CN109081034A - Intelligent cargo cabinet delivery method, apparatus and Intelligent cargo cabinet - Google Patents
Intelligent cargo cabinet delivery method, apparatus and Intelligent cargo cabinet Download PDFInfo
- Publication number
- CN109081034A CN109081034A CN201810671989.7A CN201810671989A CN109081034A CN 109081034 A CN109081034 A CN 109081034A CN 201810671989 A CN201810671989 A CN 201810671989A CN 109081034 A CN109081034 A CN 109081034A
- Authority
- CN
- China
- Prior art keywords
- robot
- intelligent cargo
- cargo cabinet
- picking
- result
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- 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
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
Abstract
The application discloses a kind of Intelligent cargo cabinet delivery method, apparatus and Intelligent cargo cabinet, to solve the problems, such as how using robot to transport cargo.The Intelligent cargo cabinet delivery method is the following steps are included: obtain order information；Merchandise news and user information are obtained according to order information；User location is obtained according to user information；Corresponding goods are selected according to merchandise news and the commodity are sent to picking robot；And determine whether that the robot sends delivery instruction according to the picking result of the robot, so that the robot is moved at the user location.By in hotel, the Intelligent cargo cabinet of the application is set in supermarket or market, the counter, by the delivery and picking process of complete intelligence, can provide the intelligent Service of efficient and convenient automation by executing the Intelligent cargo cabinet delivery method in the application for user.
Description
Technical field
This application involves field of intelligent control, and more specifically, this application involves a kind of Intelligent cargo cabinet delivery methods.In addition,
The application further relates to a kind of Intelligent cargo cabinet delivery device and the Intelligent cargo cabinet including the device.
Background technique
Currently, intelligent robot technology quickly grows, it is automatic that the intelligent robot in industrial circle has been realized in production
Change, the service humanoid robot in family also brings very more conveniences to people's lives, and there are also such as search and rescue robots, fortune
The specialized robot of defeated robot etc., so that the work and life of people is constantly intelligent and automates.
And in internet of things field, intelligent robot is also widely used, in order to save cost and provide higher
The service of effect, it has been suggested that replace the imagination of artificial delivery using robot or unmanned aerial vehicle and be committed to this imagination
Using.But since technology is limited, the problem of fully-automatic intelligent in specific area dispenses not can solve.Especially specific
Application environment in, such as hotel, in supermarket or market, there is no a kind of Intelligent cargo cabinet and matched picking delivery
Robot can provide the service of efficient and convenient automation for user.
The information for being disclosed in the application background technology part is merely intended to deepen the reason to the general background technique of the application
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The main purpose of the application is to provide a kind of Intelligent cargo cabinet delivery method, to solve how to utilize robot transport
The problem of cargo.
To solve the above-mentioned problems, the application provides a kind of Intelligent cargo cabinet delivery method, and this method may include following step
It is rapid: to obtain order information；Merchandise news and user information are obtained according to order information；User location is obtained according to user information；
Corresponding goods are selected according to merchandise news and the commodity are sent to picking robot；And the picking knot according to the robot
Fruit determines whether that the robot sends delivery instruction, so that the robot is moved at the user location.
It is further, described that corresponding goods are selected according to merchandise news and the commodity are sent in picking robot,
It can also include: the ID for obtaining picking robot；The ID for the robot that will acquire with currently to the robot of picking ID carry out
Compare；Determined whether for the commodity to be sent to the currently picking robot to picking according to comparison result.
Further, this method can be comprising steps of execute power-on self-test to Intelligent cargo cabinet；According to the anti-of power-on self-test
Result is presented come the step of determining whether to execute the acquisition order information.
Further, the power-on self-test process may include: the result that response is communicated with remote server；It rings
Answer the opening of cabinet door and/or the result of shutoff operation；Respond the result of the X/Y axis operation of Intelligent cargo cabinet；Respond Intelligent cargo cabinet
The result of cargo path self-test operations；And the result of the timer operation in response Intelligent cargo cabinet.
Further, the picking result of the robot includes the opening time of Intelligent cargo cabinet, when the opening time is greater than
When time threshold, then forbid sending delivery instruction to the robot.
