CN110728484B - Unmanned aerial vehicle-based intelligent warehouse dispatching method and device, intelligent warehouse and storage medium - Google Patents
Unmanned aerial vehicle-based intelligent warehouse dispatching method and device, intelligent warehouse and storage medium Download PDFInfo
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Abstract
The invention discloses an intelligent warehouse dispatching method and device based on an unmanned aerial vehicle, an intelligent warehouse and a storage medium. The method comprises the following steps: receiving a first dispatch request sent by a first unmanned aerial vehicle; if a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatch process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate for dispatch; and receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf. The technical scheme provided by the embodiment of the invention solves the problem that the existing unmanned aerial vehicle delivery-oriented express cabinet can only allow one unmanned aerial vehicle to send the mail at the same time, realizes that more than two unmanned aerial vehicles are simultaneously received by the intelligent warehouse to send the mail, provides a deployment scheme for the unmanned aerial vehicles needing to send the mail at the same warehouse door at the same time, and further improves the mail sending efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of logistics, in particular to an intelligent warehouse dispatching method and device based on an unmanned aerial vehicle, an intelligent warehouse and a storage medium.
Background
With the rapid development of electronic commerce, the requirements on logistics industry are increasing. Use traditional express delivery cabinet to need the express delivery person to go to each express delivery cabinet place and scan the waybill one by one and confirm that the receipt information carries out the dispatch, very extravagant manpower has influenced dispatch efficiency, especially to some express delivery cabinets of putting comparatively remote areas, perhaps some express delivery person inconvenient arrive the district.
The prior art provides an express delivery cabinet to unmanned aerial vehicle delivery, is put in the letter sorting dolly with the express mail by unmanned aerial vehicle on, but letter sorting dolly horizontal migration reaches the position of appointed cabinet check top, and the letter sorting dolly is with the express mail top drop and slide to the receiving flitch along the slide after the receiving flitch is stretched out to appointed cabinet check, takes the express mail back cabinet check by the receiving flitch again, has realized receiving unmanned aerial vehicle delivery express mail's process. However, the existing express cabinet for unmanned aerial vehicle delivery can only allow one unmanned aerial vehicle to send a piece at the same time, and cannot meet the current express quantity requirement.
Disclosure of Invention
The invention provides an intelligent warehouse dispatching method and device based on an unmanned aerial vehicle, an intelligent warehouse and a storage medium, and aims to solve the problem that an existing express cabinet for unmanned aerial vehicle dispatching can only allow one unmanned aerial vehicle to dispatch simultaneously, provide a dispatching scheme for a plurality of unmanned aerial vehicles needing to dispatch simultaneously at the same warehouse door and further improve dispatching efficiency.
In a first aspect, an embodiment of the present invention provides an intelligent warehouse dispatching method based on an unmanned aerial vehicle, where the method includes:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatch process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate for dispatch;
and receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf.
In a second aspect, an embodiment of the present invention further provides an intelligent warehouse dispatching device based on an unmanned aerial vehicle, where the device includes:
the dispatch request receiving module is used for receiving a first dispatch request sent by the first unmanned aerial vehicle;
the allocation module is used for allocating the second unmanned aerial vehicle to the idle bin gate for dispatching if a second dispatching request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatching process of the first unmanned aerial vehicle;
and the express receiving module is used for receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in the goods shelf.
In a third aspect, an embodiment of the present invention further provides an intelligent bin, including:
one or more processors;
a memory for storing one or more programs;
A camera for measuring the height of the express mail and identifying the express mail information;
the travelling mechanisms are used for receiving and storing the express items according to the instructions of the processor;
and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the intelligent unmanned aerial vehicle-based warehouse dispatching method provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the program when executed by a processor implements the unmanned aerial vehicle-based intelligent warehouse dispatch method provided in any embodiment of the present invention.
The embodiment of the invention provides an intelligent warehouse dispatching scheme based on an unmanned aerial vehicle, wherein a first dispatching request sent by the first unmanned aerial vehicle is received, if a second dispatching request of at least one second unmanned aerial vehicle on the same warehouse door is received in the dispatching process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is dispatched to an idle warehouse door to dispatch, and then the intelligent warehouse receives a first unmanned aerial vehicle express and a second unmanned aerial vehicle express and stores the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a storage rack. The problem that the existing express delivery cabinet for unmanned aerial vehicle delivery can only allow one unmanned aerial vehicle to send the piece simultaneously is solved, the intelligent warehouse receives more than two unmanned aerial vehicles simultaneously to send the piece, and a deployment scheme is provided for the unmanned aerial vehicle which needs to send the piece simultaneously at the same warehouse door, so that the piece sending efficiency is further improved.
Drawings
Fig. 1 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of an intelligent warehouse dispatching method based on an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a flowchart of an intelligent warehouse dispatching method based on an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent warehouse dispatch device based on an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an intelligent warehouse according to a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1 is a flowchart of an intelligent warehouse dispatching method based on an unmanned aerial vehicle according to an embodiment of the invention. The method can be executed by the intelligent warehouse dispatch device based on the unmanned aerial vehicle, and the device can be realized by hardware and/or software and can be integrated in the intelligent warehouse.
