CN110189483A

CN110189483A - Robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium

Info

Publication number: CN110189483A
Application number: CN201910476299.0A
Authority: CN
Inventors: 邹鹏; 吴登禄; 朱颖; 陈冬梅
Original assignee: SF Technology Co Ltd
Current assignee: SF Technology Co Ltd; SF Tech Co Ltd
Priority date: 2019-06-03
Filing date: 2019-06-03
Publication date: 2019-08-30

Abstract

The embodiment of the invention discloses a kind of robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage mediums.The article receiving and sending robot includes cabinet body and the mobile unit for cabinet body traveling, and cabinet body is equipped with the express delivery cabinet bin that can be used for accessing article, is additionally provided with control module in cabinet body, control module is used for: obtaining logistics address information；According to the logistics address information, the travel path of the article receiving and sending robot is planned；It is mobile according to the travel path to control the article receiving and sending robot；When article receiving and sending robot reaches the corresponding target area of the logistics address information, and meets default article receiving and sending requirement, the corresponding express delivery cabinet bin of control logistics address information is opened.It can realize that the automatic of express delivery sends part, improves express delivery and dispenses efficiency, avoids the express delivery during artificially sending part and loses in the embodiment of the present invention by article receiving and sending robot.

Description

Robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium

Technical field

The present invention relates to logistics technology, and in particular to a kind of robot article receiving and sending method, relevant apparatus, article receiving and sending machine Device people and storage medium.

Background technique

In recent years, with the fast development of e-commerce, shopping online scale is increasing, and then drives express delivery industry fast Speed development, express delivery are in rapid growth trend.

In express delivery delivery process, show to sign for problem also more and more prominent and frequent.FAQs is courier It delivers goods to the customers to schedule, and recipient does not exist, or cannot rush in time.It is general to solve when encountering such case Method be courier wait recipient, make another appointment or look for people's allograph, can so bring more new problems: first is that increase Add the delivery period for consuming courier；Second is that addressee cannot take cargo in time；Third is that express mail goes wrong duty when allograph Difficulty is appointed to investigate.The convenience of express delivery is picked and placed in order to improve courier and user, express delivery cabinet occurs gradually over people at the moment.

Express delivery cabinet is one based on Internet of Things, and what can article (express mail) be identified, keep in, monitor and be managed sets It is standby.Express mail is stored temporarily in express delivery cabinet by express delivery cabinet, and delivery information is sent user by modes such as short messages, is mentioned for user For 24 hour self-help pickup services, this service mode has better meet the needs of user's pickup at any time, to solve the problems, such as to mention Effective scheme is supplied.

But existing express delivery cabinet is mostly large-scale express delivery cabinet, and express delivery cabinet placement location is fixed.For the close of office-type For the user for collecting user's aggregation, the time is money, and the work hours it is general be inconvenient to down take express delivery, such case is general Not applicable express delivery cabinet, is more manually successively to dispense, but this mode increases the workload of courier, sends low efficiency.

Summary of the invention

The embodiment of the present invention provides a kind of robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium, It realizes that the automatic of express delivery sends part, improves express delivery and dispense efficiency, avoid the express delivery during artificially sending part and lose.

In a first aspect, the application provides a kind of article receiving and sending robot, the article receiving and sending robot includes cabinet body and is used for The mobile unit that the cabinet body is advanced, the cabinet body are equipped with the express delivery cabinet bin that can be used for accessing article, go back in the cabinet body It is provided with control module, the control module is used for:

Logistics address information is obtained, the logistics address information, which corresponds to, currently to be stored in the express delivery cabinet bin or wait collect Article；

According to the logistics address information, the travel path of the article receiving and sending robot is planned；

It is mobile according to the travel path to control the article receiving and sending robot；

When the article receiving and sending robot reaches the corresponding target area of the logistics address information, and the default article receiving and sending of satisfaction It is required that when, control the unlatching of the corresponding express delivery cabinet bin of the logistics address information.

In some embodiments of the application, be additionally provided in the cabinet body communication module, drive module, memory module, with And the human-computer interaction module for operating article receiving and sending, the control module respectively with the communication module, drive module, described deposit Storage module is connected with the human-computer interaction module；

The drive module is used to receive the control instruction of the control module, and according to control instruction driving Mobile unit makes the article receiving and sending robot mobile, and the communication module obtains logistics data for interacting with Cloud Server, And saved by the memory module, the human-computer interaction module is used to receive the interaction data of user, and is sent to the control Molding block, the control module are used to control the unlatching of corresponding express delivery cabinet bin according to the interaction data.

In some embodiments of the application, the human-computer interaction module includes at least one in following module:

Barcode scanning identification module reads user information for barcode scanning, and the user information of reading is sent to the control mould Block, the control module are used for the unlatching according to user information control express delivery cabinet bin；

Identification module, for when user is when identity document is placed in the identification area, reading user identity to be believed Breath, and the user information of reading is sent to the control module, the control module is used for according to the subscriber identity information Control the unlatching of express delivery cabinet bin；

The code data for receiving the code data of user's input, and is sent to the control by password identification module Molding block, the control module are used to control the unlatching of express delivery cabinet bin according to the code data；

Face recognition module is sent to the control mould for receiving the human face data of user, and by the human face data Block, the control module are used to control the unlatching of express delivery cabinet bin according to the human face data of user；

Wherein, the interaction data is the user information, subscriber identity information, code data and/or the face number According to.

In some embodiments of the application, the logistics address information includes multiple logistics address informations, the express delivery cabinet Bin includes multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds currently deposits in the multiple express delivery cabinet bin It puts or multiple articles to be collected, the control module is specifically used for:

Determine the priority of the multiple logistics address information；

According to the priority, the path order point of the multiple logistics address information is determined；

According to the path order point, the travel path of the article receiving and sending robot is determined.

In some embodiments of the application, the control module is specifically used for:

Obtain article receiving and sending robot current location information；

Calculate separately the navigation distance of the multiple logistics address information Yu article receiving and sending robot current location information；

According to the sequence that the navigation distance is ascending, the preferential of the multiple logistics address information is determined from high to low Grade.

Judge whether the multiple logistics address information has the target logistics address information of preset kind；

If it exists, the priority of the target logistics address information is set as highest priority.

When in the travel path include elevator when, to the control system of elevator send the first dispatch command, described first Dispatch command includes the addressee robot current floor information and target floor information, so that the control system of the elevator Press the purpose floor；

When the elevator reaches the current floor, the control system of the elevator is notified to open the elevator door；

Drive the mobile unit mobile by the drive module, so that the addressee robot moves into elevator car Compartment controls the addressee robot and removes the lift car when the elevator reaches the purpose floor.

When in the travel path including gate inhibition, the second dispatch command is sent to the control system of gate inhibition, so that institute The control system for stating gate inhibition opens the gate inhibition；

When detecting that the gate inhibition opens, drive the mobile unit mobile by the drive module, so that described Article receiving and sending robot is mobile by the gate inhibition, continues mobile according to the travel path.

Second aspect, the application provide a kind of robot article receiving and sending method, are applied to article receiving and sending robot, the article receiving and sending Robot is equipped with the express delivery cabinet bin that can be used for accessing article, and the robot article receiving and sending method includes:

When the article receiving and sending robot reaches the corresponding region of the logistics address information, and the default article receiving and sending requirement of satisfaction When, it controls the corresponding express delivery cabinet bin of the logistics address information and opens.

