CN109242380B - Goods delivery method and device - Google Patents
Goods delivery method and device Download PDFInfo
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- CN109242380B CN109242380B CN201810950692.4A CN201810950692A CN109242380B CN 109242380 B CN109242380 B CN 109242380B CN 201810950692 A CN201810950692 A CN 201810950692A CN 109242380 B CN109242380 B CN 109242380B
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- 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
- G06Q10/083—Shipping
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
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Abstract
The invention provides a goods delivery method, wherein after a robot receives order information, the robot moves to a vending machine; the robot sends information related to the order information to the vending machine; the vending machine delivers the corresponding specified article to the robot according to the received information; the robot transports the item to a designated location. According to the invention, in the process of receiving the order and transporting the article to the designated position, extra personnel is not needed, a part of labor force can be replaced, and the labor force is saved. The invention further provides a cargo delivery device.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to a cargo delivery method and a cargo delivery device.
Background
When an existing service robot transports articles, the articles need to be manually taken to the robot, then the robot transports the articles, manual participation is still needed, and the maximum advantage of the robot cannot be played.
Disclosure of Invention
In view of the above, it is desirable to provide a method and a device for delivering goods, which can save labor and provide continuous service for a long time without additional personnel.
The invention provides a cargo delivery method, which is applied to a delivery system, wherein the delivery system comprises a robot and a vending machine, and the method comprises the following steps:
after the robot receives the order information, the robot moves to the position of the vending machine;
the robot sends information related to the order information to the vending machine;
the vending machine delivers the corresponding specified article to the robot according to the received information;
the robot transports the item to a designated location.
Preferably, the robot moves to a vending machine location, including:
the robot searches the vending machine at the best position according to the current position of the robot;
the robot moving to within a predetermined range of the vending machine at the optimal position;
the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine;
the robot changes its angular position relative to the vending machine until the robot is located at a corresponding position of the vending machine.
Preferably, said "until said robot is located at a corresponding position of said vending machine", comprises:
the robot judges whether the robot is positioned right in front of the delivery position side of the vending machine or not;
if yes, controlling the robot to stop changing the angle position of the robot relative to the vending machine;
the robot rotates until the goods receiving position side of the robot is opposite to the goods discharging position side of the vending machine;
the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
Preferably, the robot changes its angular position relative to the vending machine at a first speed, the robot moving to the delivery position side of the vending machine at a second speed, wherein the first speed is greater than the second speed.
Preferably, the robot is provided with a storage box for storing articles;
the robot sending information related to the order information to the vending machine, including:
and after the robot opens the storage box, the order information is sent to the vending machine.
Preferably, after the "shipping the corresponding specified item to the robot", the method further comprises:
the robot judges whether an article is detected to fall into the storage box or not;
if yes, executing the step of 'the robot transports the article to a specified position';
if not, the order information is sent to the vending machine again until the article is detected to fall into the storage box.
The invention also provides a goods delivery device, which is applied to a delivery system, wherein the delivery system comprises a robot and a vending machine, and the device comprises:
the moving module is used for moving the robot to a vending machine position after the robot receives the order information;
the sending module is used for sending the information related to the order information to the vending machine by the robot;
the goods delivery module is used for delivering the corresponding specified articles to the robot by the vending machine according to the received information;
and the transportation module is used for transporting the article to a specified position by the robot.
Preferably, the motion module is specifically configured to:
after the robot receives order information, the robot searches a vending machine at the best position according to the current position of the robot;
the robot moving to within a predetermined range of the vending machine at the optimal position;
the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine;
the robot changes its angular position relative to the vending machine until the robot is located at a corresponding position of the vending machine.
Preferably, said "until said robot is located at a corresponding position of said vending machine", comprises:
the robot judges whether the robot is positioned right in front of the delivery position side of the vending machine or not;
if yes, controlling the robot to stop changing the angle position of the robot relative to the vending machine;
the robot rotates until the goods receiving position side of the robot is opposite to the goods discharging position side of the vending machine;
the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
Preferably, the robot changes its angular position relative to the vending machine at a first speed, the robot moving to the delivery position side of the vending machine at a second speed, wherein the first speed is greater than the second speed.
According to the invention, after the robot receives order information, the robot moves to a vending machine position; the robot sends information related to the order information to the vending machine; the vending machine delivers the corresponding specified article to the robot according to the received information; the robot transports the item to a designated location. According to the invention, in the process of receiving the order and transporting the article to the designated position, extra personnel is not needed, a part of labor force can be replaced, and the labor force is saved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is an exemplary schematic diagram of the robot of the present invention.
Fig. 3 is a schematic diagram of an exemplary structure of the robot of the present invention.