On the basis of the existing intelligent bin, at least two bin gates are additionally arranged at the top of the intelligent bin and used for receiving express items sent by the unmanned aerial vehicle, the storage racks in the intelligent bin are partitioned, and preferably, the lengths of the storage racks are set to be equal. Each bin gate corresponds to the travelling mechanism, the goods shelf and the tray storage area one by one, namely, each bin gate is provided with the travelling mechanism, one set of goods shelf and the tray storage area containing trays with different sizes, wherein the travelling mechanism can move up and down, left and right or rotate after being used for acquiring the express mail so as to store the express mail in the position of the appointed goods shelf, and the trays with different sizes can be selected according to the size of the express mail. Optionally, the running mechanisms corresponding to the at least two bin gates can share a set of sliding rails, wherein the sliding rails are positioned below the running mechanisms and used for supporting the running mechanisms to move along the sliding rails. The two travelling mechanisms can mutually transmit a tray for supporting the express mail and the express mail. Optionally, the multiple sets of shelves can be arranged along a straight line or a circular ring, so that the travelling mechanism can transfer the tray and the express mail to other travelling mechanisms adjacent to the left or the right, and the multiple sets of shelves can also be arranged along a cross line, so that the travelling mechanism can firstly run to the cross point and then transfer the tray and the express mail to other travelling mechanisms in the target direction. Optionally, a depth camera is arranged near the lower part of each bin gate for acquiring the size of the express mail, the information of the express mail and the like.
As shown in fig. 1, the intelligent warehouse dispatching method based on the unmanned aerial vehicle specifically comprises the following steps:
s11, receiving a first dispatch request sent by the first unmanned aerial vehicle.
In this embodiment, the first unmanned aerial vehicle refers to an unmanned aerial vehicle that, when one of the doors of the intelligent warehouse is in an idle state, first arrives at the one door to send a mail, and the first mail sending request is that sent after the first unmanned aerial vehicle arrives, so as to prompt the intelligent warehouse to receive a mail.
And S12, if a second delivery request of at least one second unmanned aerial vehicle on the same bin gate is received in the delivery process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate to deliver.
In this embodiment, the dispatch process of the first unmanned aerial vehicle refers to a process from receiving a first dispatch request sent by the first unmanned aerial vehicle from the intelligent warehouse to completing the process of storing the first unmanned aerial vehicle express items on the target shelf, and the second unmanned aerial vehicle refers to an unmanned aerial vehicle with a warehouse door in an occupied state when the second unmanned aerial vehicle arrives, and the second dispatch request is the dispatch request sent by the second unmanned aerial vehicle. And if a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatch process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is dispatched to other idle bin gates for dispatch.
S13, receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf.
After all unmanned aerial vehicles are distributed to the idle bin gate, the intelligent bin receives the express mail and automatically stores the express mail to the goods shelf. Optionally, the first unmanned aerial vehicle is not deployed, so that the first unmanned aerial vehicle express items are stored according to the preset shelf positions, and the second unmanned aerial vehicle can determine a shelf position for storage outside the preset shelf positions under the corresponding deployed bin gates after deployment.
Optionally, because the second unmanned aerial vehicle is deployed, the intelligent warehouse also considers whether the second unmanned aerial vehicle is allocated an idle door for receiving the second unmanned aerial vehicle express, and then the first unmanned aerial vehicle express and the second unmanned aerial vehicle express are received and stored to the goods shelf, including:
if the second unmanned aerial vehicle is allocated to the idle bin gate, a running mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located acquires a tray corresponding to the tray storage area and moves to the corresponding bin gate;
opening a bin gate where the second unmanned aerial vehicle is located;
the travelling mechanism acquires a second unmanned aerial vehicle express mail above the corresponding bin gate;
closing a bin gate where the second unmanned aerial vehicle is located;
measuring the height and weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information;
And if the second unmanned aerial vehicle express item information verification is successful, storing the second unmanned aerial vehicle express item to the target goods shelf by using a running mechanism corresponding to a bin gate where the second unmanned aerial vehicle is located.
Through utilizing running gear to transport the express mail, can solve the current express delivery cabinet of delivery towards unmanned aerial vehicle and because of the problem that increases the express mail damage possibility that the mode that adopts the landing express mail caused, compare running gear can be more peaceful with the express mail to the assigned position, through the verification to express mail information simultaneously, the order nature of intelligent storehouse to express mail management has been strengthened, the express mail that has had predetermined goods shelves position has been avoided to send the condition that does not have the storage position to intelligent storehouse when the unmanned aerial vehicle dispatch.
Optionally, because the bin gate is idle state when the first unmanned aerial vehicle arrives, so the intelligent bin is to the process execution when single unmanned aerial vehicle docks intelligent bin and carries out the express mail delivery to the receipt of first unmanned aerial vehicle express mail, then receive first unmanned aerial vehicle express mail and second unmanned aerial vehicle express mail and store to the goods shelves, still can include:
the method comprises the steps that a travelling mechanism corresponding to a bin gate where a first unmanned aerial vehicle is located obtains a tray corresponding to a tray storage area and moves to the corresponding bin gate;
opening a bin gate where the first unmanned aerial vehicle is located;
The travelling mechanism acquires a first unmanned aerial vehicle express item above a corresponding bin gate;
closing a bin gate where the first unmanned aerial vehicle is located;
measuring the height and the weight of the first unmanned aerial vehicle express, and verifying the first unmanned aerial vehicle express information;
if the verification of the first unmanned aerial vehicle express mail information is successful, the first unmanned aerial vehicle express mail is stored to the target goods shelf by using the running mechanism corresponding to the bin gate where the first unmanned aerial vehicle is located, and if the verification fails, the bin gate is restarted and the first unmanned aerial vehicle is informed to take the rollback part.