In some embodiments of the application, the logistics address information includes multiple logistics address informations, the express delivery cabinet Bin includes multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds currently deposits in the multiple express delivery cabinet bin It puts or multiple articles to be collected；

According to the logistics address information, the travel path of the article receiving and sending robot is planned, comprising:

Determine the priority of the multiple logistics address information；

In some embodiments of the application, the priority of the multiple logistics address information of determination, comprising:

Obtain article receiving and sending robot current location information；

In some embodiments of the application, the priority of the multiple logistics address information of determination, further includes:

In some embodiments of the application, the control article receiving and sending robot is mobile according to the travel path, packet It includes:

When in the travel path include elevator when, to the control system of elevator send the first dispatch command, described first Dispatch command includes the information of addressee robot current floor and purpose floor, so that the control system of the elevator is pressed Under the purpose floor；

When the elevator reaches the current floor, the control system of the elevator is notified to open the elevator door, control It makes the addressee robot and moves into lift car, when the elevator reaches the purpose floor, control the addressee machine Device people removes the lift car.

When detecting that the gate inhibition opens, it is mobile by the gate inhibition to control the article receiving and sending robot, continue according to The travel path is mobile.

It is described when the article receiving and sending robot arrival logistics address information is corresponding in some embodiments of the application Region, and when meeting default article receiving and sending and requiring, it controls the corresponding express delivery cabinet bin of the logistics address information and opens, comprising:

When the article receiving and sending robot reaches the corresponding target area of the target logistics address information, reception user passes through The interaction data of the human-computer interaction module input；

Judge that interaction data verify data whether corresponding with the preset target logistics address information matches, if It is to determine to meet default article receiving and sending requirement, controls the corresponding express delivery cabinet bin of the logistics address information and open.

The third aspect, the application provide a kind of article receiving and sending robot controller, are applied to article receiving and sending robot, the receipts Outbox robot is equipped with the express delivery cabinet bin that can be used for accessing article, and the article receiving and sending robot controller includes:

Obtain module, for obtaining logistics address information, the logistics address information correspond in the express delivery cabinet bin when Preceding storage or article to be collected；

Planning module, for planning the travel path of the article receiving and sending robot according to the logistics address information；

Mobile module, it is mobile according to the travel path for controlling the article receiving and sending robot；

Article receiving and sending module, for reaching the corresponding target area of the logistics address information when the article receiving and sending robot, And when meeting default article receiving and sending requirement, controls the corresponding express delivery cabinet bin of the logistics address information and open.

In some embodiments of the application, the logistics address information includes multiple logistics address informations, the express delivery cabinet Bin includes multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds currently deposits in the multiple express delivery cabinet bin It puts or multiple articles to be collected；The planning module is specifically used for:

Determine the priority of the multiple logistics address information；

In some embodiments of the application, the planning module is specifically used for:

Obtain article receiving and sending robot current location information；

In some embodiments of the application, the planning module is specifically also used to:

In some embodiments of the application, the mobile module is specifically used for:

In some embodiments of the application, the article receiving and sending module is specifically used for:

Fourth aspect, the application provide a kind of elevator control method, are applied to elevator control system, the elevator controlling side Method includes:

The first dispatch command that article receiving and sending robot is sent is received, first dispatch command includes the addressee robot The information of current floor and purpose floor；

It controls the elevator and presses the purpose floor；

When the elevator reaches the current floor, the unlatching elevator door that the article receiving and sending robot is sent is received Instruction, control elevator door open.

In some embodiments of the application, before the first dispatch command that the reception article receiving and sending robot is sent, institute State elevator control method further include:

Control authority is added for the article receiving and sending robot.

5th aspect, the application provide a kind of elevator control system, and the elevator control system includes:

Receiving unit, for receiving the first dispatch command of article receiving and sending robot transmission, first dispatch command includes The information of addressee robot current floor and purpose floor；

Control unit presses the purpose floor for controlling the elevator；

Opening unit, for receiving what the article receiving and sending robot was sent when the elevator reaches the current floor The instruction of the elevator door is opened, control elevator door is opened.

6th aspect, the application provide a kind of article receiving and sending robot, and the article receiving and sending robot includes cabinet body and is used for The mobile unit that the cabinet body is advanced, the cabinet body are equipped with the express delivery cabinet bin that can be used for accessing article, go back in the cabinet body It is provided with

One or more processors；

Memory；And

One or more application program, wherein one or more of application programs are stored in the memory, and It is configured to be executed as the processor to realize robot article receiving and sending method described in any one of second aspect.

7th aspect, the application provide a kind of storage medium, and the storage medium is stored with a plurality of instruction, and described instruction is suitable It is loaded in processor, to execute the step in robot article receiving and sending method described in any one of second aspect.

Article receiving and sending robot includes cabinet body and the mobile unit for cabinet body traveling in the embodiment of the present invention, is wrapped in cabinet body At least one express delivery cabinet for storing article is included, each express delivery cabinet includes multiple express delivery cabinet bins at least one express delivery cabinet, It is additionally provided with control module in cabinet body, control module is used for: obtaining logistics address information；According to the logistics address information, rule Draw the travel path of the article receiving and sending robot；It is mobile according to the travel path to control the article receiving and sending robot；Work as transmitting-receiving Part robot reaches the corresponding target area of the logistics address information, and when meeting default article receiving and sending and requiring, control logistics Information corresponding express delivery cabinet bin in location is opened.The automatic group of express delivery can be realized in the embodiment of the present invention by article receiving and sending robot Part improves express delivery and dispenses efficiency, avoids the express delivery during artificially sending part and loses.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is one embodiment external structure schematic diagram of article receiving and sending robot provided in an embodiment of the present invention；

Fig. 2 is one embodiment modular structure schematic diagram of article receiving and sending robot in the embodiment of the present invention；

Fig. 3 is one embodiment cross section structure schematic diagram of article receiving and sending robot in the embodiment of the present invention；

Fig. 4 is one embodiment structural schematic diagram of express delivery cabinet in article receiving and sending robot in the embodiment of the present invention；

Fig. 5 is one embodiment flow diagram in the embodiment of the present invention in robot article receiving and sending method；

Fig. 6 is one embodiment structural schematic diagram of article receiving and sending robot controller in the embodiment of the present invention；

Fig. 7 is one embodiment flow diagram of elevator control method in the embodiment of the present invention；

Fig. 8 is one embodiment structural schematic diagram of elevator control system in the embodiment of the present invention；

Fig. 9 is another example structure schematic diagram of article receiving and sending robot in the embodiment of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts Example, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", The instruction such as " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot understand For indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include one or more feature.In the description of the present invention, " more It is a " it is meant that two or more, unless otherwise specifically defined.

In this application, " exemplary " word is used to indicate " being used as example, illustration or explanation ".Described herein as Any embodiment of " exemplary " is not necessarily to be construed as or more advantage more more preferable than other embodiments.In order to appoint this field What technical staff can be realized and use the present invention, gives and is described below.In the following description, it arranges for purposes of explanation Details is gone out.It should be appreciated that those skilled in the art will realize that the case where not using these specific details Under the present invention also may be implemented.In other examples, well known structure and process will not be described in detail, to avoid need not The details wanted makes description of the invention become obscure.Therefore, the present invention be not intended to be limited to shown in embodiment, but with meet The widest scope of principle and feature disclosed in the present application is consistent.