Fig. 4 is a flowchart of a cargo shipment method according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of the cargo discharging device of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The invention provides a goods delivery method, which can be applied to a delivery system 100, as shown in fig. 1, the delivery system 100 can include a robot 101 and a vending machine 102, wherein the vending machine 102 can include a plurality of goods and is distributed at different positions.
As shown in fig. 2, the robot 101 integrates various hardware structures for implementing various functions of the robot 101, such as a development board, a robot navigation device, a wireless transceiver device, a storage device, an infrared receiver device, an ultrasonic sensor, a mobile motor, a rotating motor, a drop sensor, etc., and can implement functions of robot navigation, sending messages to the vending machine 102, storing objects, receiving infrared signals, receiving ultrasonic signals, robot movement, robot body rotation, detecting whether to receive objects, etc.
As shown in fig. 3 and 4, the robot 101 may include a body 1011, a motor disposed on the body 1011, a gear 1012, a sliding rail 1013 connected to the gear, and a storage box 1014 disposed on the sliding rail, wherein when the motor is operated, the operation of the motor may drive the gear 1012 to move so as to drive the sliding rail 1013 to move, and may drive the storage box 1014 to slide out or into the inside of the body 1011.
An infrared transmitter, a wireless transceiver, and a shipment controller may be installed on the vending machine 102, the infrared transmitter may be configured to transmit an infrared signal to the robot 101, the wireless transceiver may be configured to receive information transmitted by the robot 101, and the shipment controller may push down the goods stored therein onto the robot 101.
Fig. 4 is a flowchart of a cargo delivery method provided by the invention.
S11: after the robot receives the order information, the robot moves to the vending machine position.
Before the robot moves to the vending machine position, the robot receives order information, wherein the order information can be the order information sent to the robot by a terminal or the order information sent to the robot by a server, and the order information can include but is not limited to: the designated location of the delivery, the item designated by the order.
In this embodiment, the step may further include the steps of:
s111: and the robot searches the vending machine with the best position according to the current position of the robot.
The robot stores a GIS map module, can determine the current position according to its own navigation device (such as GPS), and can determine the vending machine with the best position according to the current position and/or the designated position of the delivery, for example, the vending machine closest to the robot may be used as the vending machine with the best position, or the vending machine with the best position may be selected with the shortest travel distance from the robot to the vending machine and then to the designated position of the delivery.
S112: the robot moves to within a predetermined range of the vending machine in the optimal position.
When the best position vending machine is located, the robot moves to within a predetermined range of the vending machine, for example, the predetermined range may be the transmission range of the infrared transmission device and/or the ultrasonic sensor of the vending machine, or may be any value less than the transmission range of the infrared transmission device and/or the ultrasonic sensor.
S113: and the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine.
After the robot moves to the vicinity of the vending machine, infrared signals and/or ultrasonic signals sent by the vending machine can be received, and whether the robot is located at the corresponding position of the vending machine or not can be determined according to the infrared signals and/or the ultrasonic signals.
The vending machine is provided with a plurality of infrared transmitting devices and/or a plurality of ultrasonic sensors, the robot is provided with a plurality of infrared receiving devices and/or a plurality of ultrasonic sensors, for example, the robot can be provided with one infrared transmitting device on different sides respectively, and the infrared transmitting device on the side can receive signals sent by the infrared transmitting device on the side of the vending machine, so that whether the robot is located at the corresponding position of the vending machine can be judged, for example, whether the extending position of the storage box on the robot corresponds to an opening of the vending machine, into which the storage box extends, so that the storage box of the robot can be inserted into the opening of the vending machine, and goods pushed by the vending machine can be received by the storage box.
It is understood that after the step, the method further comprises the following steps: and judging whether the robot is located at the corresponding position of the vending machine, if not, executing the step S114, and if so, executing the step S12.
S114: the robot changes its angular position relative to the vending machine until the robot is located at a corresponding position of the vending machine.
When the robot is determined not to be located at the corresponding position of the vending machine, the robot can change the angular position of the robot relative to the vending machine by moving around relative to the vending machine until the robot is located at the corresponding position of the vending machine.
In this step, the robot may change its angular position relative to the vending machine at a first speed.
In this step, after the robot changes its angular position with respect to the vending machine, the following steps may be specifically included:
s1141: the robot determines whether it is positioned right in front of the vending machine' S shipment location side, if so, executes step S1142, and if not, continues to change its angular position relative to the vending machine.
The shipment position side of selling the machine is the one side that is used for providing the goods to the robot, when the robot is located the shipment position side of selling the machine, can receive the goods of selling the shipment of machine.
S1142: controlling the robot to stop changing its angular position relative to the vending machine.
S1143: the robot rotates until the delivery position side of the robot is opposite to the delivery position side of the vending machine.
