CN111703800A - Goods storage and pickup method and device, octahedral intelligent cabinet and storage medium - Google Patents
Goods storage and pickup method and device, octahedral intelligent cabinet and storage medium Download PDFInfo
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- CN111703800A CN111703800A CN202010565580.4A CN202010565580A CN111703800A CN 111703800 A CN111703800 A CN 111703800A CN 202010565580 A CN202010565580 A CN 202010565580A CN 111703800 A CN111703800 A CN 111703800A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The embodiment of the invention discloses a method and a device for storing and taking goods, an octahedral intelligent cabinet and a storage medium. The goods storage method comprises the following steps: responding to a goods storage instruction of a user, opening the inner safety door, moving the target empty tray to the delivery opening through the fork mechanism, and closing the inner safety door; opening the outer safety door, and receiving goods to be stored through the target empty tray; closing the outer safety door, and detecting whether goods to be stored meet the storage requirement through a weighing and visual detection device; if so, the inner safety door is opened, and goods to be stored are stored in the set goods storage area through the fork mechanism. The scheme of the embodiment of the invention solves the problem that the octahedral intelligent cabinet is easy to break down, can realize the storage of goods in the octahedral intelligent cabinet, and can ensure the normal work of the octahedral intelligent cabinet.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent cabinets, in particular to a method and a device for storing and taking goods, an octahedral intelligent cabinet and a storage medium.
Background
With the rapid development of express delivery services, the intelligent cabinet is also produced and widely applied. The octahedral intelligent cabinet is a typical intelligent cabinet, and an LED screen is arranged on the outer wall of a cabinet machine of the octahedral intelligent cabinet and can provide diversified services; the inside can hold about 600 express deliveries.
Because octahedron intelligence cabinet only has a delivery opening, this delivery opening both will realize depositing of goods, also realizes getting of goods, in case the user deposits or gets the incorrect manipulation of goods through octahedron intelligence cabinet, will lead to octahedron intelligence cabinet to break down, unable normal work.
Disclosure of Invention
The embodiment of the invention provides a goods storage and pickup method and device, an octahedral intelligent cabinet and a storage medium, which can solve the problem that the octahedral intelligent cabinet is easy to break down, can realize the storage or pickup of goods in the octahedral intelligent cabinet, and can ensure the normal work of the octahedral intelligent cabinet.
In a first aspect, an embodiment of the present invention provides a cargo storage method applied to an octahedral intelligent cabinet, where the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, where the double safety door device includes an inner safety door and an outer safety door, and the method includes:
responding to a goods storage instruction of a user to open an inner safety door, moving a target empty tray to a delivery port through the fork mechanism, and closing the inner safety door;
opening the outer safety door, and receiving goods to be stored through the target empty tray;
closing the outer safety door, and detecting whether the goods to be stored meet the storage requirement through a weighing and visual detection device;
if so, opening the inner safety door, and storing the goods to be stored in a set goods storage area through the fork mechanism.
In a second aspect, an embodiment of the present invention further provides a cargo receiving method, which is applied to an octahedral intelligent cabinet, where the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, where the double safety door device includes an inner safety door and an outer safety door, and the method includes:
responding to a target goods getting instruction of a user, opening an inner safety door, moving a tray loaded with the target goods to a delivery port through a fork mechanism, and closing the inner safety door;
recording the information of the target cargo through a weighing and visual detection device;
and opening the outer safety door to enable the user to pick up the target goods.
In a third aspect, an embodiment of the present invention further provides a cargo storage device applied to an octahedral intelligent cabinet, where the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, where the double safety door device includes an inner safety door and an outer safety door, and the device includes:
the target empty tray moving module is used for responding to a goods storage instruction of a user to open the inner safety door, moving the target empty tray to the delivery port through the fork mechanism and closing the inner safety door;
the goods to be stored receiving device is used for opening the outer safety door and receiving goods to be stored through the target empty tray;
the goods to be stored detection module is used for closing the outer safety door and detecting whether the goods to be stored meet the storage requirement through the weighing and visual detection device;
and the to-be-stored goods storage module is used for opening the inner safety door and storing the to-be-stored goods in a set goods storage area through the fork mechanism.