Optionally, if the second unmanned aerial vehicles are not all deployed to the idle door, a docking instruction is sent to the second unmanned aerial vehicles which are not deployed to the idle door, so that the second unmanned aerial vehicles which are not deployed to the idle door are docked on the top platform of the intelligent cabin until the idle door exists, and then the second unmanned aerial vehicles which are not deployed to the idle door are deployed to the idle door. Specifically, when a second unmanned aerial vehicle which is not allocated to the idle bin gate is stopped at the top platform of the intelligent bin, waiting for all bin gates containing the first unmanned aerial vehicle and the second unmanned aerial vehicle until the idle bin gate appears, allocating the second unmanned aerial vehicle which is not allocated to the idle bin gate for storing. The second unmanned aerial vehicle which is not allocated to the idle bin gate can stop running in the waiting process, so that energy is saved.
In summary, the technical scheme provided by the embodiment of the invention provides a deployment scheme for a plurality of unmanned aerial vehicles needing to be dispatched at the same bin gate at the same time, and dispatches the unmanned aerial vehicle which sends a dispatch request to other idle bin gates for dispatch, so that the problem that the existing express cabinet for unmanned aerial vehicle delivery can only allow one unmanned aerial vehicle to dispatch at the same time is solved, more than two unmanned aerial vehicles are received at the same time by an intelligent bin for dispatch, and a deployment scheme is provided for the unmanned aerial vehicles needing to be dispatched at the same bin gate at the same time, and the dispatch efficiency is further improved.
On the basis of the above scheme, optionally, after receiving the first unmanned aerial vehicle express item and the second unmanned aerial vehicle express item and storing the first unmanned aerial vehicle express item and the second unmanned aerial vehicle express item in a shelf, the method further comprises:
notifying the first unmanned aerial vehicle and the second unmanned aerial vehicle that the dispatch is successful and the navigation is returned;
correspondingly, in the process of receiving the first unmanned aerial vehicle express mail, a stop instruction is sent to the first unmanned aerial vehicle so that the first unmanned aerial vehicle stops at the intelligent bin top platform, and in the process of receiving the second unmanned aerial vehicle express mail, a stop instruction is sent to the second unmanned aerial vehicle so that the second unmanned aerial vehicle stops at the intelligent bin top platform.
The unmanned aerial vehicle is informed of the return voyage, and meanwhile, a route used for the return voyage or a coordinate of a returned warehouse can be provided for the unmanned aerial vehicle, and the route can be specifically the longitude and latitude of the warehouse. Because the intelligent warehouse receives the unmanned aerial vehicle express mail and stores to the goods shelves and needs certain time, so intelligent warehouse top platform can set up a plurality of air decks for unmanned aerial vehicle to berth to make unmanned aerial vehicle carry out the in-process of depositing in intelligent warehouse and stop the operation, in order to the energy saving.
Example two
Fig. 2 is a flowchart of an intelligent warehouse dispatching method based on an unmanned aerial vehicle according to a second embodiment of the present invention. The technical solution of the present embodiment is further refined based on the above technical solution, as shown in fig. 2, and specifically includes the following steps:
s21, receiving a first dispatch request sent by the first unmanned aerial vehicle.
S22, if a second delivery request of at least one second unmanned aerial vehicle on the same bin gate is received in the delivery process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate to deliver.
S23, if the second unmanned aerial vehicle is allocated to the idle bin gate, a running mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located acquires a tray corresponding to the tray storage area and moves to the corresponding bin gate.
When the second unmanned aerial vehicle is allocated to the idle bin gate, the intelligent bin can select a tray with a proper size according to the size of the second unmanned aerial vehicle express, and the tray is acquired by the running mechanism corresponding to the bin gate and then moved to the bin gate for receiving the second unmanned aerial vehicle express.
S24, opening a bin gate where the second unmanned aerial vehicle is located.
Optionally, when the second unmanned aerial vehicle arrives in a certain distance range with the door, open the door that the second unmanned aerial vehicle is located.
S25, the travelling mechanism acquires a second unmanned aerial vehicle express mail above the corresponding bin gate.
Optionally, the travelling mechanism may be raised to the bin gate to receive the second unmanned aerial vehicle express, or lowered by the unmanned aerial vehicle to drop the second unmanned aerial vehicle express.
S26, closing a bin gate where the second unmanned aerial vehicle is located.
Optionally, after the travelling mechanism obtains the second unmanned aerial vehicle express mail, the travelling mechanism can descend to the express mail and be less than the door height, then closes the door that second unmanned aerial vehicle is located.
And S27, measuring the height and the weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information.
