CN111325499A - Article delivery method and device, robot and storage medium - Google Patents
Article delivery method and device, robot and storage medium Download PDFInfo
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- CN111325499A CN111325499A CN202010074233.1A CN202010074233A CN111325499A CN 111325499 A CN111325499 A CN 111325499A CN 202010074233 A CN202010074233 A CN 202010074233A CN 111325499 A CN111325499 A CN 111325499A
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0836—Recipient pick-ups
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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Abstract
The embodiment of the invention discloses an article delivery method, an article delivery device, a robot and a storage medium, wherein the method comprises the following steps: when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one piece of order information; at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse; and according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods. According to the embodiment of the invention, the robot can take goods and dispatch the goods according to the orders, so that the dispatch of every order goods is avoided, and the efficiency of dispatching the goods is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to an article dispatching method, an article dispatching device, a robot and a storage medium.
Background
With the rapid development of robot technology, intelligent robots are widely used. In order to save costs and provide more efficient services, the concept of replacing manual delivery with a robot or drone has been proposed and put into practice.
However, the delivery method of the existing robot still has certain disadvantages: the existing delivery robot can only process one order at a time, namely, only after the delivery of one order goods is completed, the existing delivery robot can take the next order to continue delivering the order goods, thereby causing the delivery efficiency of the order goods to be low.
Disclosure of Invention
The embodiment of the invention provides an article dispatching method, an article dispatching device, a robot and a storage medium, and aims to solve the technical problem that the efficiency of dispatching ordered goods is low in the prior art.
In a first aspect, an embodiment of the present invention provides an item dispatching method applied to an unmanned delivery system, where the unmanned delivery system includes a robot and a container, the robot includes at least two cargo compartments for storing items in orders, and the method includes:
when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one piece of order information;
at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse;
and according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
In a second aspect, an embodiment of the present invention further provides an article dispatching apparatus configured on a robot in an unmanned delivery system, the unmanned delivery system further including a container, the robot including at least two bins for storing ordered articles, the apparatus including:
the response movement module is used for responding that the goods taking instruction moves to a preset position in front of the container when the robot receives a plurality of goods taking instructions issued by the server, wherein each goods taking instruction corresponds to one piece of order information;
the article taking module is used for sequentially receiving the order articles corresponding to each article taking instruction transmitted by the container at the preset position by the robot, wherein the order articles corresponding to each article taking instruction are stored in the corresponding cargo compartment;
and the dispatching module is used for sequentially dispatching the extracted order items according to the order information corresponding to each goods taking instruction.
In a third aspect, an embodiment of the present invention further provides a robot, including:
at least two warehouses for storing at least two orders of items;
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of item dispatch as described in any of the embodiments of the invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the item dispatching method according to any embodiment of the present invention.
In the embodiment of the invention, the robot is provided with at least two goods bins, so that after receiving at least two goods taking instructions generated according to a plurality of customer orders, the robot automatically takes out the order goods included in each goods taking instruction in sequence from the goods bins, correspondingly places each order goods in different goods bins, and respectively dispatches the obtained goods, thereby realizing that the robot can simultaneously process a plurality of orders, avoiding dispatching once when taking one order goods, and improving the efficiency of goods dispatching.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for delivering an item according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating an item dispatching method according to a second embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method for delivering items according to a third embodiment of the present invention;
FIG. 4 is a schematic structural view of an article dispensing device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an article dispatching method according to an embodiment of the present invention, which is applicable to a case where an article is dispatched by a robot, for example, an article purchased by a customer from an unmanned container is dispatched by a robot, or an article purchased by a towel, a bathrobe or other user is dispatched by a guest in a hotel by a robot, and the method can be performed by an article dispatching apparatus, which can be implemented by software and/or hardware, and can be integrated on a robot, wherein the robot includes at least two bins for storing articles.
As shown in fig. 1, the method for delivering an item specifically includes:
s101, when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one order information.