The embodiment of the present invention provides a kind of robot article receiving and sending method, relevant apparatus, article receiving and sending robot and storage medium, It is described in detail separately below.

Firstly, a kind of article receiving and sending robot is provided in the embodiment of the present invention, as shown in Figure 1, in the embodiment of the present invention One external structure schematic diagram, wherein the article receiving and sending robot includes cabinet body 100 and the movement for cabinet body traveling Unit 200, the cabinet body 100 are equipped with the express delivery cabinet bin 102 that can be used for accessing article, in the specific implementation, the cabinet body It may include at least one express delivery cabinet 101 for storing article, each express delivery at least one described express delivery cabinet 101 in 100 Cabinet includes multiple express delivery cabinet bins 102, is additionally provided with control module 103 in the cabinet body 100.

Specifically, the control module 103 is used for: logistics address information is obtained, described in the logistics address information is corresponding In express delivery cabinet bin currently storage or article to be collected；According to the logistics address information, the article receiving and sending robot is planned Travel path；It is mobile according to the travel path to control the article receiving and sending robot；When the article receiving and sending robot reaches institute When stating the corresponding target area of logistics address information, and meeting default article receiving and sending requirement, it is corresponding to control the logistics address information Express delivery cabinet bin 102 open.

Wherein, when collecting part, an express delivery cabinet bin can correspond to the article or object to be collected that one is currently stored Product, corresponding logistics address information (such as sending part address information or posting address information) such as express delivery cabinet bin A of the article In currently store article B, article B corresponding one needs to be addressed to send part address information C (the as logistics address information), The corresponding logistics address information of express delivery cabinet bin B is that this send part address information C at this time.

It should be noted that logistics address information can only include a logistics address information, it also may include multiple objects Address information is flowed, the express delivery cabinet bin in the robot of article receiving and sending at this time is also configured as multiple (no less than numbers of logistics address information Amount), when the logistics address information includes multiple logistics address informations, multiple logistics address information respectively corresponds article receiving and sending Multiple express delivery cabinet bins in robot, and multiple logistics address information and multiple express delivery cabinet bin correspond, for example, receiving It include T express delivery cabinet bin in outbox robot, wherein coexisted in M express delivery cabinet bin and be placed with M article, each article is deposited It is placed in an express delivery cabinet bin, then the corresponding M article of the M logistics address information (address information for needing to send with charge free), often The corresponding logistics address information of a article, wherein M, T are positive integer, T >=M.

It can realize that the automatic of express delivery sends part, improves express delivery dispatching effect in the embodiment of the present invention by article receiving and sending robot Rate avoids the express delivery during artificially sending part and loses.

As shown in Fig. 2, for a modular structure schematic diagram of article receiving and sending robot in the embodiment of the present invention, in the present invention one In a little embodiments, it is additionally provided with communication module 104, drive module 105, memory module 106 in the cabinet body 100 and is used for Operate article receiving and sending human-computer interaction module 107, the control module 103 respectively with the communication module 104, drive module 105, The memory module 106 and the human-computer interaction module 107 connect.

The drive module 105 is used to receive the control instruction of the control module 103, and is driven according to the control instruction Moving the mobile unit 102 makes the article receiving and sending robot mobile, and the communication module 104 is obtained for interacting with Cloud Server Logistics data (such as logistics address information specifically such as send part address information or posting address information) is taken, and passes through the storage Module 106 saves, and the human-computer interaction module 107 is used to receive the interaction data of user, and is sent to the control module 103, the control module 103 is used to control corresponding express delivery cabinet bin cabinet door according to the interaction data and open.

In the embodiment of the present invention, human-computer interaction workspace is provided on the cabinet body 100, the position of setting is according to user Demand determines, such as convenience, can be set to cabinet body side upper end, and the human-computer interaction module can be set in the man-machine friendship Interworking area is provided with viewing area and operating space in the human-computer interaction workspace.The human-computer interaction module 107 includes and institute The display module of the connection of control module 103 is stated, the display module is arranged in the viewing area.Wherein, the display mould of viewing area The interface that block is used to show user for interactive operation, such as the interface of input pickup identifying code.Specifically, the display module can To be touch display screen.Wherein, the interface that the display module of viewing area is used to show user for interactive operation, such as input take The interface of part identifying code.Specifically, the display module can be touch display screen.

Further, the human-computer interaction module 107 further includes at least one photographic device, at least one described camera shooting dress It include preposition photographic device in setting, the preposition photographic device is arranged in the human-computer interaction workspace.It is understood that In some other embodiment of the present invention, at least one described photographic device can also include looking around camera, for article receiving and sending machine People carries out navigation avoidance,, can intelligence an emergency situation is encountered in addition it can make robot have the function of security protection inspection simultaneously It can alarm, tracking, monitoring etc..

Further, as shown in Fig. 2, the human-computer interaction module 107 may include at least one in following module:

Barcode scanning identification module 1071 reads user information for barcode scanning, and the user information of reading is sent to the control Molding block, the control module are used for the unlatching according to user information control express delivery cabinet bin；

Identification module 1072, for when user the identification area place identity document when, read user's body Part information, and the subscriber identity information of reading is sent to the control module, the control module is used for according to the user The unlatching of identity information control express delivery cabinet bin；

The code data for receiving the code data of user's input, and is sent to institute by password identification module 1073 Control module is stated, the control module is used to control the unlatching of express delivery cabinet bin according to the code data；

Face recognition module 1074 is sent to the control for receiving the human face data of user, and by the human face data Molding block, the control module are used to control the unlatching of express delivery cabinet bin according to the human face data of user；

Wherein, the interaction data include in the user information, identity information, code data and the human face data extremely Few one kind, i.e., the described control module 103 can be according to the user information, identity information, code data and the human face data At least one of corresponding 102 cabinet door of express delivery cabinet bin of control open.

Specifically, the human-computer interaction module 107 further includes at least one photographic device, at least one described photographic device In include preposition photographic device, the preposition photographic device is arranged in the human-computer interaction workspace, it is preferred that described preposition to take the photograph As device can be located above the viewing area, wherein photographic device can be camera, when the human-computer interaction module 107 When including face recognition module 1074, which may include the preposition photographic device.

The preposition photographic device is used to shoot the facial image of user, and the facial image is sent to the control Module 103, the control module 103 are used to determine the facial image matching corresponding with express delivery cabinet bin of user's facial image Afterwards, corresponding express delivery cabinet bin cabinet door is opened.For example, can be by calling the corresponding user of article stored in express delivery cabinet bin The facial image pre-saved is compared, and when the facial image shot from preposition photographic device, and works as previous express delivery cabinet lattice In mouthful the corresponding user of storage article facial image matching (similarity reaches preset ratio, such as 90%) when, determine current clap The facial image taken the photograph facial image matching corresponding with the express delivery cabinet bin, opens the corresponding express delivery cabinet bin of express delivery cabinet bin Cabinet door.

When the human-computer interaction module 107 includes barcode scanning identification module 1071, the operating space is provided with barcode scanning area, institute Barcode scanning identification module 1071 is stated to be arranged in the barcode scanning area；The barcode scanning identification module 1071 reads user information for barcode scanning, And the user information of reading is sent to the control module 103, the control module 103 is used to determine the user's letter obtained After ceasing user information matching corresponding with express delivery cabinet bin, corresponding express delivery cabinet bin cabinet door is opened.Wherein, which reads User information can be the wechat mark (such as user's WeChat ID) of user or user waits for the corresponding pickup code of pickup (such as Identifying code or bar code etc.).Specifically, the barcode scanning identification module 1071 can be code reader, which can refer to existing Code reader in technology, this is not limited here.