The robot can be provided with the fuselage that can be relative and the base is rotatory, when the whole shipment position side to selling the machine of robot, probably the receiving position of robot is not just right sell the shipment position side of machine, consequently, the robot need rotate, will the receiving position side of robot is just right sell the shipment position side of machine.
S1144: the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
In this embodiment, as shown in fig. 3 and 4, the robot is provided with a storage box for storing articles, one end of the storage box can extend out of the robot, the goods receiving position side corresponds to the goods output position side, and the storage box can extend into the goods channel of the vending machine, so that when the vending machine pushes goods into the goods channel, the storage box can receive the goods.
In this step, the robot may move to the shipment position side of the vending machine at a second speed, wherein the first speed may be greater than the second speed, and effects of fast adjustment and precise alignment may be achieved.
S12: and the robot sends the information related to the order information to the vending machine.
After the robot is aligned with the vending machine, information related to the order information may be sent to the vending machine, for example, information about the article specified in the order information may be sent to the vending machine, so that the vending machine knows what kind of article the robot needs to transport, thereby facilitating the execution of step S14.
In this step, after the robot opens the storage box, the order information may be sent to the vending machine.
S13: and the vending machine delivers the corresponding specified article to the robot according to the received information.
In this embodiment, after step S13, the method may further include:
S13A: the robot judges whether an article is detected to fall into the storage box, if so, the step S14 is executed, and if not, the step S13B is executed.
In step S13A, whether or not an article has fallen into the storage box may be determined by a gravity sensor, a fall sensor, an infrared sensor, or the like provided in the robot.
S13B: and sending the order information to the vending machine again until detecting that articles fall into the storage box.
Therefore, the robot can be ensured to receive corresponding goods, and the transportation efficiency is improved.
S14: the robot transports the item to a designated location.
The robot can move to the designated position according to a built-in SLAM navigation algorithm, so that the purpose of transporting the article to the designated position is achieved.
According to the cargo delivery method provided by the embodiment, after the robot receives order information, the robot moves to the position of the vending machine; the robot sends information related to the order information to the vending machine; the vending machine delivers the corresponding specified article to the robot according to the received information; the robot transports the item to a designated location. According to the invention, in the process of receiving the order and transporting the article to the designated position, extra personnel is not needed, a part of labor force can be replaced, and the labor force is saved.
Fig. 5 is a schematic structural diagram of the cargo shipping apparatus 200 according to the present invention. The device 200 can be applied to a vending system, and the goods delivery method provided by the present invention can be implemented by executing the device 200.
Wherein the cargo shipping device 200 may include: a motion module 21, a sending module 22, a shipment module 23, and a transport module 24.
The moving module 21 is configured to move the robot to a vending machine position after the robot receives the order information;
the sending module 22 is configured to send information related to the order information to the vending machine by the robot;
the delivery module 23 is configured to deliver the corresponding specified article to the robot by the vending machine according to the received information;
the transportation module 24 is used for the robot to transport the article to a designated position.
Further, the motion module 21 is specifically configured to:
after the robot receives order information, the robot searches a vending machine at the best position according to the current position of the robot;
the robot moving to within a predetermined range of the vending machine at the optimal position;
the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine;
the robot changes its angular position relative to the vending machine until the robot is located at a corresponding position of the vending machine.
Further, the "until the robot is located at the corresponding position of the vending machine", includes:
the robot judges whether the robot is positioned right in front of the delivery position side of the vending machine or not;
if yes, controlling the robot to stop changing the angle position of the robot relative to the vending machine;
the robot rotates until the goods receiving position side of the robot is opposite to the goods discharging position side of the vending machine;
the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
Further, the robot changes its angular position relative to the vending machine at a first speed, the robot moves to a delivery location side of the vending machine at a second speed, wherein the first speed is greater than the second speed.
Further, be equipped with the storage tank that is used for accomodating article on the robot, send module 22 specifically can be used for: and after the robot opens the storage box, the order information is sent to the vending machine.
Further, the apparatus 200 further includes a determining module 25 and a retransmitting module 26.
The judging module 25 is configured to judge whether or not it is detected that the article falls into the storage box by the robot after the "shipment of the corresponding specified article to the robot".
The transportation module 24 is further configured to detect that an article falls into the storage box, and then the robot transports the article to a designated position.