In the embodiment of the invention, a user can place an order through a mobile terminal (such as a smart phone or a tablet personal computer), illustratively, the user enters an online mall platform by using a WeChat or other APP code scanning function to realize convenient code scanning and order placement, and then the mobile terminal sends order information of the user to a background server, wherein the order information at least comprises articles purchased by the user, the number of the articles and a delivery destination. After receiving the order information of the user, the background server respectively generates a goods taking instruction according to each order information, wherein the goods taking instruction comprises the order information and also comprises an instruction for instructing the robot to move to the container position to take the order goods. It should be noted that, if a plurality of containers exist at the same time, each fetching instruction further includes a container ID for instructing the robot to move to the corresponding container for fetching according to the container ID.
When a plurality of orders exist in a period of time, the background server determines a distribution scheme, and generates corresponding goods taking instructions for the plurality of orders respectively, so that the idle robot can be determined as a target robot according to the current state (such as an idle state, a received order goods taking state and a dispatching state) of each robot, and the plurality of goods taking instructions are sent to any robot in the idle state, namely the idle robot processes the received plurality of orders simultaneously. It should be noted that, if there is only one order within a period of time, in order to ensure the timeliness of delivery, the order is issued to the robot, and the robot is instructed to process only the picking and delivery of the item of the order.
In this embodiment, the order items corresponding to the multiple pickup instructions received by the robot are located in one container, and the robot responds to the pickup instructions and moves to a preset position in front of the container, where the preset position is optionally a specified position in front of the container pickup port, so that after the robot opens the cargo compartment at the position, the cargo compartment accurately extends to the lower side of the container pickup port to complete pickup.
S102, at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse.
When the robot specifically obtains the order articles, in order to ensure that the order articles are accurately dispatched subsequently, each time the robot receives an order article corresponding to a picking instruction transmitted by the container, the robot places the order article in a corresponding warehouse, for example, in any idle warehouse, thereby realizing that different warehouses store the order articles included in different picking instructions. It should be noted that, in the present embodiment, the robot includes at least two storage bins for storing articles, so as to ensure that the robot can simultaneously process the picking commands corresponding to the plurality of orders.
Further, in an optional implementation manner, the operation of the robot receiving the order item corresponding to each goods taking instruction transmitted by the container in turn includes:
and S1021, determining the number of the required bins according to the number of the goods taking instructions, and opening the bins with the required number in sequence.
If the number of the warehouse of the robot is equal to the number of the received goods taking instructions, one goods taking instruction can correspond to one warehouse, and each time the robot opens one warehouse, one goods taking instruction is processed according to S1022; when the number of the goods warehouse is larger than the order number, when the robot opens one goods warehouse, a goods taking instruction is processed according to S1022, and when the robot finishes processing the last goods taking instruction, the operation of opening the goods warehouse is finished, and the ordered goods are dispatched.
S1022, after each cargo cabin is opened, the following operations are executed: selecting any unprocessed goods taking instruction, and generating a corresponding goods delivery instruction according to the unprocessed goods taking instruction; and sending the shipment instruction to the container to instruct the container to transfer the ordered article corresponding to the shipment instruction to the opened warehouse, and closing the warehouse after receiving the message that the article transfer is successful fed back by the container.
In this embodiment, after the robot moves to the designated location and opens one warehouse, the robot notifies the container to transfer the corresponding order item to the warehouse, specifically, the container takes the order item from the shelf according to the order item included in the shipment designation and sends the order item to the lifting mechanism of the container, the lifting mechanism carries the order item to the container port so as to transfer the order item to the opened warehouse, and the port of the container is further provided with a shipment detection device, such as an infrared detection device, and after detecting that the order item is transferred to the warehouse, sends a message that the item transfer is successful to the robot, instructs the robot to close the warehouse and open another vacant warehouse so as to process the next unprocessed pickup instruction.
It should be noted that, since the corresponding order items need to be extracted according to the multiple pickup instructions, the robot executes the operation of notifying the container to discharge the goods instead of executing the operation of notifying the container to discharge the goods by the background server, thereby avoiding that the container discharges the goods simultaneously according to the multiple pickup instructions in advance, which results in that the robot cannot distinguish the order items corresponding to each pickup instruction. Furthermore, when each order article corresponding to a goods taking instruction is successfully extracted and the goods warehouse is closed, the robot records the goods taking instruction corresponding to the goods warehouse, namely records the order information corresponding to each goods warehouse, so that the goods warehouse corresponding to the user order can be accurately opened during subsequent delivery.