Optionally, a depth camera near the lower part of the bin gate is used for acquiring the size and the express mail information of the second unmanned aerial vehicle, wherein the express mail size can comprise the length, the width and/or the height of the express mail, the express mail information can comprise a bill number, a receiver name and/or a receiver contact mode, and the like, and a weight measuring device carried by the travelling mechanism is used for acquiring the weight of the second unmanned aerial vehicle express mail. After the express mail size and express mail information are acquired, the express mail size and express mail information can be compared with the express mail size and express mail information of the preset shelf position to verify, so that the situation that no storage position exists when the express mail of the preset shelf position is sent to the intelligent warehouse through the unmanned aerial vehicle is avoided.
And S28, if the goods shelf under the bin gate where the at least one second unmanned aerial vehicle is located is a full-load goods shelf, after the running mechanism on the path of the target goods shelf is waited for executing the storing of the express mail by the running mechanism corresponding to the full-load goods shelf, the tray bearing the express mail of the second unmanned aerial vehicle is connected to the running mechanism on the path of the target goods shelf, and the running mechanism on the path of the target goods shelf stores the express mail of the second unmanned aerial vehicle to the target goods shelf.
And if the second unmanned aerial vehicle express item information verification is successful, storing the second unmanned aerial vehicle express item to the target goods shelf by using a running mechanism corresponding to a bin gate where the second unmanned aerial vehicle is located. However, the second unmanned aerial vehicle is temporarily deployed, so that the storage space may not exist after deployment because the storage shelf corresponding to the door is in a full-load state. Optionally, if the storage rack is fully loaded, the express items can be stored to other storage racks including storage spaces in the storage racks corresponding to all the doors where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located through the handover between the travelling mechanisms, and the storage rack determined to store the express items is set as the target storage rack. Optionally, a shelf closest to the full-load shelf and capable of being used as the target shelf is selected as the target shelf, and at least one travelling mechanism can be included on a path of the full-load shelf going to the target shelf, namely, at least one handover work can be executed. Specifically, after the travelling mechanism corresponding to the full-load goods shelf needs to wait for the travelling mechanism on the path of the target goods shelf to execute the storage of the express mail, the tray bearing the second unmanned aerial vehicle express mail is delivered to the travelling mechanism on the path of the target goods shelf, and the travelling mechanism on the path of the target goods shelf stores the second unmanned aerial vehicle express mail to the target goods shelf. Optionally, if the target goods shelf is the goods shelf where the first unmanned aerial vehicle is located, that is, the goods shelf where the second unmanned aerial vehicle is originally scheduled, the second unmanned aerial vehicle express mail is stored to the scheduled goods shelf position, so that statistics of the intelligent warehouse on the goods shelf space is achieved.
In summary, according to the technical scheme provided by the embodiment of the invention, the problem that the storage space of the goods shelf under the bin gate is not available after the unmanned aerial vehicle is deployed is solved by delivering the express mail between the travelling mechanisms, the unmanned aerial vehicle is not required to be fetched and put in again, and the intelligent goods shelf storage efficiency and the flexibility of the use of the goods shelf are improved.
Example III
Fig. 3 is a flowchart of an intelligent warehouse dispatching method based on an unmanned aerial vehicle according to a third embodiment of the present invention. The technical solution of the embodiment is further refined on the basis of the technical solution, and a process of reserving dispatch of the intelligent warehouse before dispatch of the unmanned aerial vehicle is added, as shown in fig. 3, and specifically includes the following steps:
s31, receiving a first unmanned aerial vehicle reservation dispatch order and a second unmanned aerial vehicle reservation dispatch order.
Optionally, before the unmanned aerial vehicle dispatch, the size, weight, and waybill information of the express mail can be sent to an intelligent warehouse matched according to the address of the addressee, and the dispatch time is reserved.
S32, matching the tray and the target goods shelf according to the first unmanned aerial vehicle reservation dispatch order, and if matching is successful, sending the matched bin gate position to the first unmanned aerial vehicle.
And after the intelligent warehouse receives the reservation dispatch order of the first unmanned aerial vehicle, matching the size of the tray according to the express mail information, and distributing the available goods shelf as a target goods shelf of the first unmanned aerial vehicle express mail. If the matching is successful, the matched bin gate position is sent to the first unmanned aerial vehicle, and specifically, the longitude and latitude of the bin gate position or a specific route can be sent to the first unmanned aerial vehicle.
S33, matching the tray and the target goods shelf according to the second unmanned aerial vehicle reservation dispatch order, and if matching is successful, sending the matched bin gate position to the second unmanned aerial vehicle.
And after the intelligent warehouse receives the reservation delivery order of the second unmanned aerial vehicle, matching the size of the tray according to the express mail information, and distributing the available goods shelf as a target goods shelf of the express mail of the second unmanned aerial vehicle. If the matching is successful, the matched bin gate position is sent to the second unmanned aerial vehicle, and specifically, the longitude and latitude of the bin gate position or a specific route can be sent to the second unmanned aerial vehicle.
S34, receiving a first dispatch request sent by the first unmanned aerial vehicle.
And S35, if a second delivery request of at least one second unmanned aerial vehicle on the same bin gate is received in the delivery process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate to deliver.