When the human-computer interaction module 107 includes identification module 1072, the operating space is provided with identification Area, the identity card identification module 1072 are arranged in the identification area；The identification module 1072 is for working as user When identity document is placed in the identification area, subscriber identity information is read, and the user information of reading is sent to described Control module 103, the control module 103 are used to determine the user information user information corresponding with express delivery cabinet bin obtained After matching, corresponding express delivery cabinet bin cabinet door is opened.For example, the identity card of user is placed in identification area in user, read The identity information taken is the ID card No. of user, can call the corresponding user identity card letter of preset each express delivery cabinet bin Whether breath, the identity information for verifying user match, if with the corresponding identification card number of article of certain express delivery cabinet bin storage and the reading The identification card number matching taken, then open the express delivery cabinet bin.Specifically, the identification module 1072, which can be, can identify reading The module of ID card information, specific identification module in the prior art, is not construed as limiting herein.

When the human-computer interaction module 107 includes password identification module 1073, the operating space is provided with Password Input Area, the password identification module 1073 are arranged in the Password Input area；The password identification module 1073 is for receiving user The code data of input, and the code data is sent to the control module 103, the control module 103 is used for true Determine code data code data matching corresponding with express delivery cabinet bin and opens corresponding express delivery cabinet bin cabinet door.Wherein, should Password identification module 1073 can have a try a key module, number or alphabetical information can be inputted for user, when user passes through After password identification module inputs code data (such as 123456), control module 103 can be by the code data and each express delivery cabinet lattice The corresponding code data of mouth is matched, if the article pair that certain express delivery cabinet bin of an express delivery cabinet of article receiving and sending robot stores The code data answered is 123456, then with the matching of user's input, can open the express delivery cabinet bin cabinet door.Specifically, this is close Code identification module 1073 can be the password key module for inputting number or letter for user, specifically be referred to existing skill Password key module in art, is not construed as limiting herein.

In addition, article receiving and sending are sent and are also provided with elevator controlling interface in robot and gate inhibition connects in the embodiment of the present invention Mouthful, it is used cooperatively with control module, is needing elevator up and down or by the place of gate inhibition, by wireless telecommunications mode and electricity Ladder or gate inhibition carry out communication interaction, realize that control elevator and gate inhibition pass through.In addition, the cabinet body 100 of article receiving and sending robot On be also provided with the navigation module connecting with control module 103 and various disorders object sensor, navigation module (such as GPRS Chip, Beidou navigation chip etc.), navigation module is used to be navigated according to the address information (such as logistics address information) of offer, The various disorders object sensor includes but is not limited to laser sensor, RGB camera sensing device, depth camera sensor, is surpassed Sonic sensor, infrared light transducer[sensor etc. can detecte the obstacle information near article receiving and sending robot, pass through article receiving and sending machine The control module of device people itself is analyzed, and realizes automatic detour barrier, specifically how the process of avoidance, be referred to existing The relevant control process of robot obstacle-avoiding, is not specifically limited herein in technology.

As shown in Figure 1, in some embodiment of the invention, the cabinet body 100 includes upper cabinet body 108 and lower cabinet body 109, institute It states at least one express delivery cabinet 101 to be arranged in the upper cabinet body 108, at least one described express delivery cabinet 101 includes the first express delivery cabinet 1011 and the second express delivery cabinet 1012, the first express delivery cabinet 1011 and the second express delivery cabinet 1012 be arranged parallel.

Wherein, in order to enable article receiving and sending robot possesses good ergonomics, meet asian population operating habit, receive Outbox robot side cabinet body can be obliquely installed, and human-computer interaction workspace can be set in the inclined plane, specifically, described The upper end vertical direction section of upper cabinet body 108 is right-angled trapezium, and the human-computer interaction workspace is arranged in the upper cabinet body 108 In the inclined surface at end, the height of the first express delivery cabinet 1011 is higher than the height of second express delivery 1012.The mobile unit 200 include at least two pulley elements of 100 lower end of cabinet body being arranged in, such as can be including 4 single-sheaved blocks or two A sister block.When the mobile unit 200 includes at least two pulley element, which can be matched with size, such as Side configures two big pulley elements, and the other side configures two truckle units, and this is not limited here.The embodiment of the present invention In can also configure corresponding block for article receiving and sending robot, to use gear when article receiving and sending robot is stopped in some position Block blocks the mobile unit 200 sliding, and block can be such as the block 112 in Fig. 3.

As shown in Figure 3, Figure 4, two neighboring express delivery cabinet bin can pass through interlayer board at least one described express delivery cabinet 101 110 separate, and each express delivery cabinet bin 102 is correspondingly arranged on express delivery cabinet bin cabinet door 111.Wherein, at least one described express delivery cabinet At least one interlayer board 110 is to be detachably connected to be mounted on the cabinet body 100 in 101.Interlayer board i.e. in the express delivery cabinet 101 110 can be removed, specifically, all interlayer boards 110 are all at least one express delivery cabinet 101 i.e. in article receiving and sending robot It can dismount, all express delivery cabinet bin cabinet doors 111 can be with independent switch.When all interlayer boards 110 are loaded onto, entire express delivery The express delivery cabinet bin number of cabinet is most, but each express delivery cabinet bin space is minimum.When needing larger express delivery cabinet bin, one is extracted The express delivery cabinet bin of interlayer board 110, article receiving and sending robot can be pre-configured, in the group of article receiving and sending robot configuration express delivery cabinet After conjunction, the small cabinet door Simultaneous Switching of about 110 interlayer board is extracted, two small express delivery cabinet bin becomes one big express delivery cabinet lattice at this time Mouthful.Interlayer board 110 flexibly can be extracted or installed according to practical express delivery cabinet bin size requirements, realized and maximized express delivery cabinet group Space utilization.In addition, 110 detachable connection method of interlayer board is referred to existing way meeting, specifically herein without limitation.

Further, in the embodiment of the present invention, as shown in figure 3, in the first express delivery cabinet 1011 or the second express delivery cabinet 1012 Express delivery cabinet bin can flexible configuration good size in advance, for more than the dispatching big part in region with big express delivery cabinet bin, more than smallclothes With small express delivery cabinet bin, it can be dispensed with size express delivery cabinet bin mixed configuration, single task and be differed up to 2-20 part, such as Fig. 3 Shown, it is box-like that each express delivery cabinet in article receiving and sending robot is configurable to size groups, and big part dispenses formula, and smallclothes dispense formula or transhipment Formula (is configured to other types load cabinet) as described below, includes the first express delivery cabinet 1011 and the in Tu3Zhong article receiving and sending robot Two express delivery cabinets 1012, the first express delivery cabinet 1011 and the second express delivery cabinet 1012 are the box-like express delivery cabinet bin of size groups, specifically, The demand in region can be currently dispensed according to big data analysis, configure corresponding express delivery cabinet bin size, such as send part to remember by passing It is found that the part that send in the mansion A is mostly big part, the part that send in the mansion B is mostly file (smallclothes), then can be to the mansion A for record Express delivery cabinet bin is beaten in the configuration of article receiving and sending robot, is that the article receiving and sending robot of the mansion B configures small express delivery cabinet bin.