And S103, according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
In an optional implementation manner, the operation of sequentially dispatching the extracted order items according to the order information corresponding to each pickup instruction includes:
and S1031, planning an item delivery path according to each order information.
In order to improve the efficiency of the item delivery, the path of the item delivery can be planned first. Optionally, the item delivery path is planned according to the order placing time of each order, or according to the distance of the delivery destination of each order.
S1032, delivering the items of each order in sequence according to the item delivery path.
S1033, after each delivery destination corresponding to one order is reached, responding to the verification success indication of the user, opening the warehouse where the items of the order of the user are located, responding to the receiving confirmation indication of the user, and closing the warehouse.
For example, after each delivery destination corresponding to one order is reached, the robot notifies the order customer to pick up the goods, and for the safety of delivery, only after receiving an indication that the user verification is successful sent by the server, or based on a face verification function set on the robot, and after the face verification is passed, the warehouse where the user order goods are located is opened, so that the user can pick up the goods. And after the user confirms the delivery, closing the warehouse, and continuing to deliver the next order item until all the order items are delivered.
Further, after the robot finishes delivering all the order items, planning a return path, and moving to a specified position according to the return path so as to continuously receive a goods taking instruction issued by the server at the specified position.
In the embodiment of the invention, the robot is provided with the at least two goods bins, so that after receiving the at least two goods taking instructions generated according to the plurality of customer orders, the robot automatically takes out the order goods included in each goods taking instruction in sequence from the goods containers, correspondingly places each order goods in different goods bins, receives a plurality of orders at one time, achieves one-time completion of goods taking, and dispatches the obtained goods respectively, thereby achieving that the robot can process a plurality of orders at the same time, avoiding dispatching once when taking one order goods, improving the efficiency of goods dispatching, and saving the waiting time of users.
Example two
Fig. 2 is a schematic flow chart of an item dispatching method according to a second embodiment of the present invention, which is optimized based on the above-mentioned embodiments and adds an operation of specifying a target warehouse for each pickup instruction in advance, and referring to fig. 2, the method specifically includes:
s201, when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one order information.
S202, the robot determines a target warehouse corresponding to each goods taking instruction according to the order information and warehouse parameters of the robot.
In the embodiment of the application, the robot has different volumes of the bins due to hardware limitation, and taking a double-bin robot as an example, the bin parameters of the first bin are height 16cm and volume 14L, and the bin parameters of the second bin are height 23cm and volume 21L. Moreover, because the quantity of the articles in the order is different, the volume of the articles in the order is larger, and the articles exceed the volume of a certain warehouse, so that the picking cannot be completed, and therefore, a target warehouse needs to be appointed for each order in advance, namely, a target warehouse needs to be appointed for each picking instruction.
In an alternative embodiment, the target warehouse corresponding to each goods taking instruction is determined according to the order information and warehouse parameters of the robot. The method specifically comprises the following steps:
s2021, determining the total volume of the articles contained in the order according to order information corresponding to a goods taking instruction.
Wherein, since the order information includes detailed information of the single item, such as the capacity of the single item, and also includes the quantity of the item, the total volume of the items included in the order can be determined according to the quantity of the item and the capacity of the single item.
S2022, determining the respective volume of each warehouse according to warehouse parameters of the robot.
S2023, respectively determining a difference value between the total volume and the volume of each warehouse, and taking the warehouse of which the difference value is smaller than a preset threshold value as a target warehouse corresponding to the goods taking instruction so as to store the goods included in the order in the target warehouse.
The goods warehouse with the difference value between the total volume and the volume of each goods warehouse being smaller than the preset threshold value is used as the target goods warehouse corresponding to the goods taking instruction, so that when goods are taken subsequently, the goods included in each order can be placed in the proper goods warehouse, and the situation that the goods of a certain subsequent order cannot be loaded in the residual goods warehouse due to the fact that the goods with the smaller total volume are placed in the goods warehouse with the largest volume is avoided.