And the resending module 26 is configured to send the order information to the vending machine again after it is determined that no article falls into the storage box, until it is detected that an article falls into the storage box.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A goods delivery method is applied to a delivery system, the delivery system comprises a robot and a vending machine, and the method is characterized by comprising the following steps:
after the robot receives the order information, the robot searches the vending machine at the best position according to the current position of the robot;
the robot moving to within a predetermined range of the vending machine at the optimal position;
the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine;
the robot changing its angular position relative to the vending machine until the robot is at a respective position of the vending machine;
the robot sends information related to the order information to the vending machine;
the vending machine delivers the corresponding specified article to the robot according to the received information;
the robot transports the item to a designated location;
said "until said robot is at a respective location of said vending machine", comprising:
the robot judges whether the robot is positioned right in front of the delivery position side of the vending machine or not;
if yes, controlling the robot to stop changing the angle position of the robot relative to the vending machine;
the robot rotates until the goods receiving position side of the robot is opposite to the goods discharging position side of the vending machine;
the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
2. The cargo shipping method of claim 1, wherein said robot changes its angular position relative to said vending machine at a first speed, said robot moving to the shipping position side of said vending machine at a second speed, wherein said first speed is greater than said second speed.
3. The cargo shipment method according to claim 1 or 2, wherein the robot is provided with a storage box for storing articles;
the robot sending information related to the order information to the vending machine, including:
and after the robot opens the storage box, the order information is sent to the vending machine.
4. The cargo shipment method according to claim 3, wherein after the "shipment of the corresponding specified item to the robot", the method further comprises:
the robot judges whether an article is detected to fall into the storage box or not;
if yes, executing the step of 'the robot transports the article to a specified position';
if not, the order information is sent to the vending machine again until the article is detected to fall into the storage box.
5. A cargo delivery device applied to a delivery system, the delivery system comprising a robot and a vending machine, the device comprising:
the moving module is used for moving the robot to a vending machine position after the robot receives the order information;
the sending module is used for sending the information related to the order information to the vending machine by the robot;
the goods delivery module is used for delivering the corresponding specified articles to the robot by the vending machine according to the received information;
a transport module for the robot to transport the item to a designated location;
the motion module is specifically configured to:
after the robot receives order information, the robot searches a vending machine at the best position according to the current position of the robot;
the robot moving to within a predetermined range of the vending machine at the optimal position;
the robot acquires the position of the robot relative to the vending machine according to the position signal sent by the vending machine;
the robot changing its angular position relative to the vending machine until the robot is at a respective position of the vending machine;
said "until said robot is at a respective location of said vending machine", comprising:
the robot judges whether the robot is positioned right in front of the delivery position side of the vending machine or not;
if yes, controlling the robot to stop changing the angle position of the robot relative to the vending machine;
the robot rotates until the goods receiving position side of the robot is opposite to the goods discharging position side of the vending machine;
the robot moves to a shipment position side of the vending machine, so that the receiving position side corresponds to the shipment position side.
6. The cargo shipping device of claim 5, wherein said robot changes its angular position relative to said vending machine at a first speed, said robot moving to a shipping position side of said vending machine at a second speed, wherein said first speed is greater than said second speed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810950692.4A CN109242380B (en) | 2018-08-20 | 2018-08-20 | Goods delivery method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810950692.4A CN109242380B (en) | 2018-08-20 | 2018-08-20 | Goods delivery method and device |
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| CN109242380A CN109242380A (en) | 2019-01-18 |
| CN109242380B true CN109242380B (en) | 2022-02-15 |
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| CN201810950692.4A Active CN109242380B (en) | 2018-08-20 | 2018-08-20 | Goods delivery method and device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103252789A (en) * | 2013-05-03 | 2013-08-21 | 唐国民 | Assembly robot positioning device based on binocular type infrared sensing device |
| CN105563498A (en) * | 2016-03-09 | 2016-05-11 | 山东理工大学 | Multifunctional robot for autonomously feeding person and helping person go to toilet |
| CN105858045A (en) * | 2016-06-03 | 2016-08-17 | 北京极智嘉科技有限公司 | Automatic cargo picking system and automatic cargo picking method |
| CN108109266A (en) * | 2017-12-15 | 2018-06-01 | 成都越凡创新科技有限公司 | Multilayer Vending Machine shipment system with compensation function and its go out pallet piling up method |
-
2018
- 2018-08-20 CN CN201810950692.4A patent/CN109242380B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252789A (en) * | 2013-05-03 | 2013-08-21 | 唐国民 | Assembly robot positioning device based on binocular type infrared sensing device |
| CN105563498A (en) * | 2016-03-09 | 2016-05-11 | 山东理工大学 | Multifunctional robot for autonomously feeding person and helping person go to toilet |
| CN105858045A (en) * | 2016-06-03 | 2016-08-17 | 北京极智嘉科技有限公司 | Automatic cargo picking system and automatic cargo picking method |
| CN108109266A (en) * | 2017-12-15 | 2018-06-01 | 成都越凡创新科技有限公司 | Multilayer Vending Machine shipment system with compensation function and its go out pallet piling up method |
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