In addition, the express delivery cabinet in article receiving and sending robot can also be replaced with other load cabinets, (i.e. express delivery cabinet is configured to above-mentioned Transhipment formula), according to different business demands, the modules such as retail cabinet, refrigerator cabinet can be changed to, realize the functions such as mobile retail, Expand product applications.

It should be noted that the control module that the present invention is previously mentioned can be one or more processors, memory module can To be memory, memory can mainly include storing program area and storage data area, wherein storing program area can store operation system Application program (such as control system of addressee robot etc.) needed for system, at least one function etc.；Storage data area can store Created data etc. are used according to server.In addition, memory may include high-speed random access memory, can also wrap Include nonvolatile memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts. Correspondingly, memory can also include Memory Controller, to provide access of the processor to memory.Drive module can be Driving motor, communication module may include that mobile communication module (may include such as 2G communication module, 3G communication module, 4G communication Module and the following emerging mobile communication module, such as 5G communication module), bluetooth communication, wireless communication module (such as WIFI communication module) and radio frequency identification (Radio Frequency Identification, RFID) module at least one Kind.

In addition, Cloud Server involved in the embodiment of the present invention is and article receiving and sending robot channel radio in the embodiment of the present invention Believe that the server of connection, Cloud Server can be the corresponding server of logistics company, such as along the corresponding logistics service of rich company Device；Cloud Server can be with article receiving and sending robot interactive logistics data, such as addressee information and outbox information etc., and Cloud Server can To be a server, it is also possible to server cluster, this is not limited here.

In the present invention when it is implemented, above each unit, module or structure can be used as independent entity to realize, Any combination can be carried out, it is integrated that same or several entities is used as to realize, such as communication module, control module, driving mould Block and mobile unit, lower cabinet body etc. can integrate as a robot chassis, human-computer interaction module and at least one photographing module It can integrate as article receiving and sending robot touch screen integrated machine, be not construed as limiting in the specific embodiment of the present invention.

In some embodiment of the invention, the logistics address information includes multiple logistics address informations, the express delivery cabinet Bin includes multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds currently deposits in the multiple express delivery cabinet bin It puts or multiple articles to be collected；The control module is specifically used for: determining the priority of the multiple logistics address information；Root According to the priority, the path order point of the multiple logistics address information is determined；According to the path order point, determine described in The travel path of article receiving and sending robot.

In some embodiment of the invention, the control module is specifically used for: obtaining article receiving and sending robot present bit Confidence breath；Calculate separately the navigation distance of the multiple logistics address information Yu article receiving and sending robot current location information； According to the sequence that the navigation distance is ascending, the priority of the multiple logistics address information is determined from high to low.

In some embodiment of the invention, the control module is specifically used for: judging that the multiple logistics address information is The no target logistics address information for having preset kind；If it exists, the priority of the target logistics address information is set as highest Priority.

In some embodiment of the invention, the control module is specifically used for: when in the travel path including elevator, The first dispatch command is sent to the control system of elevator, first dispatch command includes addressee robot current floor letter Breath and target floor information, so that the control system of the elevator presses the purpose floor；Described in being reached when the elevator When current floor, the control system of the elevator is notified to open the elevator door；The movement is driven by the drive module Unit is mobile, so that the addressee robot moves into lift car, when the elevator reaches the purpose floor, control The addressee robot removes the lift car.

In some embodiment of the invention, the control module is specifically used for: when in the travel path including gate inhibition, The second dispatch command is sent to the control system of gate inhibition, so that the control system of the gate inhibition opens the gate inhibition；Work as detection When opening to the gate inhibition, drive the mobile unit mobile by the drive module, so that the article receiving and sending robot moves It is dynamic to pass through the gate inhibition, continue mobile according to the travel path.

In order to more preferably implement article receiving and sending robot in the embodiment of the present invention, on article receiving and sending robot base, the present invention A kind of robot article receiving and sending method is also provided in embodiment, is applied to article receiving and sending robot, the article receiving and sending robot is equipped with can For accessing the express delivery cabinet bin of article, as shown in figure 5, for an implementation of robot article receiving and sending method in the embodiment of the present invention Example flow diagram, wherein the robot article receiving and sending method includes:

501, obtain logistics address information, the logistics address information correspond in the express delivery cabinet bin currently store or to The article collected；

Wherein, logistics address information, which can be, send part address information or posting address information (pulling part address information), receives Outbox robot can get corresponding logistics address information in addressee or before sending part, be carried out based on the logistics address information subsequent Article receiving and sending process.

When logistics address information be send part address information when, obtain logistics address information the step of may include: acquisition cloud What server was sent send part address information.Cloud Server itself can obtain courier and be filled in by user when user posts part Logistics face single (logistics person's typing Cloud Server) or user's typing in the interfaces such as logistical applications (APP) or small routine Part information is posted, when article receiving and sending robot sends part, courier can be by putting part process for corresponding article storage in article receiving and sending In the corresponding express delivery cabinet bin of robot, at this point, corresponding part information of posting can be sent to article receiving and sending robot by Cloud Server, Article receiving and sending robot receives and send part address information.

Wherein, one of article receiving and sending robot specifically send part Booting sequence as follows: courier passes through in article receiving and sending robot Man-machine interactively module (touch display screen in such as man-machine interactively module) standby interface (smiling face or advertisement) any position point It hits, into main interface, courier is selected to log in.Courier inputs pickup people information (such as pickup people cell-phone number), pickup people address (floor) and cabinet door size.If being delivered to foreground, foreground cell-phone number, foregrounding and cabinet door size are inputted.Transmitting-receiving Part robot opens the corresponding express delivery cabinet bin cabinet door of empty express delivery cabinet bin of specified size by control module, is put into express delivery object Product.Courier shuts express delivery cabinet bin cabinet door, clicks and completes.Upload information sends the SMS to and takes to preset short message server Part manpower machine.If pickup people does not reply, then it is assumed that can receive at any time, if pickup people returns to the addressee time, record should Part temporal information is sent in express delivery, and courier repeats above operation to be finished until putting part, can start to send after clicking " starting to dispense " Part.

When logistics address information be posting address information when, obtain logistics address information the step of may include: acquisition cloud The posting address information that server is sent, wherein Cloud Server can obtain the posting address information by pulling part process.Its In, the process that article receiving and sending robot obtains posting address information is as follows: perhaps material flow A PP or face are single by small routine by user Place an order (logistics person's typing Cloud Server) input user addressee information (including posting address information), Cloud Server obtain user Posting address information.

502, according to the logistics address information, the travel path of the article receiving and sending robot is planned.

It under normal circumstances, all can be in article receiving and sending machine in order to improve the utilization efficiency of express delivery cabinet bin in article receiving and sending robot Multiple quick despatch (or collecting multiple simultaneously) is placed in the express delivery cabinet of device people, therefore, in some embodiment of the invention, institute Stating logistics address information includes multiple logistics address informations, and the express delivery cabinet bin includes multiple express delivery cabinet bins, the multiple Logistics address information respectively corresponds in the multiple express delivery cabinet bin currently storage or multiple articles to be collected；

At this point, according to the logistics address information, the step of planning the travel path of the article receiving and sending robot, be can wrap It includes: determining the priority of the multiple logistics address information；According to the priority, the multiple logistics address information is determined Path order point；According to the path order point, the travel path of the article receiving and sending robot is determined.