S36, receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf.
On the basis of the above technical solution, optionally, after receiving the first dispatch request sent by the first unmanned aerial vehicle, the method further includes:
verifying the identity of the first unmanned aerial vehicle and the first unmanned aerial vehicle reservation dispatch order information;
if the verification fails, opening a bin gate where the first unmanned aerial vehicle is located, informing the first unmanned aerial vehicle that the first unmanned aerial vehicle cannot send a piece and taking a rollback piece;
After receiving the second dispatch request of at least one second unmanned aerial vehicle at the same bin gate, the method further comprises:
verifying the identity of the second unmanned aerial vehicle and the reservation dispatch order information of the second unmanned aerial vehicle;
if verification fails, a bin gate where the second unmanned aerial vehicle is located is opened, and the second unmanned aerial vehicle is informed that the second unmanned aerial vehicle cannot send a piece and takes a rollback piece.
The identity verification of the unmanned aerial vehicle can be realized through verifying the ID number of the unmanned aerial vehicle, and particularly can be realized through receiving the self-related information sent by the unmanned aerial vehicle or scanning the two-dimensional code of the fuselage and the like.
In summary, according to the technical scheme provided by the embodiment of the invention, through the process of reserving the dispatch before the dispatch of the unmanned aerial vehicle, the problem that the unmanned aerial vehicle cannot dispatch due to no storage space when reaching the intelligent bin is avoided, and further the dispatch efficiency of the unmanned aerial vehicle is improved.
Optionally, taking an intelligent bin configured with two bins as an example, a process of sending two unmanned aerial vehicles to the same bin gate is described. The intelligent warehouse dispatching method based on the unmanned aerial vehicle comprises the following steps:
the method comprises the steps of receiving reservation delivery orders of two unmanned aerial vehicles, and matching trays and target shelves for the express items to be delivered by the two unmanned aerial vehicles according to the reservation delivery orders to ensure that the shelf positions for storing the express items exist when the unmanned aerial vehicles arrive at an intelligent warehouse. When the unmanned aerial vehicle arrives near the intelligent bin, a dispatch request of the unmanned aerial vehicle is received, the unmanned aerial vehicle which receives the dispatch request firstly is a first unmanned aerial vehicle, the unmanned aerial vehicle which receives the dispatch request afterwards is a second unmanned aerial vehicle, the first unmanned aerial vehicle arrives at the bin gate to be a first bin gate, and the opposite side bin gate of the first bin gate is a second bin gate. And after receiving the dispatch request of the first unmanned aerial vehicle and finishing verification of the identity of the first unmanned aerial vehicle and the dispatch order information of the first unmanned aerial vehicle reservation, the running mechanism under the first bin gate executes the task of acquiring the express mail and storing the express mail to the target goods shelf. And in the process of executing the first unmanned aerial vehicle storage task, if the received second unmanned aerial vehicle dispatch request is also under the first bin gate, dispatching the second unmanned aerial vehicle to the second bin gate for dispatch. But the shelf position that intelligent storehouse was reserved for the second unmanned aerial vehicle is under first door, so there may be the condition that is not used for depositing the shelf position of second unmanned aerial vehicle express mail under the second door. And if the position of the first bin is not found, the travelling mechanism under the first bin is used for carrying out the storage of the express mail, and the tray bearing the second unmanned aerial vehicle express mail is connected to the travelling mechanism under the first bin. Optionally, the target shelf of the second unmanned aerial vehicle express mail may be a reserved shelf position obtained after the second unmanned aerial vehicle sends the reserved dispatch order. Finally, after the task of storing the first unmanned aerial vehicle express mail is executed, the first unmanned aerial vehicle can be informed of successful dispatch and return, and after the task of storing the second unmanned aerial vehicle express mail is executed, the second unmanned aerial vehicle can be informed of successful dispatch and return. Optionally, when executing the task of express mail deposit, can stop unmanned aerial vehicle at the top platform in intelligent storehouse to the energy saving.
Example IV
Fig. 4 is a schematic structural diagram of an intelligent warehouse dispatching device based on an unmanned aerial vehicle according to a fourth embodiment of the present invention. The device can be realized by hardware and/or software, and can be integrated in the intelligent warehouse for executing the intelligent warehouse dispatching method based on the unmanned aerial vehicle provided by any embodiment of the invention. As shown in fig. 4, the apparatus includes:
a dispatch request receiving module 41, configured to receive a first dispatch request sent by a first unmanned aerial vehicle;
the allocating module 42 is configured to allocate the second unmanned aerial vehicle to the idle bin gate for dispatching if a second dispatching request of the at least one second unmanned aerial vehicle to the same bin gate is received during dispatching of the first unmanned aerial vehicle;
the express receiving module 43 is configured to receive the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and store the first unmanned aerial vehicle express and the second unmanned aerial vehicle express on the shelf.
According to the technical scheme provided by the embodiment of the invention, the allocation scheme is provided for the plurality of unmanned aerial vehicles needing to be dispatched at the same bin gate at the same time, and the unmanned aerial vehicle sending the dispatch request is allocated to other idle bin gates for dispatch, so that the problem that the existing express cabinet for unmanned aerial vehicle delivery only allows one unmanned aerial vehicle to dispatch at the same time is solved, the intelligent bin is used for receiving more than two unmanned aerial vehicles for dispatch at the same time, the allocation scheme is provided for the unmanned aerial vehicles needing to be dispatched at the same bin gate at the same time, and the dispatch efficiency is further improved.