In a fourth aspect, an embodiment of the present invention further provides a cargo receiving device, which is applied to an octahedral intelligent cabinet, where the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, where the double safety door device includes an inner safety door and an outer safety door, and the device includes:
the target cargo moving module is used for responding to a target cargo getting instruction of a user, opening the inner safety door, moving the tray loaded with the target cargo to the delivery port through the fork mechanism, and then closing the inner safety door;
the information recording module is used for recording the information of the target cargo through the weighing and visual detection device;
and the target goods receiving module is used for opening the outer safety door so as to enable a user to receive the target goods.
In a fifth aspect, an embodiment of the present invention further provides an octahedron intelligent cabinet, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor executes the computer program to implement the cargo storage method according to any embodiment of the present invention or the cargo pickup method according to any embodiment of the present invention.
In a sixth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute a cargo storage method according to any embodiment of the present invention or a cargo pickup method according to any embodiment of the present invention when executed by a computer processor.
According to the embodiment of the invention, the inner safety door is opened in response to a goods storage instruction of a user, the target empty tray is moved to the delivery port through the fork mechanism, and the inner safety door is closed; opening the outer safety door, and receiving goods to be stored through the target empty tray; closing the outer safety door, and detecting whether goods to be stored meet the storage requirement through a weighing and visual detection device; if, then open interior emergency exit to will wait to deposit the goods and leave in setting for the storage district position through the fork mechanism, solve the easy problem that breaks down of octahedron intelligent cabinet, can realize depositing the goods in octahedron intelligent cabinet, can guarantee octahedron intelligent cabinet normal work.
Drawings
Fig. 1 is a flowchart of a cargo storage method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an octahedral intelligent cabinet according to a first embodiment of the present invention;
fig. 3 is a flowchart of a cargo storage method according to a second embodiment of the present invention;
fig. 4 is a flowchart of a cargo storage method (storage) according to a second embodiment of the present invention;
fig. 5 is a flowchart of a cargo pickup method according to a third embodiment of the present invention;
fig. 6 is a flowchart of a cargo pickup method according to a fourth embodiment of the present invention;
fig. 7 is a flowchart of a cargo pickup method (pickup) according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural view of a cargo storage device according to a fifth embodiment of the present invention;
fig. 9 is a schematic structural view of a cargo receiving device according to a sixth embodiment of the present invention;
fig. 10 is a schematic structural diagram of an octahedral intelligent cabinet in a seventh embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a cargo storage method according to a first embodiment of the present invention, where the present embodiment is applicable to a case where cargo is stored in an octahedral intelligent cabinet, and the method may be performed by a cargo storage device, which may be implemented by software and/or hardware and integrated in the octahedral intelligent cabinet.
It should be noted that the octahedral intelligent cabinet related in the embodiment of the present invention is a typical intelligent cabinet, and an LED screen is disposed on an outer wall of a cabinet machine of the octahedral intelligent cabinet, so as to provide diversified services; the inside can hold about 600 express deliveries. Fig. 2 is a schematic structural diagram of an octahedral intelligent cabinet, which mainly comprises: a safety door device (comprising an outer safety door 210 and an inner safety door 220), a pallet fork mechanism 230, a weighing and visual detection device (comprising a weighing sensor 250, a monitoring camera 260 and a visual sensor 270); wherein, the inner safety door 220 is arranged at the inner side of the delivery port 240 of the octahedral intelligent cabinet, and the outer safety door 210 is arranged at the outer side of the delivery port of the octahedral intelligent cabinet. As shown in fig. 2, the octahedral intelligent cabinet according to the embodiment of the present invention may further include an outer shell 280, a storage area 290, and a cache area 200.
Wherein, octahedron intelligence cabinet only has a delivery opening, both can deposit the goods through this delivery opening, also can receive the goods.
Specifically, referring to fig. 1, the method specifically includes the following steps:
and step 110, responding to a goods storage instruction of a user, opening the inner safety door, moving the target empty tray to the delivery port through the fork mechanism, and closing the inner safety door.
The user can be a courier or a common user; for example, if the user is a courier, the goods storage instruction may be "dispatch" or "temporary storage" or the like; if the user is a common user (not a courier), the goods storage instruction can be 'temporary storage' or 'mail sending', and the like. It should be noted that the goods related to the embodiment of the present invention may be express goods or other goods, and the embodiment of the present invention is not limited thereto.
In concrete implementation, when the user clicked the instruction of depositing the goods on the screen of the intelligent cabinet of octahedron, emergency exit in the octahedron intelligent cabinet can be opened to remove the empty tray of target to the delivery port through fork mechanism, wherein, the empty tray of target can be for the empty tray of arbitrary one in the octahedron intelligent cabinet, when the instruction that the user deposited the goods was received to octahedron intelligent cabinet promptly, be about to an empty tray and remove to the delivery port, follow-up goods that wait to deposit can be received through this empty tray, and the assigned position is placed to the goods that wait to deposit.
