the above second embodiment, which are not described in detail herein.
A tenth embodiment of the present invention is an optimized embodiment of the ninth embodiment, and compared with the ninth embodiment, the improvement is that, when the identity information of the pickup user is legal, the article conveying device opens the intelligent lock corresponding to the current conveying destination, so that after the pickup user takes out the article stored in the corresponding goods space, the method includes:
s600, when the goods taking completion information input by the goods taking user is obtained, the goods conveying equipment moves to the next conveying destination according to the goods conveying route.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the above third embodiment, which is not described in detail herein.
Eleventh embodiment of the present invention, as shown in fig. 8, this embodiment is an optimized embodiment of the above eighth embodiment, and compared with the above eighth embodiment, the improvement is that the step S300 of moving the article transport apparatus to the transport destination corresponding to the article transport route includes the steps of:
s310, when the article conveying equipment acquires a confirmation conveying instruction input by a delivery user, the container body which is used for placing articles required by the delivery user and has an intelligent lock at a cabinet door in a closed state is carried, and the container body starts to move to a corresponding conveying destination in sequence according to the article conveying route; and/or;
s320, when the article conveying equipment does not acquire the identity information of the delivery user within the preset time, the article conveying equipment bears the articles required by the delivery user, and the intelligent lock at the position of the cabinet door is in the container body in the closed state, and the intelligent lock starts to move to the corresponding conveying destination in sequence according to the article conveying route.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the fourth embodiment, which are not described in detail herein.
A twelfth embodiment of the present invention, which is an optimized embodiment of the eleventh embodiment, is improved in that, as shown in fig. 9, before the article transporting device acquires the conveying confirmation instruction input by the shipping user, S310 includes:
s301, when an input module is arranged at the preset position of the container body and the identity information of a delivery user is verified to be legal, the intelligent lock at any cargo space in an idle state is opened, so that the delivery user can sort and place articles to the cargo space where the intelligent lock is correspondingly opened according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the fifth embodiment, which are not described in detail herein.
A thirteenth embodiment of the present invention is an optimized embodiment of the eleventh embodiment, and compared with the eleventh embodiment, the improvement is that, as shown in fig. 10, before the article transporting device acquires the conveying confirmation instruction input by the shipping user, S310 includes:
s302, when each layer of goods space of the container body is correspondingly provided with one input module, determining the goods space in an idle state through a transparent display area arranged on the container body; the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body and/or a cabinet door;
s303, when the identity information of the delivery user is verified to be legal and the current input module at the cargo space in the idle state acquires the unlocking request of the delivery user, the intelligent lock at the cargo space corresponding to the current input module is opened, so that the delivery user can sort and place the articles to the cargo space where the intelligent lock is correspondingly opened according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the above sixth embodiment, which are not described in detail herein.
A fourteenth embodiment of the present invention is an optimized embodiment of any one of the twelfth or thirteenth embodiments, and compared with any one of the twelfth or thirteenth embodiments, the improvement is that the step of the delivery user sorting and placing the items to the corresponding cargo space where the intelligent lock is unlocked according to the order request of the pickup user includes:
the article conveying equipment scans physical labels of articles and inputs corresponding article information;
the article conveying equipment acquires conveying information corresponding to each article conveying;
the article conveying equipment sends article information and conveying information to the server at preset time intervals.
Specifically, this embodiment is a method embodiment corresponding to the above device embodiment, and specific effects refer to the seventh embodiment, which are not described in detail herein.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (14)

1. An article conveying device comprises a moving mechanism and is characterized in that a container body is arranged, the container body is provided with a plurality of layers of goods positions, each layer of goods position is provided with a cabinet door, and each cabinet door is provided with an intelligent lock; the container body is provided with a transparent display area, so that a delivery user can determine a cargo space in an idle state through the transparent display area; further comprising:
the input module is used for acquiring a conveying destination which is input by a delivery user and corresponds to a goods position with goods placed on each layer;
the route planning module generates an article conveying route according to the conveying destination and the environment map;
the moving module moves to a conveying destination corresponding to the article conveying route;
the identity information acquisition module is used for acquiring the identity information of the goods-taking user;
the identity authentication module is used for authenticating whether the identity information of the goods taking user is legal or not;
the control module is used for unlocking all intelligent locks corresponding to the current delivery destination when the identity information of the goods taking user is verified to be legal, so that the goods taking user can take out the goods stored in the corresponding goods space conveniently;
the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body and/or a cabinet door.
2. The article transport apparatus according to claim 1, further comprising:
and the generating module is used for generating prompt information so as to inform the goods taking user to go to the corresponding conveying destination for identity verification and goods taking when the article conveying equipment moves to the conveying destination corresponding to the article conveying route or when the article conveying equipment starts to move and reaches the conveying destination corresponding to the article conveying route within a preset time.
3. The article transport apparatus according to claim 1, further comprising:
the information acquisition module is used for acquiring information input by a goods taking user;
and the moving module moves to the next conveying destination according to the article conveying route when the information acquisition module acquires the goods taking completion information.
4. The article transport apparatus according to claim 1, further comprising:
the instruction acquisition module is used for acquiring an instruction input by the delivery user after the delivery user inputs the destination through the input module;
the moving module is also used for acquiring a confirmation transmission instruction input by a delivery user when the instruction acquisition module acquires the confirmation transmission instruction; and/or when the identity authentication module does not acquire the identity information of the delivery user within a preset time, the container body which is used for placing the articles required by the delivery user is carried, and the intelligent lock at the position of the cabinet door is in a closed state, and the container body starts to move to the corresponding conveying destination in sequence according to the article conveying route.