Optionally, the express receiving module includes:
the tray obtaining sub-module is used for obtaining a tray corresponding to the tray storage area by a travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located and moving the tray to the corresponding bin gate if the second unmanned aerial vehicle is allocated to the idle bin gate;
the bin gate opening sub-module is used for opening a bin gate where the second unmanned aerial vehicle is located;
the express item obtaining sub-module is used for obtaining a second unmanned aerial vehicle express item above the corresponding bin gate by the travelling mechanism;
the bin gate closing sub-module is used for closing a bin gate where the second unmanned aerial vehicle is located;
the information verification sub-module is used for measuring the height and the weight of the second unmanned aerial vehicle express mail and verifying the second unmanned aerial vehicle express mail information;
and the express mail storage sub-module is used for storing the second unmanned aerial vehicle express mail to the target goods shelf by utilizing a running mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located if the second unmanned aerial vehicle express mail information verification is successful.
Optionally, the express receiving module further includes:
and the parking sub-module is used for sending a parking instruction to the second unmanned aerial vehicle which is not allocated to the idle door if the second unmanned aerial vehicle is not allocated to the idle door, so that the second unmanned aerial vehicle which is not allocated to the idle door is parked on the top platform of the intelligent cabin until the idle door exists, and allocating the second unmanned aerial vehicle which is not allocated to the idle door.
Optionally, the express receiving module further includes:
and the delivery sub-module is used for delivering the tray bearing the second unmanned aerial vehicle express mail to the running mechanism on the target goods shelf path after the running mechanism on the target goods shelf path is used for storing the second unmanned aerial vehicle express mail if the goods shelf under the bin gate where the at least one second unmanned aerial vehicle is located is a full-load goods shelf after the running mechanism on the full-load goods shelf corresponds to the running mechanism on the target goods shelf path is used for storing the second unmanned aerial vehicle express mail after the express mail is stored after the running mechanism on the target goods shelf path is used for executing the express mail.
Optionally, the apparatus further comprises:
the reservation dispatch order receiving module is used for receiving the first unmanned aerial vehicle reservation dispatch order and the second unmanned aerial vehicle reservation dispatch order before receiving the first dispatch request sent by the first unmanned aerial vehicle;
the first goods shelf matching module is used for matching the trays and the target goods shelves according to the first unmanned aerial vehicle reservation dispatching order, and if matching is successful, the matched bin gate position is sent to the first unmanned aerial vehicle;
and the second goods shelf matching module is used for matching the trays and the target goods shelves according to the second unmanned aerial vehicle reservation delivery orders, and sending matched bin gate positions to the second unmanned aerial vehicle if matching is successful.
Optionally, the apparatus further comprises:
The first verification module is used for verifying the identity of the first unmanned aerial vehicle and the first unmanned aerial vehicle reservation delivery order information after receiving a first delivery request sent by the first unmanned aerial vehicle;
the first part returning module is used for opening a bin gate where the first unmanned aerial vehicle is located if verification fails, notifying the first unmanned aerial vehicle that a part cannot be dispatched and taking a returned part;
the second verification module is used for verifying the identity of the second unmanned aerial vehicle and the reservation dispatch order information of the second unmanned aerial vehicle after receiving at least one second dispatch request of the second unmanned aerial vehicle on the same bin gate;
and the second part returning module is used for opening a bin gate where the second unmanned aerial vehicle is located if verification fails, notifying the second unmanned aerial vehicle that a part cannot be dispatched and taking a returned part.
Optionally, the apparatus further comprises:
and the return notification module is used for notifying the first unmanned aerial vehicle and the second unmanned aerial vehicle that the delivery of the first unmanned aerial vehicle and the second unmanned aerial vehicle is successful and return after receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail in the goods shelf.
The parking instruction sending module is used for sending a parking instruction to the first unmanned aerial vehicle in the process of receiving the first unmanned aerial vehicle express mail so that the first unmanned aerial vehicle is parked on the intelligent bin top platform, and sending the parking instruction to the second unmanned aerial vehicle in the process of receiving the second unmanned aerial vehicle express mail so that the second unmanned aerial vehicle is parked on the intelligent bin top platform.
The intelligent warehouse dispatching device based on the unmanned aerial vehicle provided by the embodiment of the invention can execute the intelligent warehouse dispatching method based on the unmanned aerial vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the intelligent warehouse dispatching device based on the unmanned aerial vehicle, each unit and module are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example five
Fig. 5 is a schematic structural diagram of a smart bin provided in a fifth embodiment of the present invention, and shows a block diagram of an exemplary smart bin 50 suitable for use in implementing embodiments of the present invention. The smart bin 50 shown in fig. 5 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. As shown in fig. 5, the intelligent warehouse comprises a processor 51, a memory 52, a camera 53 and a travelling mechanism 54; the number of processors 51 in the intelligent warehouse 50 may be one or more, and in fig. 5, one processor 51 is taken as an example, the number of running mechanisms 54 in the intelligent warehouse 50 may be more than two, and in fig. 5, two running mechanisms 54 are taken as an example; the processor 51, memory 52, camera 53 and running gear 54 in the smart bin 50 may be connected by a bus or other means, for example by a bus connection in fig. 5.