Furthermore, after the fork mechanism removes the empty tray of target to the delivery opening, can close interior emergency exit, the benefit that sets up like this lies in, can avoid the user to see octahedron intelligence cabinet internal portion structure, also can prevent that the user from delivering article to octahedron intelligence cabinet inside from the delivery opening, can avoid the production of the intelligent cabinet trouble of octahedron effectively.
And step 120, opening the outer safety door, and receiving goods to be stored through the target empty tray.
In concrete implementation, after the target empty tray is moved to the delivery port through the fork mechanism and the inner safety door is closed, the outer safety door can be further opened, goods to be stored are received through the target empty tray, namely, after the outer safety door is opened, a user places the goods to be stored on the target empty tray to wait for subsequent processing.
And step 130, closing the outer safety door, and detecting whether goods to be stored meet the storage requirement through a weighing and visual detection device.
Specifically, after receiving the goods of waiting to deposit through the empty tray of target, outer emergency exit can be closed to octahedron intelligence cabinet to whether further through weighing and visual detection device detection wait the goods of depositing satisfy the requirement.
For example, parameters such as the weight, the volume or the cargo category of the cargo to be stored can be detected by the weighing and visual detection device, and whether the cargo to be stored meets the storage requirement or not can be determined according to the parameters of the cargo to be stored.
In an optional implementation manner of the embodiment of the present invention, a storage requirement of the goods to be stored may be preset, for example: a maximum threshold for the volume of the goods to be stored, a maximum threshold for the weight, or the category of goods that can be stored, etc. And comparing the weight, the volume or the goods category parameters of the goods to be stored detected by the weighing and visual detection device with the preset storage requirement of the goods to be stored, and determining whether the goods to be stored meet the storage requirement according to the comparison result.
In a specific example of the embodiment of the present invention, if it is detected by the weighing and visual detecting device that the weight of the goods a to be stored is 30kg and the preset maximum threshold value of the weight of the goods a to be stored is 25kg, it may be determined that the goods a to be stored does not meet the storage requirement.
And 140, if so, opening the inner safety door, and storing the goods to be stored in the set goods storage area through the fork mechanism.
Specifically, after whether waiting to deposit the goods and satisfying the requirement of depositing through weighing and visual detection device detection, if confirm to wait to deposit the goods and can satisfy the requirement of depositing, then open emergency exit in the octahedral intelligent cabinet to will wait to deposit the goods and deposit in and set for the stock to go the position through fork mechanism.
In an optional implementation manner of the embodiment of the present invention, the storage position may also be allocated to the goods to be stored according to the weight, the volume or the category of the goods detected by the weighing and visual detection device. For example, if the volume of the goods to be stored is large, the goods to be stored may be placed in a grid with a large grid, and the like.
According to the scheme of the embodiment, the inner safety door is opened by responding to a goods storage instruction of a user, the target empty tray is moved to the delivery port through the fork mechanism, and the inner safety door is closed; opening the outer safety door, and receiving goods to be stored through the target empty tray; closing the outer safety door, and detecting whether goods to be stored meet the storage requirement through a weighing and visual detection device; if, then open interior emergency exit to will wait to deposit the goods and leave in and set for the storage district position through the fork mechanism, can solve the easy problem that breaks down of octahedron intelligent cabinet, can realize depositing the goods in octahedron intelligent cabinet, can guarantee octahedron intelligent cabinet normal work.
Example two
Fig. 3 is a flowchart of a cargo storage method in a second embodiment of the present invention, which is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 3, the goods storage method may include the steps of:
and step 310, responding to a goods storage instruction of a user, opening the inner safety door, moving the target empty tray to the delivery port through the fork mechanism, and closing the inner safety door.
And step 320, opening the outer safety door, and receiving goods to be stored through the target empty tray.
Specifically, after the octahedral intelligent cabinet receives the goods to be stored through the target empty tray, the octahedral intelligent cabinet can detect the weight of the goods to be stored through a weighing sensor in the weighing and visual detection device, acquire an appearance image of the goods to be stored through the visual detection device (visual sensor), and further estimate the volume of the goods to be stored according to the image acquired by the visual sensor.