5. The article conveying apparatus according to claim 4, wherein:
an input module is arranged at a preset position of the container body;
the control module is also used for opening any one intelligent lock at the goods position in the idle state when the identity authentication module verifies that the identity information of the delivery user is legal and the input module obtains the unlocking request of the delivery user, so that the delivery user can sort and place the goods to the goods position where the intelligent lock is correspondingly opened according to the order request of the delivery user and close the cabinet door and the intelligent lock.
6. The article conveying apparatus according to claim 4, wherein:
each layer of goods space of the container body is correspondingly provided with an input module;
the control module is also used for opening the intelligent lock at the position of the goods position corresponding to the current input module when the identity authentication module verifies that the identity information of the delivery user is legal and the current input module at the position of the goods position in the idle state obtains the unlocking request of the delivery user, so that the delivery user can sort and place the articles to the position of the goods position corresponding to the opened intelligent lock according to the order request of the delivery user and close the cabinet door and the intelligent lock.
7. The article transport apparatus according to claim 5 or 6, further comprising:
the scanning and inputting module is used for scanning the physical label of the article and inputting the corresponding article information before the delivery user sorts and places the article to the corresponding goods location where the intelligent lock is opened according to the order request of the delivery user;
the acquisition module acquires conveying information corresponding to each article conveying;
and the wireless communication module is used for sending the article information and the conveying information to the server at preset time intervals.
8. A method of article conveyance, comprising the steps of:
the method comprises the steps that article conveying equipment obtains a conveying destination which is input by a delivery user and corresponds to a goods position with articles placed on each layer; the article conveying equipment is provided with a container body, the container body is provided with a plurality of layers of cargo positions, each layer of cargo position is provided with a cabinet door, and each cabinet door is provided with an intelligent lock; the container body is provided with a transparent display area, so that a delivery user can determine a cargo space in an idle state through the transparent display area;
the article conveying equipment generates an article conveying route according to the conveying destination and the environment map;
the article conveying equipment moves to a conveying destination corresponding to the article conveying route;
the article conveying equipment verifies whether the acquired identity information of the goods taking user is legal or not;
when the identity information of the goods taking user is legal, the goods conveying equipment opens all intelligent locks corresponding to the current conveying destination, so that the goods taking user can take out the goods stored in the corresponding goods space conveniently;
the transparent display area is made of a transparent material; the transparent display area is a preset area of the shell of the container body and/or a cabinet door.
9. The method of article transport according to claim 8, wherein:
after the article conveying equipment moves to a conveying destination corresponding to an article conveying route, before the article conveying equipment verifies whether the acquired identity information of the goods taking user is legal or not, the method comprises the following steps:
the article conveying equipment generates prompt information so as to inform a goods taking user to go to a corresponding conveying destination for identity verification and goods taking; or the like, or, alternatively,
after the article conveying equipment generates an article conveying route according to the conveying destination and the environment map, the article conveying equipment comprises the following steps before moving to the conveying destination corresponding to the article conveying route:
when the article conveying equipment starts to move and reaches a conveying destination corresponding to the article conveying route at a preset time, prompt information is generated so as to inform a goods taking user to go to the corresponding conveying destination for identity verification and goods taking.
10. The method for conveying the articles according to claim 8, wherein when the identity information of the goods taking user is legal, the article conveying equipment opens the intelligent lock corresponding to the current conveying destination, so that the goods taking user can conveniently take out the articles stored in the corresponding goods space after taking the articles comprises:
and when the goods taking completion information input by the goods taking user is acquired, the goods conveying equipment moves to the next conveying destination according to the goods conveying route.
11. The article conveying method according to claim 8, wherein the moving of the article conveying device to the conveying destination corresponding to the article conveying route includes:
when the article conveying equipment acquires a confirmation conveying instruction input by a delivery user, the container body which is used for placing articles required by the delivery user and has a closed intelligent lock at a cabinet door starts to move to a corresponding conveying destination in sequence according to the article conveying route; and/or;
when the article conveying equipment does not acquire the identity information of the delivery user within the preset time, the article conveying equipment bears the articles required by the delivery user, and the intelligent lock at the cabinet door is in the container body in the closed state, and the intelligent lock starts to move to the corresponding conveying destination in sequence according to the article conveying route.
12. The method for conveying goods according to claim 11, wherein before the article conveying device acquires the confirmation conveying instruction input by the delivery user, the method comprises:
when the preset position of the container body is provided with the input module, when the identity information of the delivery user is verified to be legal, the intelligent lock at any cargo space in the idle state is opened, so that the delivery user can sort and place articles to the cargo space corresponding to the opened intelligent lock according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
13. The method for conveying goods according to claim 11, wherein before the article conveying device acquires the confirmation conveying instruction input by the delivery user, the method further comprises:
when each layer of goods space of the container body is correspondingly provided with one input module, the goods space in an idle state is determined through the transparent display area arranged on the container body;
when the identity information of the delivery user is verified to be legal, and the current input module at the goods position in the idle state acquires the unlocking request of the delivery user, the intelligent lock at the goods position corresponding to the current input module is opened, so that the delivery user can sort and place the articles to the goods position where the intelligent lock is correspondingly opened according to the order request of the delivery user, and the cabinet door and the intelligent lock are closed.
14. The method for conveying goods according to claim 12 or 13, wherein the step of sorting and placing the goods to the goods position corresponding to the opened intelligent lock by the delivery user according to the order request of the delivery user comprises the following steps:
the article conveying equipment scans physical labels of articles and inputs corresponding article information;
the article conveying equipment acquires conveying information corresponding to each article conveying;
the article conveying equipment sends article information and conveying information to the server at preset time intervals.
CN201810956916.2A 2018-08-21 2018-08-21 Article conveying equipment and article conveying method Active CN108910381B (en)

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