Further, if the total volume of the order items corresponding to a certain pick instruction is larger than the volume of a single warehouse, for example, the total volume is larger than the volume of the largest warehouse, the number of the required warehouses is determined according to the total volume and the volume of each warehouse, and the required warehouses are selected as the target warehouse corresponding to the pick instruction. For example, if the total volume of the articles corresponding to a certain pick command is 30L, the volume of the warehouse 1 is 12L, and the volume of the warehouse 2 is 21L, the warehouse 1 and the warehouse 2 can be used as the target warehouse corresponding to the pick command.
S203, at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding target goods warehouse.
Optionally, after the robot responds to the goods taking instruction and moves to the preset position in front of the container, the required number of the goods bins are opened in sequence. After each target warehouse is opened, the following operations are executed: selecting an unprocessed goods taking instruction corresponding to the target goods warehouse, and generating a corresponding goods delivery instruction according to the unprocessed goods taking instruction; and sending the shipment instruction to the container to instruct the container to transfer the ordered article corresponding to the shipment instruction to the opened target warehouse, and closing the target warehouse after receiving the message of successful article transfer fed back by the container.
Further, if a fetching instruction corresponds to a plurality of target warehouses, for example, two warehouses (for example, warehouse 1 and warehouse 2), the robot determines the quantity of the items to be stored in each of warehouse 1 and warehouse 2 according to the volumes of warehouse 1 and warehouse 2 and the volume of a single order item, and when warehouse 1 is opened, the container transfers the determined quantity of the items to the container 1, and after receiving the message that the delivery of the items is successful, the warehouse 1 is closed, and the warehouse 2 is opened to continue receiving the remaining order items corresponding to the fetching instruction transferred by the container.
And S204, according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
In this embodiment, the robot appoints the target warehouse for every instruction of getting goods in advance, can guarantee that the order article that every instruction of getting goods corresponds can the storage in the corresponding target warehouse, realized the accurate goods of getting of a plurality of orders, and then guarantee that the robot dispatches the order article of a plurality of orders respectively, promote article and dispatch efficiency.
EXAMPLE III
Fig. 3 is a schematic flow chart of an item dispatching method according to a third embodiment of the present invention, which is optimized based on the foregoing embodiments and adds an operation of specifying a target warehouse for each pickup instruction in advance, and referring to fig. 3, the method specifically includes:
s301, when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one order information.
S302, obtaining a target warehouse corresponding to each goods taking instruction determined by the server according to the order information and warehouse parameters of the robot.
In this embodiment, since the capacity of each warehouse of the robot is fixed, the background server operates stably, the calculation capability is strong, and the order placed by the user is sent to the server first, as an optional implementation manner, the background server determines the target warehouse corresponding to each pickup instruction according to the order information and the warehouse parameters of the robot, and the specific operation of determining the target warehouse corresponding to each pickup instruction may refer to the above-mentioned embodiment, which is not described herein again. After the server determines the target warehouse corresponding to each goods taking instruction, the target warehouse is issued to the robot, so that when the robot takes the order goods according to the goods taking instruction, the taken order goods can be placed in the corresponding target warehouse.
And S303, at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding target goods warehouse.
The process in this embodiment is similar to the process in the above embodiments, and is not described herein again.
And S304, according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
In this embodiment, appoint the target storehouse for every instruction of getting goods in advance by the server, when can guaranteeing follow-up getting goods, the order article that every instruction of getting goods corresponds can realize the accurate of a plurality of orders get goods in the corresponding target storehouse of storage, and then guarantee that the robot dispatches the order article of a plurality of orders respectively, promote article and dispatch efficiency.
Example four
Fig. 4 is a schematic structural diagram of an item dispatch apparatus according to a fourth embodiment of the present invention, which is disposed on a robot in an unmanned delivery system, the robot including at least two bins for storing ordered items, as shown in fig. 4, the apparatus includes:
the response movement module 401 is configured to respond that the robot moves to a preset position in front of the container in response to a plurality of pickup instructions issued by a server, where each pickup instruction corresponds to one piece of order information;
an article taking module 402, configured to, at the preset position, sequentially receive an order article corresponding to each pickup instruction transmitted by the container by the robot, where the order article corresponding to each pickup instruction is stored in a corresponding cargo bay;
and a dispatching module 403, configured to dispatch the extracted order items in sequence according to the order information corresponding to each pickup instruction.