Optionally, estimating the volume of the goods to be stored according to the appearance image of the goods to be stored may include: determining the length, width and height of goods to be stored according to the appearance image; the volume of the goods to be stored is determined according to the length, the width and the height.
Specifically, the actual size of the goods to be stored, that is, the actual length, width and height of the goods to be stored, may be determined according to the appearance image of the goods to be stored obtained by the visual sensor and according to the length, width and height of the goods to be stored in the appearance image; and multiplying the length, width and height of the goods to be stored, thereby obtaining the volume of the goods to be stored.
Further, after determining the weight and the volume of the goods to be stored, it may be determined whether both the weight and the volume of the goods to be stored satisfy the matched threshold condition; wherein, the threshold condition matched with the weight of the goods to be stored may be the maximum weight of the goods to be stored, for example, a value such as 50kg, 60kg or 65 kg; the threshold condition matched to the volume of the goods to be stored may be a maximum volume of the goods to be stored, for example, 50cm3、60cm3Or 65cm3And the like, which are not limited in the embodiments of the present invention.
Further, if it is determined that the weight of the goods to be stored is less than a preset weight threshold value and the volume of the goods to be stored is less than a preset volume threshold value, it may be determined that the goods to be stored meets the storage requirement; otherwise, that is, the weight of the goods to be stored is greater than or equal to the preset weight threshold, the volume of the goods to be stored is greater than or equal to the preset volume threshold, or both the weight and the volume of the goods to be stored are greater than or equal to the weight threshold and the volume threshold, it may be determined that the goods to be stored do not meet the storage requirement.
Specifically, when waiting to deposit the goods through weighing and detection device detection and be not conform to and deposit when requiring, then open the outer emergency exit of octahedron intelligent cabinet to through voice prompt, perhaps screen display's mode suggestion user waits to deposit the goods and is not conform to the requirement, and octahedron intelligent cabinet can't deposit it, needs to take away and waits to deposit the goods. When it is determined that the user takes the goods to be stored from the target empty tray, closing the outer safety door, and recovering the target empty tray; at this moment, the octahedral intelligent cabinet can store the next round of goods.
According to the scheme of the embodiment, the weight of the goods to be stored is detected through the weighing sensor, and the appearance image of the goods to be stored is obtained through the visual detection device; estimating the volume of the goods to be stored according to the appearance image; judging whether the weight and the volume of the goods to be stored meet the matched threshold conditions: if so, determining that the goods to be stored meet the storage requirement; otherwise, confirm that the goods of waiting to deposit is not conform to and deposit the requirement, can confirm accurately whether waiting to deposit the goods and conform to and deposit the requirement, when waiting to deposit the goods and unsatisfied and deposit the requirement, can in time remind the user to take away and wait to deposit the goods, can avoid octahedron intelligent cabinet to produce the trouble effectively, can guarantee octahedron intelligent cabinet normal work.
On the basis of the technical scheme, after the inner safety door is opened and goods to be stored are stored in the set storage area through the fork mechanism, the goods storage method related in the embodiment of the invention can further comprise the following steps: the inner safety door is closed and the fork mechanism is triggered to return to the initial position.
The advantage that sets up like this lies in, emergency exit in timely closing to trigger the fork mechanism and return initial position, can avoid octahedron intelligence cabinet to break down, and can respond next user's deposit goods instruction fast.
In order to make the person skilled in the art better understand the goods storage method of the present embodiment, fig. 4 illustrates a flowchart of a goods storage method (storage), which mainly includes the following steps:
step 410, receiving a storage instruction.
The client clicks the dispatch, temporary storage and sending on the screen, and the cabinet receives the storage instruction.
and step 430, opening the outer safety door, and after the customer scans or inputs the information of the articles, putting the articles on the empty tray to confirm that the article storage is finished.
And step 440, closing the safety door outside the cabinet, photographing the articles by the vision sensor to calculate the length, width and height of the articles, measuring the weight of the articles by the weighing sensor, photographing the articles by the monitoring camera to record the information of the articles.
And 450, detecting that the size and the weight of the article meet the requirements, performing next storage operation, otherwise, failing to store the article, prompting a customer to close the outer safety door, recovering the tray, closing the inner safety door and ending the process.
And step 460, the cabinet machine executes a storage instruction, the inner safety door is opened, and then the pallet and the goods are stored in the calculated and appointed storage area position by the fork mechanism.
And 470, after the storage of the parts is finished, closing the inner safety door, returning the fork mechanism to the initial position, and finishing the whole part storage process.