Specifically, the priority of the multiple logistics address information of determination, comprising: obtain the article receiving and sending robot Current location information；Calculate separately the navigation of the multiple logistics address information Yu article receiving and sending robot current location information Distance；According to the sequence that the navigation distance is ascending, the priority of the multiple logistics address information is determined from high to low. For example, article receiving and sending robot current location is A, multiple wake flow address informations include tri- address informations of B, C and D, R_AB、R_AC、R_AC A is respectively indicated at a distance from B, C and D, if R_AC> R_AB> R_AC, then the corresponding priority orders of B, C and D are respectively C, B, D, this When, article receiving and sending robot can successively navigate to location of C, B location and the position D according to the priority, and travel path is A-C-B- D。

Due to sending part to have some special situations, such as some quick despatch usually in the process as urgent part, need in time Client is given, therefore, in the embodiment of the present invention, urgent part can be carried out in advance to be classified as preset kind, such as urgent class Type adds urgent mark, the priority of the multiple logistics address information of the determination at this time, further includes: judge the multiple Whether logistics address information has the target logistics address information of preset kind；If it exists, by the target logistics address information Priority is set as highest priority.Specifically, priority is adjusted to the superlative degree, is preferentially sent i.e. for this special quick despatch Part, and do not have to consider the factors such as distance.

503, it is mobile according to the travel path to control the article receiving and sending robot.

The travel path of article receiving and sending robot has been determined in step 502, if plane is advanced, has then controlled article receiving and sending robot It advances according to respective path, when article receiving and sending robot is generally located on office building in the embodiment of the present invention or enterprise is corresponding In commercial building, there are elevator and gate inhibition, article receiving and sending robot is also required to can be only achieved destination by these channels.

Currently, some office buildings or Enterprise Mansion, are all intelligent buildings, can in advance to office building property or related Enterprise negotiates, so that article receiving and sending robot obtains corresponding elevator or the control authority of gate inhibition, and then can be with elevator or gate inhibition Control system interacts, to achieve the purpose that scheduling controlling elevator or gate inhibition.

(1) when in the travel path including elevator.

Specifically, the control article receiving and sending robot is mobile according to the travel path, comprising:

When in the travel path include elevator when, to the control system of elevator send the first dispatch command, described first Dispatch command includes the information of addressee robot current floor and purpose floor, so that the control system of the elevator is pressed Under the purpose floor；When the elevator reaches the current floor, the control system of the elevator is notified to open the electricity Terraced door controls the addressee robot and moves into lift car, when the elevator reaches the purpose floor, described in control Addressee robot removes the lift car.For example, when the current location A of article receiving and sending robot is 1 building, one under article receiving and sending robot A need location of C to be achieved is 4 buildings Room 8, then includes elevator in travel path, article receiving and sending robot can be to elevator control system The first dispatch command is sent, the control system of indicating elevator is pressed 4 buildings, while article receiving and sending robot advances at lift port, when When elevator reaches 1 building, the control system of elevator is notified to open the elevator door, control addressee robot moves into elevator car Compartment, when the elevator reaches 4 buildings, control addressee robot removes lift car, continues navigation and advances to 4 buildings Room 8.

(2) when in the travel path including gate inhibition.

When in the travel path including gate inhibition, the second dispatch command is sent to the control system of gate inhibition, so that institute The control system for stating gate inhibition opens the gate inhibition；When detecting that the gate inhibition opens, it is mobile to control the article receiving and sending robot By the gate inhibition, continue mobile according to the travel path.

504, when the article receiving and sending robot reaches the corresponding region of the logistics address information, and the default article receiving and sending of satisfaction It is required that when, it controls the corresponding express delivery cabinet bin of the logistics address information and opens.

In some embodiment of the invention, described when the article receiving and sending robot arrival logistics address information is corresponding Region, and when meeting default article receiving and sending and requiring, it controls the corresponding express delivery cabinet bin of the logistics address information and opens, comprising: when The article receiving and sending robot reaches the corresponding target area of the target logistics address information, receives user and passes through the man-machine friendship The interaction data of mutual module input；Judge whether the interaction data is corresponding with the preset target logistics address information to test Data Matching is demonstrate,proved, meets default article receiving and sending requirement if so, determining, controls the corresponding express delivery cabinet bin of the logistics address information and open It opens.

Wherein, when the logistics address information is a logistics address information, the corresponding area of the logistics address information Domain is one, and article receiving and sending robot can directly reach the region, when the logistics address information includes multiple logistics addresses When information, the corresponding region of the logistics address information is the target logistics address letter of Present navigation in the logistics address information Breath.

When the corresponding region of the article receiving and sending robot arrival logistics address information, can first comprise determining whether Meet default article receiving and sending requirement, specifically, judging whether that meeting default article receiving and sending requirement may include: to receive testing for user's input Whether card data (such as user information, identity information described in above example, code data and described human face data) is deposited In the user data that the corresponding article of express delivery cabinet bin with article receiving and sending robot matches, and if it exists, then open corresponding fast Cabinet bin cabinet door is passed, allow user from the express delivery cabinet bin pickup (logistics address information is to send part address information) or is put Part (logistics address information is posting address information) into the express delivery cabinet bin.

By obtaining logistics address information in the embodiment of the present invention, which is corresponded in the express delivery cabinet bin Current storage or article to be collected；According to the logistics address information, the travel path of the article receiving and sending robot is planned；Control It is mobile according to the travel path to make the article receiving and sending robot；When the article receiving and sending robot reaches the logistics address information Corresponding region, and when meeting default article receiving and sending and requiring, it controls the corresponding express delivery cabinet bin of the logistics address information and opens.This It can realize that the automatic of express delivery sends part, improves express delivery and dispenses efficiency, avoids people in inventive embodiments by article receiving and sending robot To send the express delivery during part to lose.

It is corresponding, a kind of article receiving and sending robot controller is also provided in the embodiment of the present invention, is applied to article receiving and sending machine People, the article receiving and sending robot are equipped with the express delivery cabinet bin that can be used for accessing article, as shown in fig. 6, in the embodiment of the present invention One embodiment structural schematic diagram of article receiving and sending robot controller, the article receiving and sending robot controller 600 include:

Module 601 is obtained, for obtaining logistics address information, the logistics address information is corresponded in the express delivery cabinet bin Current storage or article to be collected；

Planning module 602, for planning the travel path of the article receiving and sending robot according to the logistics address information；

Mobile module 603, it is mobile according to the travel path for controlling the article receiving and sending robot；

Article receiving and sending module 604, for reaching the corresponding target area of the logistics address information when the article receiving and sending robot Domain, and when meeting default article receiving and sending and requiring, it controls the corresponding express delivery cabinet bin of the logistics address information and opens.

In some embodiment of the invention, the logistics address information includes multiple logistics address informations, the express delivery cabinet Bin includes multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds currently deposits in the multiple express delivery cabinet bin It puts or multiple articles to be collected；

The planning module 602 is specifically used for:

Determine the priority of the multiple logistics address information；

In some embodiment of the invention, the planning module 602 is specifically used for:

Obtain article receiving and sending robot current location information；

In some embodiment of the invention, the planning module 602 is specifically also used to:

In some embodiment of the invention, the mobile module 603 is specifically used for:

In some embodiment of the invention, the article receiving and sending module 604 is specifically used for:

Control device obtains logistics address information by obtaining module 601 in the embodiment of the present invention；602 basis of planning module The logistics address information plans the travel path of the article receiving and sending robot；Mobile module 603 controls the article receiving and sending machine People is mobile according to the travel path；Article receiving and sending module 604 is corresponding when the article receiving and sending robot arrival logistics address information Target area, and when meeting default article receiving and sending and requiring, the corresponding express delivery cabinet bin of control logistics address information is opened.The present invention is real Applying control device in example can realize that the automatic of express delivery sends part, improves express delivery and dispenses efficiency, keeps away by control article receiving and sending robot Exempt from that the express delivery during part is artificially sent to lose.