The memory 52 is used as a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the intelligent unmanned aerial vehicle-based dispatch method in the embodiment of the present invention (e.g., the dispatch request receiving module 41, the dispatch module 42, and the express receiving module 43 in the intelligent unmanned aerial vehicle-based dispatch device). The processor 51 executes various functional applications and data processing of the intelligent warehouse by running software programs, instructions and modules stored in the memory 52, i.e. implementing the unmanned-vehicle-based intelligent warehouse dispatch method described above.
The memory 52 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created from the use of smart bins, etc. In addition, memory 52 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 52 may further comprise memory remotely located relative to processor 51, which may be connected to the smart bin via a network.
The camera 53 may be used to measure the height of the courseware and identify courseware information, and the running gear 54 may be used to receive and store courseware according to instructions from the processor 51.
Example six
The sixth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform an intelligent unmanned aerial vehicle-based warehouse dispatch method, the method comprising:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatch process of the first unmanned aerial vehicle, the second unmanned aerial vehicle is deployed to the idle bin gate for dispatch;
and receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf.
Storage media-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc.; nonvolatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided by the embodiment of the invention is not limited to the method operations described above, and may also perform the related operations in the intelligent unmanned aerial vehicle-based dispatch method provided by any embodiment of the invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (11)
1. An intelligent warehouse dispatching method based on an unmanned aerial vehicle is characterized by comprising the following steps:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatch process of the first unmanned aerial vehicle, dispatching the second unmanned aerial vehicle to the idle bin gate for dispatch;
receiving the first unmanned aerial vehicle express and storing the second unmanned aerial vehicle express to a goods shelf;
the receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing to a goods shelf comprises:
If the second unmanned aerial vehicle is allocated to the idle bin gate, a running mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located acquires a tray corresponding to a tray storage area and moves to the corresponding bin gate;
opening the bin gate where the second unmanned aerial vehicle is located;
the travelling mechanism acquires the second unmanned aerial vehicle express mail corresponding to the position above the bin gate;
closing the bin gate where the second unmanned aerial vehicle is located;
measuring the height and weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information;
if the second unmanned aerial vehicle express item information verification is successful, storing the second unmanned aerial vehicle express item to a target goods shelf by using the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located;
after the verification of the second unmanned aerial vehicle express information, further comprising:
if at least one goods shelf under the bin gate where the second unmanned aerial vehicle is located is a full-load goods shelf, after the running mechanism corresponding to the full-load goods shelf waits for the running mechanism on the target goods shelf path to execute the storing of the express mail, the tray bearing the second unmanned aerial vehicle express mail is handed over to the running mechanism on the target goods shelf path, and the running mechanism on the target goods shelf path stores the second unmanned aerial vehicle express mail to the target goods shelf.
2. The unmanned aerial vehicle-based intelligent warehouse dispatching method of claim 1, wherein the receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing to a shelf further comprises:
if the second unmanned aerial vehicle is not allocated to the idle bin gate, a stop instruction is sent to the second unmanned aerial vehicle which is not allocated to the idle bin gate, so that the second unmanned aerial vehicle which is not allocated to the idle bin gate stops on a top platform of an intelligent bin until the idle bin gate exists, and then the second unmanned aerial vehicle which is not allocated to the idle bin gate is allocated to the idle bin gate.
3. The intelligent warehouse dispatching method based on the unmanned aerial vehicle according to claim 1, further comprising, before the receiving the first dispatching request sent by the first unmanned aerial vehicle:
receiving the first unmanned aerial vehicle reservation dispatch order and the second unmanned aerial vehicle reservation dispatch order;
matching a tray and a target goods shelf according to the first unmanned aerial vehicle reservation dispatching order, and if matching is successful, sending the matched bin gate position to the first unmanned aerial vehicle;
and matching the tray with the target goods shelf according to the second unmanned aerial vehicle reservation dispatching order, and if matching is successful, sending the matched bin gate position to the second unmanned aerial vehicle.
4. The intelligent warehouse dispatching method based on the unmanned aerial vehicle according to claim 3, further comprising, after receiving the first dispatching request sent by the first unmanned aerial vehicle:
verifying the identity of the first unmanned aerial vehicle and the first unmanned aerial vehicle reservation dispatch order information;
if the verification fails, opening the bin gate where the first unmanned aerial vehicle is located, informing the first unmanned aerial vehicle that the first unmanned aerial vehicle cannot send a piece and taking a rollback piece;
after receiving the second dispatch request of the at least one second unmanned aerial vehicle at the same bin gate, the method further comprises:
verifying the identity of the second unmanned aerial vehicle and the reservation dispatch order information of the second unmanned aerial vehicle;
if verification fails, opening the bin gate where the second unmanned aerial vehicle is located, and informing the second unmanned aerial vehicle that the second unmanned aerial vehicle cannot send a piece and take a rollback piece.