EXAMPLE III
Fig. 5 is a flowchart of a cargo pickup method in a third embodiment of the present invention, where this embodiment is applicable to a situation where cargo is picked up by an octahedral intelligent cabinet, and this method may be executed by a cargo pickup device, which may be implemented by software and/or hardware and integrated in the octahedral intelligent cabinet, where the octahedral intelligent cabinet referred to in this embodiment is the octahedral intelligent cabinet referred to in the above embodiments. Specifically, referring to fig. 5, the method specifically includes the following steps:
and step 510, responding to a target goods getting instruction of a user, opening the inner safety door, moving the tray loaded with the target goods to a delivery port through a fork mechanism, and closing the inner safety door.
The target cargo may be any one of the cargos stored in the octahedral intelligent cabinet, which is not limited in this embodiment.
In concrete realization, when the user clicked the instruction of getting the target goods on the screen of the intelligent cabinet of octahedron, emergency exit in the octahedron intelligent cabinet can be opened to will hold up the target goods through fork mechanism, and remove the target goods to the delivery port, further close the interior emergency exit of octahedron intelligent cabinet.
And 520, recording the information of the target cargo through a weighing and visual detection device.
Specifically, after the target cargo is moved to the delivery opening, information of the target cargo may be further recorded by the weighing and detecting device, for example, information of weight, volume, or category of the target cargo may be recorded, which is not limited in the embodiment of the present invention.
Optionally, the recording of the information of the target cargo by the weighing and visual inspection device may include: detecting the weight of the target cargo through a weighing sensor, and acquiring an appearance image of the target cargo through a visual detection device; determining the length, width and height of the target cargo according to the appearance image; determining the volume of the target cargo according to the length, the width and the height; the weight and volume of the target cargo is recorded.
It should be noted that, the information of the target cargo is recorded by the visual detection device, the weight of the cargo to be stored is detected by the weighing sensor in the embodiments, and the appearance image of the cargo to be stored is acquired by the visual detection device; the steps of estimating the volume of the goods to be stored are similar according to the appearance image, and the detailed description is omitted here in this embodiment.
Optionally, the information of the target cargo is recorded by the weighing and visual detection device, and the method may further include: and acquiring appearance information of a user receiving the target goods through the visual detection device.
The user appearance information of the target goods can be received through the external camera goods, so that when the target goods is received wrongly, a user receiving the target goods can be found quickly, the wrong target goods can be found timely, and the phenomenon that the goods are lost is effectively avoided.
And step 530, opening the outer safety door to enable the user to take the target goods.
Specifically, after the information of the target goods is recorded through the weighing and visual detection device, the outer safety door is opened by the octahedral intelligent cabinet, and then the shadow tiger can be enabled to get the target goods.
According to the scheme of the embodiment, the inner safety door is opened by responding to a target goods getting instruction of a user, and the inner safety door is closed after the pallet carrying the target goods is moved to the delivery port through the fork mechanism; recording information of the target cargo through a weighing and visual detection device; the outer safety door is opened to enable a user to get target goods, the problem that the octahedral intelligent cabinet breaks down easily is solved, goods can be taken, and normal work of the octahedral intelligent cabinet can be guaranteed.
Example four
Fig. 6 is a flowchart of a cargo pickup method in a fourth embodiment of the present invention, which is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 6, the goods picking method may include the steps of:
and step 610, responding to a target goods getting instruction of a user, opening the inner safety door, moving the tray loaded with the target goods to a delivery port through the fork mechanism, and closing the inner safety door.
And step 620, recording information of the target cargo through a weighing and visual detection device.
And step 630, opening the outer safety door to enable the user to pick up the target goods.
And step 640, closing the outer safety door, and detecting whether the tray which receives the target goods meets the recovery condition through a weighing and visual detection device. If yes, the inner safety door is opened, and the pallet is stored to the cache region through the fork mechanism.
Specifically, after the user takes the target goods away, the safety door is closed, and whether the tray which has taken the target goods meets the recovery condition is further detected through the weighing and visual detection device; wherein, the condition of satisfying the recovery can be that no goods exist in the tray; on the contrary, if other goods exist in the tray after the target goods are taken away, the recovery condition is not met.
Further, if the target goods are taken away, the tray does not contain other target goods, namely, the recovery condition is met; the internal security door can be opened and the pallet can be stored in the buffer zone by the fork mechanism for the next use of the pallet.