The application also provides a kind of Intelligent cargo cabinet delivery device, the apparatus may include: data obtaining module, configuration
To obtain order information, and obtain merchandise news and user information according to order information；Position acquisition module, is configured to,
User location is obtained according to user information；Delivery module is configured to, and selects corresponding goods according to merchandise news and by the quotient
Product are sent to picking robot；And control module, it is configured to, which is determined whether according to the picking result of the robot
Device human hair send delivery instruction, so that the robot is moved at the user location.
Further, the delivery module is further configured to: obtaining the ID of picking robot；The robot that will acquire
ID is compared with the ID currently to the robot of picking；And determines whether for the commodity to be sent to according to comparison result and work as
The preceding picking robot to picking.
Further, which can also include: selftest module, be configured to, and execute following power on certainly to Intelligent cargo cabinet
Inspection step: the result that response is communicated with remote server；Respond the opening of cabinet door and/or the result of shutoff operation；Response
The result of the X/Y axis operation of Intelligent cargo cabinet；Respond the result of the cargo path self-test operations of Intelligent cargo cabinet；And in response Intelligent cargo cabinet
Timer operation result.
Further, which can also include that timing module is configured to, and during the picking of robot, work as intelligence
When the cabinet door opening time of counter is greater than time threshold, then forbid delivery instruction to control module transmission.
In addition, the application further relates to a kind of Intelligent cargo cabinet, including counter ontology, setting are deposited in the intrinsic computer of counter
It reservoir, computer processor and is stored in the computer storage and can be executed in the computer processor
Computer program, which is characterized in that the computer processor perform claim require any one of 1 to 5 described in intelligence
Counter delivery method.
The beneficial effect of the application is: the Intelligent cargo cabinet by the way that the application is arranged in hotel, supermarket or market, the goods
Cabinet is by executing the Intelligent cargo cabinet delivery method in the application, can be to use by the delivery and picking process of complete intelligence
Person provides the intelligent Service of efficient and convenient automation.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the flow chart according to the Intelligent cargo cabinet delivery method of the embodiment of the present application；And
Fig. 2 is the flow chart according to the Intelligent cargo cabinet power-on self-test of the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being configured to " shall be understood in a broad sense.For example, it may be
It is fixedly connected, is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, or
Being or is two connections internal between device, element or component indirectly connected through an intermediary.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As depicted in figs. 1 and 2, the method for a kind of control robot picking of the application, method includes the following steps: first
First, step S1 carries out power-on self-test to Intelligent cargo cabinet, to determine whether the counter is in available mode.The power-on self-test process
It may include: that can response be communicated with remote server；Can response cabinet door be opened and/or close；Respond Intelligent cargo cabinet
X/Y axis can operate；Can the cargo path that Intelligent cargo cabinet be responded self-test；And can the timer in response Intelligent cargo cabinet work
Make.Wherein, the X/Y axis is to refer to make article up and down/two transmission shafts moving left and right in counter, which is goods
Conventional components in cabinet field, are not described in detail here.
Next, referring to fig. 2, in step S2, the controller being arranged in Intelligent cargo cabinet obtains the order information of user, example
As user can be in the case where cell phone client be for example carried out with special-purpose software or public social platform (for example, wechat or QQ)
It is single, and order information is sent to the controller being arranged in Intelligent cargo cabinet, the order information can be, but not limited to include
User ID, shops ID and include commodity ID and commodity amount items list information.Next, in step S3, controller
Merchandise news is obtained according to the order information, specifically, it includes order that order information can be further processed by controller
ID, order number, shops ID, User ID, the order information of items list and order status, and controller is from the order information
Middle acquisition merchandise news, such as commodity ID and the information such as the corresponding type of merchandise and product name.
Next, controller obtains customer position information according to user information in step S4.The location information can be pre-
It is first defined in remote data base, such as different user ID corresponds to different user locations, it can also be according in user information
Address information is positioned in real time, to obtain more accurately customer position information.
Next, corresponding goods are selected according to merchandise news and the commodity are sent to picking robot in step S5,
Specifically, scheduling system assignments robot of control order robot simultaneously judges that the robot whether may be used after choosing commodity
To execute current task, if current robot is just busy or without completing startup self-detection program, will arrange next machine
Device people, until receiving the feedback signal that can execute the robot of task and determining picking robot ID, when picking machine
For people at counter exit, controller sends instruction of unloading goods, and counter starts to unload goods, and specified commodity are sent to picking robot.