5. The unmanned aerial vehicle-based intelligent warehouse dispatching method of claim 1, further comprising, after the receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing them on a shelf:
notifying the first unmanned aerial vehicle and the second unmanned aerial vehicle that the dispatch is successful and the unmanned aerial vehicle returns;
correspondingly, in the process of receiving the first unmanned aerial vehicle express mail, a stop instruction is sent to the first unmanned aerial vehicle so that the first unmanned aerial vehicle stops at the intelligent bin top platform, and in the process of receiving the second unmanned aerial vehicle express mail, the stop instruction is sent to the second unmanned aerial vehicle so that the second unmanned aerial vehicle stops at the intelligent bin top platform.
6. Intelligent warehouse dispatch device based on unmanned aerial vehicle, its characterized in that includes:
the dispatch request receiving module is used for receiving a first dispatch request sent by the first unmanned aerial vehicle;
the allocation module is used for allocating the second unmanned aerial vehicle to the idle bin gate for dispatching if a second dispatching request of at least one second unmanned aerial vehicle on the same bin gate is received in the dispatching process of the first unmanned aerial vehicle;
the express receiving module is used for receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express in a goods shelf;
the express receiving module includes:
the tray obtaining sub-module is used for obtaining a tray corresponding to a tray storage area by a traveling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located and moving the tray to the corresponding bin gate if the second unmanned aerial vehicle is allocated to the idle bin gate;
the bin gate opening sub-module is used for opening the bin gate where the second unmanned aerial vehicle is located;
the express item obtaining sub-module is used for obtaining the second unmanned aerial vehicle express item corresponding to the position above the bin gate by the travelling mechanism;
the bin gate closing sub-module is used for closing the bin gate where the second unmanned aerial vehicle is located;
The information verification sub-module is used for measuring the height and the weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information;
the express mail storage sub-module is used for storing the second unmanned aerial vehicle express mail to a target goods shelf by utilizing the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located if the second unmanned aerial vehicle express mail information is successfully verified;
the express receiving module further includes:
and the delivery sub-module is used for delivering the tray bearing the second unmanned aerial vehicle express mail to the running mechanism on the target shelf path after the running mechanism on the target shelf path waits for the running mechanism on the target shelf path to finish storing the express mail if at least one shelf under the bin gate where the second unmanned aerial vehicle is located is a full-load shelf after verifying the second unmanned aerial vehicle express mail information, and storing the second unmanned aerial vehicle express mail to the target shelf by the running mechanism on the target shelf path.
7. The unmanned aerial vehicle-based intelligent warehouse dispatching device of claim 6, wherein the express receiving module further comprises:
And the docking sub-module is used for sending docking instructions to the second unmanned aerial vehicle which is not allocated to the idle bin gate if the second unmanned aerial vehicle is not allocated to the idle bin gate, so that the second unmanned aerial vehicle which is not allocated to the idle bin gate is parked on a top platform of the intelligent bin until the idle bin gate exists, and allocating the second unmanned aerial vehicle which is not allocated to the idle bin gate.
8. The unmanned aerial vehicle-based intelligent warehouse dispatching device of claim 6, further comprising:
the reservation dispatch order receiving module is used for receiving the first unmanned aerial vehicle reservation dispatch order and the second unmanned aerial vehicle reservation dispatch order before receiving the first dispatch request sent by the first unmanned aerial vehicle;
the first goods shelf matching module is used for matching the trays and the target goods shelves according to the first unmanned aerial vehicle reservation dispatching order, and if matching is successful, the matched bin gate positions are sent to the first unmanned aerial vehicle;
and the second goods shelf matching module is used for matching the tray with the target goods shelf according to the second unmanned aerial vehicle reservation dispatching order, and if the matching is successful, the matched bin gate position is sent to the second unmanned aerial vehicle.
9. The unmanned aerial vehicle-based intelligent warehouse dispatching device of claim 8, further comprising:
the first verification module is used for verifying the identity of the first unmanned aerial vehicle and the first unmanned aerial vehicle reservation delivery order information after receiving a first delivery request sent by the first unmanned aerial vehicle;
the first part returning module is used for opening the bin gate where the first unmanned aerial vehicle is located if verification fails, notifying the first unmanned aerial vehicle that a part cannot be dispatched and taking a returned part;
the second verification module is used for verifying the identity of the second unmanned aerial vehicle and the second unmanned aerial vehicle reservation dispatch order information after receiving a second dispatch request of at least one second unmanned aerial vehicle on the same bin gate;
and the second part returning module is used for opening the bin gate where the second unmanned aerial vehicle is located if verification fails, notifying the second unmanned aerial vehicle that a part cannot be dispatched and taking a returned part.
10. An intelligent warehouse, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
a camera for measuring a height of a express item and identifying the express item information;
the travelling mechanisms are used for receiving and storing the express items according to the processor instructions;
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the unmanned aerial vehicle-based intelligent dispatch method of any one of claims 1-5.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the unmanned aerial vehicle-based intelligent warehouse dispatch method according to any one of claims 1-5.
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| CN111680949B (en) * | 2020-06-02 | 2023-08-04 | 深圳市丰巢科技有限公司 | Express delivery method, device and system of express cabinet and storage medium |
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