According to the scheme of the embodiment, after the user receives the target goods, whether the tray receiving the target goods meets the recovery condition can be detected through the weighing and visual detection device; if, open interior emergency exit to deposit the tray to the buffer memory district through fork mechanism, can guarantee the normal work of octahedron intelligence cabinet.
In order to make the person skilled in the art better understand the goods pick-up method of the present embodiment, fig. 7 illustrates a flowchart of a goods pick-up method (pick-up), which mainly includes the following steps:
The customer clicks on the screen to take the part, and the cabinet machine receives the part taking instruction.
And 720, opening the inner safety door by the cabinet machine, moving the fork mechanism to a designated storage position of the storage area from the initial position, taking the tray with the articles from the shelf of the storage area to the delivery port, returning the fork mechanism to the initial position, and closing the inner safety door.
And 740, opening the safety door outside the cabinet machine, taking articles by the article taker, and confirming that the article taking process is finished.
And step 750, closing the cabinet-type external safety door, weighing and photographing the tray by the aid of the weighing and vision sensors, opening the internal safety door after the tray is confirmed to be safe, and recycling the empty tray to a cache area or a stock area by the aid of the fork mechanism.
And 760, closing the inner safety door, returning the fork mechanism to the initial position, and finishing the whole pickup process.
EXAMPLE five
Fig. 8 is a schematic structural diagram of a cargo storage device according to a fifth embodiment of the present invention, which can perform the cargo storage method according to the fifth embodiment of the present invention, and the cargo storage device can be implemented by software and/or hardware and applied to an octahedral intelligent cabinet, wherein the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, the double safety door device includes an inner safety door and an outer safety door, and the cargo storage device includes: the system comprises a target empty tray moving module 810, a to-be-stored goods receiving device 820, a to-be-stored goods detecting module 830 and a to-be-stored goods storing module 840.
The target empty tray moving module 810 is used for responding to a goods storage instruction of a user to open the inner safety door, moving the target empty tray to the delivery port through the fork mechanism, and closing the inner safety door;
a to-be-stored goods receiving device 820 for opening the outer safety door and receiving goods to be stored through the target empty tray;
the to-be-stored goods detection module 830 is used for closing the external safety door and detecting whether the to-be-stored goods meet the storage requirement through the weighing and visual detection device;
and the to-be-stored goods storage module 840 is used for opening the inner safety door and storing the to-be-stored goods in the set storage area through the fork mechanism.
According to the scheme of the embodiment, the target empty tray moving module responds to a goods storage instruction of a user to open the inner safety door, the target empty tray is moved to the delivery opening through the fork mechanism, and the inner safety door is closed; opening an external safety door through a to-be-stored goods receiving device, and receiving goods to be stored through a target empty tray; the external safety door is closed through the goods to be stored detection module, and whether the goods to be stored meet the storage requirement is detected through the weighing and visual detection device; through waiting to deposit the goods and deposit the module and open interior emergency exit to will wait to deposit the goods and deposit in setting for the storage area position through the fork mechanism, solve the easy problem that breaks down of octahedron intelligent cabinet, can realize depositing the goods in octahedron intelligent cabinet, can guarantee octahedron intelligent cabinet normal work.
Optionally, the to-be-stored goods detecting module 830 is specifically configured to detect the weight of the to-be-stored goods through the weighing sensor, and acquire an appearance image of the to-be-stored goods through the visual detecting device; estimating the volume of the goods to be stored according to the appearance image; judging whether the weight and the volume of the goods to be stored meet the matched threshold conditions: if so, determining that the goods to be stored meet the storage requirement; otherwise, determining that the goods to be stored do not meet the storage requirement.
Optionally, the to-be-stored goods detecting module 830 is further specifically configured to determine the length, width, and height of the to-be-stored goods according to the appearance image; the volume of the goods to be stored is determined according to the length, the width and the height.
Optionally, the cargo storage device related in this embodiment further includes: the goods to be stored taking-away module is used for opening the outer safety door and prompting a user to take away the goods to be stored; and closing the outer safety door and recovering the target empty tray.
Optionally, the cargo storage device related in this embodiment further includes: and the inner safety door closing module is used for closing the inner safety door and triggering the pallet fork mechanism to return to the initial position.