In this step, the ID for the picking robot that can be will acquire is compared with the ID currently to the robot of picking, confirmation
Commodity are sent to robot again after errorless, to avoid the generation of mistake.Finally, in step S6, according to the feedback of the robot
As a result determine whether that the robot sends pick-up instruction, so that the robot is moved at the position of the commercial vectors, from
And complete entire delivery process.
Further, the picking result of the robot includes the opening time of Intelligent cargo cabinet, the opening time of the cabinet door
Timing is carried out by lift-on-lift-off timer is arranged in, when cabinet door opening time is greater than time threshold, timer is sent out to controller
Timeout signal is sent, controller then will not send delivery instruction to the robot.If counter cabinet door operation irregularity or robot
Picking is abnormal and results in and not can be carried out normal picking, then controller terminates picking process in time and can be different by this in time
It often is sent to remote controllers or user client, so as to handle the exception in time.
It should be noted that the step shown in the flow chart of attached drawing of the present invention can be held in such as one group of computer
It is executed in the computer system of row instruction, although also, logical order is shown in flow charts, in some cases,
It can be with the steps shown or described are performed in an order that is different from the one herein.
In addition, the application further relates to a kind of Intelligent cargo cabinet delivery device, and the apparatus may include: selftest module, to intelligence
It can counter execution power-on self-test process；Data obtaining module is used to obtain order information, and obtains quotient according to order information
Product information and user information；Position acquisition module obtains user location according to user information；Delivery module, according to commodity
Information selects corresponding goods and the commodity is sent to picking robot；And control module, according to taking for the robot
Goods result determines whether that the robot sends delivery instruction, so that the robot is moved at the user location.Further
, the delivery module can also obtain the ID of picking robot；The ID for the robot that will acquire with currently to the machine of picking
The ID of people is compared；And determined whether for the commodity to be sent to the currently picking machine to picking according to comparison result
People.
The application further relates to a kind of Intelligent cargo cabinet comprising counter ontology, setting are in the intrinsic computer storage of counter
It device, computer processor and is stored in the computer storage and can be executed in the computer processor
Computer program, which is characterized in that the computer processor executes Intelligent cargo cabinet delivery method described above.
Since computer software programs can store in computer readable storage medium.The computer readable storage medium
It may include: any entity apparatus, virtual bench, flash disk, mobile hard disk, magnetic disk, the light that can carry computer program code
Disk, computer storage, read-only computer storage (Read-Only Memory, ROM), random access computer memory
(Random Access Memory, RAM), electric carrier signal, telecommunication signal and other software distribution medium etc..
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of Intelligent cargo cabinet delivery method characterized by comprising
Obtain order information；
Merchandise news and user information are obtained according to order information；
User location is obtained according to user information；
Corresponding goods are selected according to merchandise news and the commodity are sent to picking robot；And
Determine whether that the robot sends delivery instruction according to the picking result of the robot, so that the robot is moved to institute
It states at user location.
2. Intelligent cargo cabinet delivery method according to claim 1, which is characterized in that described to select to correspond to according to merchandise news
Commodity and the commodity are sent in picking robot, further includes:
Obtain the ID of picking robot；
The ID for the robot that will acquire is compared with the ID currently to the robot of picking；
Determined whether for the commodity to be sent to the currently picking robot to picking according to comparison result.
3. Intelligent cargo cabinet delivery method according to claim 1, which is characterized in that further include:
Power-on self-test is executed to Intelligent cargo cabinet；
The step of executing the acquisition order information is determined whether according to the feedback result of power-on self-test.
4. Intelligent cargo cabinet delivery method according to claim 3, which is characterized in that the power-on self-test includes:
Respond the result communicated with remote server；
Respond the opening of cabinet door and/or the result of shutoff operation；
Respond the result of the X/Y axis operation of Intelligent cargo cabinet；
Respond the result of the cargo path self-test operations of Intelligent cargo cabinet；And
Respond the result of the timer operation in Intelligent cargo cabinet.
5. Intelligent cargo cabinet delivery method according to claim 1, which is characterized in that the picking result of the robot includes
The opening time of Intelligent cargo cabinet is then forbidden sending delivery instruction to the robot when the opening time is greater than time threshold.
6. a kind of Intelligent cargo cabinet delivery device characterized by comprising
Data obtaining module is configured to, and obtains order information, and obtain merchandise news and user's letter according to order information
Breath；
Position acquisition module, is configured to, and obtains user location according to user information；
Delivery module is configured to, and selects corresponding goods according to merchandise news and the commodity are sent to picking robot；With
And
Control module is configured to, and determines whether that the robot sends delivery instruction according to the picking result of the robot, with
It is moved to the robot at the user location.