In the embodiment of the invention, the robot is provided with the at least two goods bins, so that after the robot receives at least two goods taking instructions generated according to a plurality of customer orders at the same time, the robot automatically sequentially takes out the order goods included in each goods taking instruction from the goods containers, places each order goods in different goods bins correspondingly, receives a plurality of orders at one time and finishes goods taking at one time, and dispatches the obtained goods respectively, thereby realizing that the robot can process a plurality of orders at the same time, avoiding dispatching at one time when one order goods is taken, and improving the efficiency of goods dispatching.
Optionally, the article taking module is specifically configured to:
determining the number of required bins according to the number of the goods taking instructions, and opening the required bins in sequence;
after each opening of a warehouse, the following operations are carried out:
selecting any unprocessed goods taking instruction, and generating a corresponding goods delivery instruction according to the unprocessed goods taking instruction; and sending the shipment instruction to the container to instruct the container to transfer the ordered article corresponding to the shipment instruction to the opened warehouse, and closing the warehouse after receiving the message that the article transfer is successful fed back by the container.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring a target warehouse which is determined by the server according to the order information and warehouse parameters of the robot and corresponds to each goods taking instruction before receiving at least two goods taking instructions issued by the server;
the determining module is used for determining a target warehouse corresponding to each goods taking instruction according to the order information and warehouse parameters of the robot after receiving at least two goods taking instructions issued by the server;
correspondingly, after the robot receives the order goods corresponding to each goods taking instruction transmitted by the container in sequence, the order goods corresponding to each goods taking instruction are stored in the corresponding target goods warehouse.
Optionally, the target warehouse corresponding to each goods taking instruction determined according to the order information and warehouse parameters of the robot includes:
determining the total volume of the articles contained in an order according to order information corresponding to a goods taking instruction;
determining the respective volume of each warehouse according to warehouse parameters of the robot;
and respectively determining the difference value between the total volume and the volume of each bin, and taking the bin with the difference value smaller than a preset threshold value as a target bin corresponding to the goods taking instruction so as to store the goods included in the order in the target bin.
Optionally, if the total volume is greater than the volume of a single warehouse, determining the number of the required warehouses according to the total volume and the volume of each warehouse, and selecting the warehouses with the required number as the target warehouse corresponding to the goods taking instruction.
Optionally, the sending module is specifically configured to:
planning an item delivery path according to each order information;
according to the item delivery path, sequentially delivering the items of each order;
and after the delivery destination corresponding to one order is reached, responding to the verification success indication of the user, opening the warehouse where the goods in the order of the user are positioned, responding to the receiving confirmation indication of the user, and closing the warehouse.
Optionally, the apparatus further comprises:
and the returning module is used for planning a returning path after the robot sends all the order items, so that the robot moves to a specified position according to the returning path to continuously receive the goods taking instruction sent by the server at the specified position.
The article dispatching device provided by the embodiment of the invention can execute the article dispatching method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a robot according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary robot 12 suitable for use in implementing embodiments of the present invention. The robot 12 shown in fig. 5 is only an example, and should not bring any limitation to the function and the range of use of the embodiment of the present invention.
As shown in fig. 5, the robot 12 is in the form of a general purpose computing device. The components of the robot 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The robot 12 typically includes a variety of computer system readable media. These media may be any available media that can be accessed by the robot 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The robot 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The robot 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the robot 12, and/or with any devices (e.g., network card, modem, etc.) that enable the robot 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the robot 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the robot 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in connection with the robot 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others. The robot 12 also includes at least two bins (not shown) for storing at least two orders of items.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing an article dispatch method applied to a multi-bin robot provided by the embodiment of the present invention, the method includes:
when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one piece of order information;
at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse;
and according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
EXAMPLE six
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an item dispatching method applied to a multi-bin robot, where the method includes:
when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one piece of order information;
at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse;
and according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. 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, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An item dispatch method for use in an unmanned delivery system comprising a robot and a container, the robot including at least two bins for storing ordered items, the method comprising:
when receiving a plurality of goods taking instructions issued by a server, the robot responds to the goods taking instructions to move to a preset position in front of the container, wherein each goods taking instruction corresponds to one piece of order information;
at the preset position, the robot sequentially receives the order articles corresponding to each goods taking instruction transmitted by the container, wherein the order articles corresponding to each goods taking instruction are stored in the corresponding goods warehouse;
and according to the order information corresponding to each goods taking instruction, sequentially dispatching the extracted order goods.