The cargo storage device provided by the embodiment of the invention can execute the cargo storage method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 9 is a schematic structural diagram of a cargo receiving device according to a sixth embodiment of the present invention, which can execute the cargo receiving method according to the above embodiments, and the device can be implemented by software and/or hardware and applied to an octahedral intelligent cabinet, where the octahedral intelligent cabinet includes a double safety door device, a fork mechanism, and a weighing and visual detection device, where the double safety door device includes an inner safety door and an outer safety door, and the device includes: a target cargo moving module 910, an information recording module 920 and a target cargo receiving module 930.
The target cargo moving module 910 is configured to open the inner security door in response to a target cargo getting instruction of a user, and close the inner security door after moving a tray carrying target cargo to a delivery port by a fork mechanism;
an information recording module 920, configured to record information of the target cargo through the weighing and visual inspection apparatus;
and a target goods getting module 930 for opening the outer security door to get the target goods to the user.
According to the scheme of the embodiment, the target goods moving module responds to a target goods getting instruction of a user, the inner safety door is opened, and the pallet loaded with the target goods is moved to the delivery port through the fork mechanism, and then the inner safety door is closed; recording the information of the target cargo through an information recording module; through target goods get the module, open outer emergency exit to make the user get the target goods, solved the easy problem that breaks down of octahedron intelligent cabinet, can realize getting of goods, can guarantee octahedron intelligent cabinet normal work.
Optionally, the information recording module 920 is specifically configured to detect the weight of the target cargo through the weighing sensor, and acquire an appearance image of the target cargo through the visual detection device; determining the length, width and height of the target cargo according to the appearance image; determining the volume of the target cargo according to the length, the width and the height; the weight and volume of the target cargo is recorded.
Optionally, the information recording module 920 is further specifically configured to obtain, through the visual detection device, appearance information of a user who receives the target cargo.
Optionally, the cargo receiving device related in this embodiment further includes: the tray recovery module is used for closing the outer safety door and detecting whether the tray which receives the target goods meets the recovery condition or not through the weighing and visual detection device; if yes, the inner safety door is opened, and the pallet is stored to the cache region through the fork mechanism.
The goods getting device provided by the embodiment of the invention can execute the goods getting method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE seven
Fig. 10 is a schematic structural diagram of an octahedral intelligent cabinet according to a seventh embodiment of the present invention, as shown in fig. 10, the octahedral intelligent cabinet includes a processor 100, a memory 101, an input device 102 and an output device 103; the number of the processors 100 in the octahedral intelligent cabinet can be one or more, and one processor 100 is taken as an example in fig. 10; the processor 100, the memory 101, the input device 102 and the output device 103 in the octahedral intelligent cabinet can be connected by a bus or other means, and the connection by the bus is taken as an example in fig. 10.
The memory 101 is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the cargo depositing method in the embodiment of the present invention (for example, the target empty pallet moving module 810, the cargo receiving device 820, the cargo detecting module 830, and the cargo depositing module 840 in the cargo depositing device), or program instructions/modules corresponding to the cargo retrieving method in the embodiment of the present invention (for example, the target cargo moving module 910, the information recording module 920, and the target cargo retrieving module 930 in the cargo retrieving device). The processor 100 executes various functional applications and data processing of the octahedral intelligent cabinet by running software programs, instructions and modules stored in the memory 101, that is, the above-mentioned goods storage method or goods pickup method is implemented.
The memory 101 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 101 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 101 may further include memory remotely located from processor 100, which may be connected to the octahedral intelligent cabinet through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 102 may be used to receive entered numeric or character information and generate key signal inputs related to user settings and function controls of the octahedral intelligent cabinet. The output device 103 may include a display device such as a display screen.
Example eight
An eighth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a cargo storage method, the method including:
responding to a goods storage instruction of a user, opening the inner safety door, moving the target empty tray to the delivery opening through the fork mechanism, and closing the inner safety door;
opening the outer safety door, and receiving goods to be stored through the target empty tray;
closing the outer safety door, and detecting whether goods to be stored meet the storage requirement through a weighing and visual detection device;
if so, the inner safety door is opened, and goods to be stored are stored in the set goods storage area through the fork mechanism.