A kind of elevator control method is also provided in the embodiment of the present invention, is applied to elevator control system, as shown in fig. 7, being Elevator control method one embodiment flow diagram in the embodiment of the present invention, the elevator control method include:

701, the first dispatch command that article receiving and sending robot is sent is received, first dispatch command includes the addressee machine The information of device people current floor and purpose floor.

Such as first include article receiving and sending robot current floor 1 building and 4 building, purpose floor information in dispatch command.

702, it controls the elevator and presses the purpose floor.

For example, control elevator presses 4 layers of purpose floor.

703, when the elevator reaches the current floor, the unlatching electricity that the article receiving and sending robot is sent is received The instruction of terraced door, control elevator door are opened.

When the elevator reaches 1 building, article receiving and sending current floor, the unlatching elevator that article receiving and sending robot is sent is received The instruction of door, control elevator door are opened, and article receiving and sending robot can enter lift car, and elevator shutdown is lifted to 4 buildings stoppings, opening Elevator door is opened, and is sent to up to instruction and gives article receiving and sending robot, so that robot removes lift car.

Currently, some office buildings or Enterprise Mansion, are all intelligent buildings, can in advance to office building property or related Enterprise negotiates, so that article receiving and sending robot obtains corresponding elevator or the control authority of gate inhibition, and then can be with elevator or gate inhibition Control system interacts, to achieve the purpose that scheduling controlling elevator or gate inhibition.Therefore, in some embodiment of the invention, exist Before first dispatch command for receiving the transmission of article receiving and sending robot, the elevator control method further include: be the transmitting-receiving Part robot adds control authority.

It is corresponding, a kind of elevator control system is also provided in the embodiment of the present invention, as shown in figure 8, being the embodiment of the present invention One embodiment structural schematic diagram of middle elevator control system, the elevator control system 800 include:

Receiving unit 801, for receiving the first dispatch command of article receiving and sending robot transmission, the first dispatch command packet Include the information of addressee robot current floor and purpose floor；

Control unit 802 presses the purpose floor for controlling the elevator；

Opening unit 803, for receiving the article receiving and sending robot and sending when the elevator reaches the current floor The unlatching elevator door instruction, control elevator door opens.

Further, the elevator control system 800 further include:

Adding unit, for adding control authority for the article receiving and sending robot.

The embodiment of the present invention also provides a kind of server, and the article receiving and sending robot includes cabinet body and for the cabinet body The mobile unit of traveling includes at least one express delivery cabinet for storing article, at least one described express delivery cabinet in the cabinet body In each express delivery cabinet include multiple express delivery cabinet bins, be additionally provided in the cabinet body:

One or more processors；

Memory；And

One or more application program, wherein one or more of application programs are stored in the memory, and It is configured to execute robot article receiving and sending described in any embodiment in above-mentioned log collection method embodiment as the processor Step in method.

The embodiment of the present invention also provides a kind of article receiving and sending robot, and the article receiving and sending robot includes cabinet body and for institute The mobile unit of cabinet body traveling is stated, the express delivery cabinet bin includes multiple express delivery cabinet bins, as shown in figure 9, it illustrates this hairs The structural schematic diagram of article receiving and sending robot involved in bright embodiment, specifically:

May include in the cabinet body one or more than one processing core processor 901, one or more The components such as memory 902, power supply 903 and the input unit 904 of computer readable storage medium.Those skilled in the art can manage It solves, article receiving and sending robot architecture shown in Fig. 9 does not constitute the restriction to article receiving and sending robot, may include more than illustrating Or less component, perhaps combine certain components or different component layouts.Wherein:

Processor 901 is the control centre of the article receiving and sending robot, utilizes various interfaces and the entire article receiving and sending of connection The various pieces of robot, by running or executing the software program and/or module that are stored in memory 902, and calling The data being stored in memory 902 execute the various functions and processing data of article receiving and sending robot, thus to article receiving and sending machine People carries out integral monitoring.Optionally, processor 901 may include one or more processing cores；Preferably, processor 901 can collect At application processor and modem processor, wherein the main processing operation system of application processor, user interface and apply journey Sequence etc., modem processor mainly handle wireless communication.It is understood that above-mentioned modem processor can not also collect At into processor 901.

Memory 902 can be used for storing software program and module, and processor 901 is stored in memory 902 by operation Software program and module, thereby executing various function application and data processing.Memory 902 can mainly include storage journey Sequence area and storage data area, wherein storing program area can the (ratio of application program needed for storage program area, at least one function Such as sound-playing function, image player function) etc.；Storage data area can be stored to be created according to using for article receiving and sending robot Data etc..In addition, memory 902 may include high-speed random access memory, it can also include nonvolatile memory, example Such as at least one disk memory, flush memory device or other volatile solid-state parts.Correspondingly, memory 902 may be used also To include Memory Controller, to provide access of the processor 901 to memory 902.

Article receiving and sending robot further includes the power supply 903 powered to all parts, it is preferred that power supply 903 can pass through power supply Management system and processor 901 are logically contiguous, to realize management charging, electric discharge and power consumption pipe by power-supply management system The functions such as reason.Power supply 903 can also include one or more direct current or AC power source, recharging system, power failure The random components such as detection circuit, power adapter or inverter, power supply status indicator.

The article receiving and sending robot may also include input unit 904, the input unit 904 can be used for receiving input number or Character information, and generate keyboard related with user setting and function control, mouse, operating stick, optics or trace ball Signal input.

Although being not shown, article receiving and sending robot can also be including display unit etc., and details are not described herein.Specifically in this implementation In example, processor 901 in article receiving and sending robot can according to following instruction, by one or more application program into The corresponding executable file of journey is loaded into memory 902, and is run by processor 901 and be stored in answering in memory 902 With program, thus realize various functions, it is as follows:

It will appreciated by the skilled person that all or part of the steps in the various methods of above-described embodiment can be with It is completed by instructing, or relevant hardware is controlled by instruction to complete, which can store computer-readable deposits in one In storage media, and is loaded and executed by processor.

For this purpose, the embodiment of the present invention provides a kind of storage medium, the storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc..This is deposited A plurality of instruction is stored in storage media, which can be loaded by processor, to execute provided by the embodiment of the present invention Step in any robot article receiving and sending method.For example, the instruction can execute following steps:

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment Point, it may refer to the detailed description above with respect to other embodiments, details are not described herein again.

When it is implemented, above each unit or structure can be used as independent entity to realize, can also carry out any Combination, is realized as same or several entities, the method that the specific implementation of above each unit or structure can be found in front Embodiment, details are not described herein.

The specific implementation of above each operation can be found in the embodiment of front, and details are not described herein.

It is provided for the embodiments of the invention a kind of robot article receiving and sending method, relevant apparatus, article receiving and sending robot above And storage medium is described in detail, specific case used herein explains the principle of the present invention and embodiment It states, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this field Technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion The contents of this specification are not to be construed as limiting the invention.