2. The method of claim 1, wherein the robot receives the order item corresponding to each pick instruction delivered by the container in turn, wherein the order item corresponding to each pick instruction is stored in a corresponding warehouse, comprising:
determining the number of required bins according to the number of the goods taking instructions, and opening the required bins in sequence;
after each opening of a warehouse, the following operations are carried out:
selecting any unprocessed goods taking instruction, and generating a corresponding goods delivery instruction according to the unprocessed goods taking instruction; and sending the shipment instruction to the container to instruct the container to transfer the ordered article corresponding to the shipment instruction to the opened warehouse, and closing the warehouse after receiving the message that the article transfer is successful fed back by the container.
3. The method of claim 1, further comprising:
before receiving at least two goods taking instructions issued by a server, obtaining a target goods warehouse corresponding to each goods taking instruction determined by the server according to order information and goods warehouse parameters of a robot; or
After receiving at least two goods taking instructions issued by the server, the robot determines a target goods warehouse corresponding to each goods taking instruction according to the order information and goods warehouse parameters of the robot;
correspondingly, after the robot receives the order object corresponding to each goods taking instruction transmitted by the container in sequence, the order object corresponding to each goods taking instruction is stored in the corresponding target goods warehouse.
4. The method of claim 3, wherein the operation of the target bin corresponding to each pick instruction determined from the order information and the bin parameters of the robot comprises:
determining the total volume of the articles contained in an order according to order information corresponding to a goods taking instruction;
determining the respective volume of each warehouse according to warehouse parameters of the robot;
and respectively determining the difference value between the total volume and the volume of each bin, and taking the bin with the difference value smaller than a preset threshold value as a target bin corresponding to the goods taking instruction so as to store the goods included in the order in the target bin.
5. The method of claim 4, further comprising:
and if the total volume is larger than the volume of a single warehouse, determining the number of the required warehouses according to the total volume and the volume of each warehouse, and selecting the warehouses with the required number as the target warehouses corresponding to the goods taking instruction.
6. The method according to claim 1, wherein the step of sequentially dispatching the extracted order items according to the order information corresponding to each pickup instruction comprises:
planning an item delivery path according to each order information;
according to the item delivery path, sequentially delivering the items of each order;
and after the delivery destination corresponding to one order is reached, responding to the verification success indication of the user, opening the warehouse where the goods in the order of the user are positioned, responding to the receiving confirmation indication of the user, and closing the warehouse.
7. The method of claim 1, further comprising:
and after the robot finishes dispatching all the order items, planning a return path, and moving to a specified position according to the return path so as to continuously receive a goods taking instruction issued by the server at the specified position.
8. An article dispatch device configured to be mounted on a robot in an unmanned delivery system, the unmanned delivery system further comprising a container, the robot including at least two bins for storing articles for orders, the device comprising:
the response movement module is used for responding that the goods taking instruction moves to a preset position in front of the container when the robot receives a plurality of goods taking instructions issued by the server, wherein each goods taking instruction corresponds to one piece of order information;
the article taking module is used for sequentially receiving the order articles corresponding to each article taking instruction transmitted by the container at the preset position by the robot, wherein the order articles corresponding to each article taking instruction are stored in the corresponding cargo compartment;
and the dispatching module is used for sequentially dispatching the extracted order items according to the order information corresponding to each goods taking instruction.
9. A robot, comprising:
at least two warehouses for storing at least two orders of items;
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the item dispatch method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for dispatching an item according to any one of claims 1 to 7.
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