Alternatively, a method of goods pickup, the method comprising:
responding to a target goods getting instruction of a user, opening the inner safety door, moving the tray loaded with the target goods to a delivery port through the fork mechanism, and closing the inner safety door;
recording information of the target cargo through a weighing and visual detection device;
and opening the outer safety door to lead the user to pick up the target goods.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the goods storage method or the goods picking method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied 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 (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the cargo storage device or the cargo retrieving device, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
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. The goods storage method is applied to an octahedral intelligent cabinet, the octahedral intelligent cabinet comprises a double-safety-door device, a fork mechanism, a weighing and visual detection device, wherein the double-safety-door device comprises an inner safety door and an outer safety door, and the method is characterized by comprising the following steps of:
responding to a goods storage instruction of a user to open an inner safety door, moving a target empty tray to a delivery port through the fork mechanism, and closing the inner safety door;
opening the outer safety door, and receiving goods to be stored through the target empty tray;
closing the outer safety door, and detecting whether the goods to be stored meet the storage requirement through a weighing and visual detection device;
if so, opening the inner safety door, and storing the goods to be stored in a set goods storage area through the fork mechanism.
2. The method according to claim 1, wherein the detection of the compliance of the goods to be stored with the storage requirements by means of a weighing and visual detection device comprises:
detecting the weight of the goods to be stored through a weighing sensor, and acquiring an appearance image of the goods to be stored through a visual detection device;
estimating the volume of the goods to be stored according to the appearance image;
judging whether the weight and the volume of the goods to be stored meet matched threshold conditions:
if so, determining that the goods to be stored meet the storage requirement; otherwise, determining that the goods to be stored do not meet the storage requirement.
3. The goods receiving method is applied to an octahedral intelligent cabinet, the octahedral intelligent cabinet comprises a double safety door device, a fork mechanism, a weighing and visual detection device, wherein the double safety door device comprises an inner safety door and an outer safety door, and the method comprises the following steps of:
responding to a target goods getting instruction of a user, opening an inner safety door, moving a tray loaded with the target goods to a delivery port through a fork mechanism, and closing the inner safety door;
recording the information of the target cargo through a weighing and visual detection device;
and opening the outer safety door to enable the user to pick up the target goods.
4. The method of claim 3, wherein the recording of the target cargo information by a weighing and visual inspection device comprises:
detecting the weight of the target cargo through a weighing sensor, and acquiring an appearance image of the target cargo through a visual detection device;
determining the length, width and height of the target cargo according to the appearance image;
determining the volume of the target cargo according to the length, width and height;
the weight and volume of the target cargo is recorded.
5. The method of claim 4, wherein the recording of the target cargo information by a weighing and visual inspection device further comprises:
and acquiring appearance information of a user for picking the target goods through a visual detection device.
6. The method of claim 3, wherein after the target good is picked up by a user, the method further comprises:
closing the outer safety door, and detecting whether the tray which receives the target goods meets the recovery condition through a weighing and visual detection device;
if yes, the inner safety door is opened, and the tray is stored to the cache region through the fork mechanism.
7. The utility model provides a goods strorage device, is applied to octahedron intelligent cabinet, octahedron intelligent cabinet includes two safety door device, fork mechanism, weighs and visual detection device, wherein, two safety door device include interior emergency exit and outer emergency exit, its characterized in that, the device includes:
the target empty tray moving module is used for responding to a goods storage instruction of a user to open the inner safety door, moving the target empty tray to the delivery port through the fork mechanism and closing the inner safety door;
the goods to be stored receiving device is used for opening the outer safety door and receiving goods to be stored through the target empty tray;
the goods to be stored detection module is used for closing the outer safety door and detecting whether the goods to be stored meet the storage requirement through the weighing and visual detection device;
and the to-be-stored goods storage module is used for opening the inner safety door and storing the to-be-stored goods in a set goods storage area through the fork mechanism.
8. The utility model provides a goods gets device is applied to octahedron intelligence cabinet, octahedron intelligence cabinet includes two safety door device, fork mechanism, weighs and visual detection device, wherein, two safety door device include interior emergency exit and outer emergency exit, its characterized in that, the device includes:
the target cargo moving module is used for responding to a target cargo getting instruction of a user, opening the inner safety door, moving the tray loaded with the target cargo to the delivery port through the fork mechanism, and then closing the inner safety door;
the information recording module is used for recording the information of the target cargo through the weighing and visual detection device;
and the target goods receiving module is used for opening the outer safety door so as to enable a user to receive the target goods.
9. An octahedral intelligent cabinet comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cargo depositing method according to any one of claims 1 to 2 or the cargo receiving method according to any one of claims 3 to 6.
10. A storage medium containing computer-executable instructions for performing the method of depositing goods as claimed in any one of claims 1 to 2, or the method of retrieving goods as claimed in any one of claims 3 to 6 when executed by a computer processor.
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Application publication date: 20200925 |