Claims

1. a kind of article receiving and sending robot, which is characterized in that the article receiving and sending robot includes cabinet body and for the cabinet body row Into mobile unit, the cabinet body, which is equipped with, can be used for accessing the express delivery cabinet bin of article, be additionally provided with control in the cabinet body Module, the control module are used for:

Obtain logistics address information, the logistics address information, which correspond in the express delivery cabinet bin, currently to be stored or object to be collected Product；

When the article receiving and sending robot reaches the corresponding target area of the logistics address information, and the default article receiving and sending requirement of satisfaction When, it controls the corresponding express delivery cabinet bin of the logistics address information and opens.

2. article receiving and sending robot according to claim 1, which is characterized in that be additionally provided in the cabinet body communication module, Drive module, memory module and the human-computer interaction module for operating article receiving and sending, the control module respectively with the communication Module, drive module, the memory module are connected with the human-computer interaction module；

The drive module is used to receive the control instruction of the control module, and drives the movement according to the control instruction Unit makes the article receiving and sending robot mobile, and the communication module obtains logistics data for interacting with Cloud Server, and leads to It crosses the memory module to save, the human-computer interaction module is used to receive the interaction data of user, and is sent to the control mould Block, the control module are used to control the unlatching of corresponding express delivery cabinet bin according to the interaction data.

3. article receiving and sending robot according to claim 2, which is characterized in that the human-computer interaction module includes following module At least one of:

Barcode scanning identification module reads user information for barcode scanning, and the user information of reading is sent to the control module, institute Control module is stated for the unlatching according to user information control express delivery cabinet bin；

Identification module, for when user the identification area place identity document when, read subscriber identity information, and The subscriber identity information of reading is sent to the control module, the control module is used for according to the subscriber identity information control The unlatching of express delivery cabinet bin processed；

The code data for receiving the code data of user's input, and is sent to the control mould by password identification module Block, the control module are used to control the unlatching of express delivery cabinet bin according to the code data；

Face recognition module is sent to the control module, institute for receiving the human face data of user, and by the human face data Control module is stated for controlling the unlatching of express delivery cabinet bin according to the human face data of user；

Wherein, the interaction data is the user information, subscriber identity information, code data and/or the human face data.

4. a kind of robot article receiving and sending method is applied to article receiving and sending robot, the article receiving and sending robot, which is equipped with, can be used for accessing The express delivery cabinet bin of article, which is characterized in that the robot article receiving and sending method includes:

When the article receiving and sending robot reaches the corresponding region of the logistics address information, and meets default article receiving and sending requirement, The corresponding express delivery cabinet bin of the logistics address information is controlled to open.

5. robot article receiving and sending method according to claim 4, which is characterized in that the logistics address information includes multiple Logistics address information, the express delivery cabinet bin include multiple express delivery cabinet bins, and the multiple logistics address information respectively corresponds institute State in multiple express delivery cabinet bins currently storage or multiple articles to be collected；

Determine the priority of the multiple logistics address information；

6. robot article receiving and sending method according to claim 5, which is characterized in that the multiple logistics address of determination The priority of information, comprising:

Obtain article receiving and sending robot current location information；

According to the sequence that the navigation distance is ascending, the priority of the multiple logistics address information is determined from high to low.

7. robot article receiving and sending method according to claim 6, which is characterized in that the multiple logistics address of determination The priority of information, further includes:

8. robot article receiving and sending method according to claim 4, which is characterized in that the control article receiving and sending robot It is mobile according to the travel path, comprising:

When in the travel path including elevator, the first dispatch command, first scheduling are sent to the control system of elevator Instruction includes the information of addressee robot current floor and purpose floor, so that the control system of the elevator presses institute State purpose floor；

When the elevator reaches the current floor, notifies the control system of the elevator to open the elevator door, control institute It states addressee robot and moves into lift car, when the elevator reaches the purpose floor, control the addressee robot Remove the lift car.

9. robot article receiving and sending method according to claim 4, which is characterized in that the control article receiving and sending robot It is mobile according to the travel path, comprising:

When in the travel path including gate inhibition, the second dispatch command is sent to the control system of gate inhibition, so that the door The control system of taboo opens the gate inhibition；

When detecting that the gate inhibition opens, the article receiving and sending robot movement is controlled by the gate inhibition, is continued according to described Travel path is mobile.

10. robot article receiving and sending method according to claim 4, which is characterized in that described to work as the article receiving and sending robot When reaching the corresponding region of the logistics address information, and meeting default article receiving and sending requirement, the logistics address information pair is controlled The express delivery cabinet bin answered is opened, comprising:

When the article receiving and sending robot reaches the corresponding target area of the target logistics address information, reception user passes through described The interaction data of human-computer interaction module input；

Judge that interaction data verify data whether corresponding with the preset target logistics address information matches, if so, It determines and meets default article receiving and sending requirement, control the corresponding express delivery cabinet bin of the logistics address information and open.

11. a kind of article receiving and sending robot controller is applied to article receiving and sending robot, the article receiving and sending robot, which is equipped with, can be used for Access the express delivery cabinet bin of article, which is characterized in that the article receiving and sending robot controller includes:

Module is obtained, for obtaining logistics address information, the logistics address information corresponds to currently deposits in the express delivery cabinet bin It puts or article to be collected；

Article receiving and sending module, for reaching the corresponding target area of the logistics address information when the article receiving and sending robot, and it is full When the default article receiving and sending of foot require, controls the corresponding express delivery cabinet bin of the logistics address information and open.

12. article receiving and sending robot controller according to claim 11, which is characterized in that the logistics address information packet Multiple logistics address informations are included, the express delivery cabinet bin includes multiple express delivery cabinet bins, the multiple logistics address information difference Currently storage or multiple articles to be collected in corresponding the multiple express delivery cabinet bin；The planning module is specifically used for:

Determine the priority of the multiple logistics address information；

13. a kind of elevator control method, which is characterized in that be applied to elevator control system, the elevator control method includes:

The first dispatch command that article receiving and sending robot is sent is received, first dispatch command includes that the addressee robot is current The information of floor and purpose floor；

It controls the elevator and presses the purpose floor；

When the elevator reaches the current floor, the finger for the unlatching elevator door that the article receiving and sending robot is sent is received It enables, control elevator door is opened.

14. elevator control method according to claim 13, which is characterized in that sent in the reception article receiving and sending robot The first dispatch command before, the elevator control method further include:

Control authority is added for the article receiving and sending robot.

15. a kind of elevator control system, which is characterized in that the elevator control system includes:

Receiving unit, for receiving the first dispatch command of article receiving and sending robot transmission, first dispatch command includes described The information of addressee robot current floor and purpose floor；

Control unit presses the purpose floor for controlling the elevator；

Opening unit, for receiving the unlatching that the article receiving and sending robot is sent when the elevator reaches the current floor The instruction of the elevator door, control elevator door are opened.

16. a kind of article receiving and sending robot, which is characterized in that the article receiving and sending robot includes cabinet body and for the cabinet body row Into mobile unit, the cabinet body, which is equipped with, can be used for accessing the express delivery cabinet bin of article, be additionally provided in the cabinet body:

One or more processors；

Memory；And

One or more application program wherein one or more of application programs are stored in the memory, and configures To be executed as the processor to realize robot article receiving and sending method described in any one of claim 4 to 10.

17. a kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, and described instruction is suitable for processor It is loaded, the step in 4 to 10 described in any item robot article receiving and sending methods is required with perform claim.