7. Intelligent cargo cabinet delivery device according to claim 6, which is characterized in that the delivery module further configures
Are as follows: obtain the ID of picking robot；The ID for the robot that will acquire is compared with the ID currently to the robot of picking；And
Determined whether for the commodity to be sent to the currently picking robot to picking according to comparison result.
8. Intelligent cargo cabinet delivery device according to claim 6, which is characterized in that further include: selftest module, configuration
To execute following power-on self-test step to Intelligent cargo cabinet: the result that response is communicated with remote server；Response cabinet door is beaten
It opens and/or the result of shutoff operation；Respond the result of the X/Y axis operation of Intelligent cargo cabinet；Respond the cargo path self-test behaviour of Intelligent cargo cabinet
The result of work；And the result of the timer operation in response Intelligent cargo cabinet.
9. Intelligent cargo cabinet delivery device according to claim 6, which is characterized in that it further include timing module, configuration
For during the picking of robot, when the cabinet door opening time of Intelligent cargo cabinet is greater than time threshold, then to the control module
Delivery instruction is forbidden in transmission.
10. a kind of Intelligent cargo cabinet, including counter ontology, setting are in the intrinsic computer storage of counter, computer processor
And it is stored in the computer program that can be executed in the computer storage and in the computer processor, it is special
Sign is, the computer processor perform claim require any one of 1 to 5 described in Intelligent cargo cabinet delivery method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671989.7A CN109081034B (en) | 2018-06-26 | 2018-06-26 | Intelligent container delivery method and device and intelligent container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671989.7A CN109081034B (en) | 2018-06-26 | 2018-06-26 | Intelligent container delivery method and device and intelligent container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109081034A true CN109081034A (en) | 2018-12-25 |
| CN109081034B CN109081034B (en) | 2021-08-17 |
Family
ID=64839835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671989.7A Active CN109081034B (en) | 2018-06-26 | 2018-06-26 | Intelligent container delivery method and device and intelligent container |
Country Status (1)
| Country | Link |
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| CN (1) | CN109081034B (en) |
Cited By (8)
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| CN109726962A (en) * | 2018-12-29 | 2019-05-07 | 拉扎斯网络科技（上海）有限公司 | Unmanned dispensing device, dispensing machine people dispatching method, device, equipment and medium |
| CN110011388A (en) * | 2019-05-17 | 2019-07-12 | 北京云迹科技有限公司 | A kind of Intelligent cargo cabinet and Intelligent container system |
| CN111325499A (en) * | 2020-01-22 | 2020-06-23 | 上海擎朗智能科技有限公司 | Article delivery method and device, robot and storage medium |
| WO2020186833A1 (en) * | 2019-03-20 | 2020-09-24 | 苏州优智达机器人有限公司 | Automatic container and delivery method therefor |
| CN111721287A (en) * | 2020-06-09 | 2020-09-29 | 广州赛特智能科技有限公司 | Intelligent container positioning method |
| CN112288355A (en) * | 2020-10-21 | 2021-01-29 | 深圳市丰巢网络技术有限公司 | Robot-based express cabinet distribution method and device, server and storage medium |
| CN114290337A (en) * | 2022-01-28 | 2022-04-08 | 北京云迹科技股份有限公司 | Robot control method and device, electronic equipment and storage medium |
| CN115504264A (en) * | 2022-10-23 | 2022-12-23 | 北京云迹科技股份有限公司 | Method for preparing goods by using robot as intelligent container and related equipment |
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| CN112288355B (en) * | 2020-10-21 | 2024-03-26 | 深圳市丰巢网络技术有限公司 | Express cabinet distribution method and device based on robot, server and storage medium |
| CN114290337A (en) * | 2022-01-28 | 2022-04-08 | 北京云迹科技股份有限公司 | Robot control method and device, electronic equipment and storage medium |
| CN114290337B (en) * | 2022-01-28 | 2024-03-26 | 北京云迹科技股份有限公司 | Robot control method and device, electronic equipment and storage medium |
| CN115504264A (en) * | 2022-10-23 | 2022-12-23 | 北京云迹科技股份有限公司 | Method for preparing goods by using robot as intelligent container and related equipment |
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| CN109081034B (en) | 2021-08-17 |
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