CN113344499A

CN113344499A - Unmanned equipment, container, unmanned distribution system, method and device

Info

Publication number: CN113344499A
Application number: CN202110893727.7A
Authority: CN
Inventors: 袁义龙; 王乃峥; 夏华夏
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2021-09-03
Anticipated expiration: 2041-08-05
Also published as: CN113344499B

Abstract

The specification discloses an unmanned device, a container, an unmanned distribution system, a method and a device, which can be used for applying an automatic-driving unmanned device to a distribution process. The unmanned equipment can determine a target container to be put in and go to according to the distribution address of the order to be distributed. After the target container reaches the designated position, sending order information of the order to be distributed to the server or the target container, releasing the goods of the order to be distributed into the target container according to the box body information of the target container returned by the server or the target container, and sending a releasing completion instruction to the server or the target container so as to close the target container. Through the cooperative operation of the unmanned equipment and the container, the automatic delivery of the order goods is realized, and the delivery cost is saved.

Description

Unmanned equipment, container, unmanned distribution system, method and device

Technical Field

The application relates to the technical field of unmanned distribution, in particular to unmanned equipment, a container, an unmanned distribution system, an unmanned distribution method and an unmanned distribution device.

Background

With the rapid development of the logistics field, the express order quantity also increases year by year. Currently, the order is delivered by a delivery person, and the delivery time of the delivery person may not coincide with the pickup time of the user, for example, the delivery person generally delivers the order in the daytime, and the user generally has time to pick up the order after the user goes off the work.

In the prior art, in order to solve this problem, containers, such as self-carrying containers, are arranged in different areas. And aiming at each container, the container corresponds to an order in one area, when a distributor carries out order distribution, if a user cannot take a delivery, the distributor puts the order in the corresponding container, and the user automatically goes to the container to take the goods at idle time.

With the development of unmanned distribution technology, in order to save manual distribution cost, order distribution can be carried out through unmanned equipment. Specifically, the unmanned device may transport the goods to be delivered to the vicinity of the container, and then the delivery person opens the door of the empty remaining box of the container, and takes out the goods from the unmanned device and delivers the goods to the container. And finally, closing the cabinet door by a distributor to finish the cargo putting.

Therefore, in the prior art, the unmanned distribution process still needs manual work, the distribution cost is still high, and the further improvement of the distribution efficiency is hindered.

Disclosure of Invention

The embodiment of the specification provides an unmanned device, a container, an unmanned distribution system, a method and a device, which are used for partially solving the problems in the prior art.

The embodiment of the specification adopts the following technical scheme:

the present specification provides an unmanned device comprising:

the unmanned equipment is configured to determine a target container to be put in from the plurality of containers according to a distribution address of an order to be distributed and drive to a specified position of the target container; sending order information of the order to be distributed to a server or the target container; receiving box body information of a target box body returned by the server or the target container, releasing the goods of the order to be delivered to the target box body according to the box body information of the target box body, and sending a releasing completion instruction to the server or the target container to enable the server or the target container to close the target box body, wherein the target box body is a vacant box body in the target container.

Optionally, the unmanned device is configured to determine, according to a distribution address of an order to be distributed, a container, whose distance from the distribution address is smaller than a preset value, from the plurality of containers as an adjacent container; sending a query request to the server or each adjacent container; and determining a target container to be released from each adjacent container according to the order information of the order to be distributed and the received vacant box body information returned by the server or each adjacent container.

Optionally, the unmanned device comprises a transmission device;

the transmission device is configured to put the goods of the order to be delivered to the target box body.

Optionally, the transfer device is a robotic arm;

the mechanical arm is configured to grab the goods of the order to be delivered and to put the goods into the target box body.

Optionally, the conveying device is a conveyor belt;

the conveyor belt is configured to align with the bin opening of the target box at one end, and convey the goods of the order to be distributed to the target box from the unmanned equipment.

Optionally, the unmanned device includes a camera, and the box information of the target box includes a box identifier of the target box;

the camera is configured to acquire images containing the box identifiers of the target containers;

and the unmanned equipment adjusts the position of the unmanned equipment according to the sequence of the box body identification of each non-target box body in the image, the box body identification of the target box body and each box body identification in the target container, so that the unmanned equipment is aligned to the bin opening of the target box body, and the goods of the order to be delivered are delivered to the target box body.

the unmanned equipment is configured to adjust the position of the conveying device according to the sequence of the box body identification of each non-target box body, the box body identification of the target box body and each box body identification in the target container in the image, so that the conveying device is aligned with the bin opening of the target box body, and the goods of the order to be distributed are put into the target box body.

Optionally, the unmanned device includes a camera, and the box information of the target box includes a box identifier of an adjacent box around the target box and a relative position relationship between the adjacent box and the target box;

the unmanned device is configured to adjust the position of the unmanned device according to the relative position relationship between the adjacent box body and the target box body, the box body identification of the adjacent box body in the image and the box body identification of the target box body, so that the unmanned device is aligned with the bin opening of the target box body, and the goods of the order to be delivered are delivered to the target box body.

the unmanned equipment is configured to adjust the position of the conveying device according to the relative position relationship between the adjacent box body and the target box body, the box body identification of the adjacent box body in the image and the box body identification of the target box body, so that the conveying device is aligned with the bin opening of the target box body, and the goods of the order to be delivered are delivered to the target box body.

This specification provides a container, includes:

the container is configured to receive order information of an order to be delivered, which is sent by the unmanned equipment; according to the received order information, determining a target box body from each spare box body, sending the box body information of the target box body to the unmanned equipment, and opening the target box body to enable the unmanned equipment to put goods of the order to be delivered into the target box body; and closing the target box body according to a throwing completion instruction sent by the unmanned equipment.

Optionally, the container is further configured to send, to a user, a pickup code corresponding to the target container body according to the order information.

The present specification provides an unmanned distribution system, the unmanned distribution system at least comprises an unmanned device and a plurality of containers, wherein:

the unmanned equipment is configured to determine a target container to be put in from the plurality of containers according to a distribution address of an order to be distributed; driving to the appointed position of the target container, and sending order information of the order to be distributed to the target container;

the target container is configured to determine a target container body from each spare container body according to the received order information, send the container body information of the target container body to the unmanned equipment and open the target container body;

the unmanned equipment is further configured to put the goods of the order to be delivered into the target box body according to the received box body information of the target box body, and send a putting completion instruction to the target container;

the target container is further configured to close the target container body according to the received putting completion instruction.

Optionally, the unmanned device is configured to determine, according to a distribution address of an order to be distributed, a container, whose distance from the distribution address is smaller than a preset value, from the plurality of containers as an adjacent container;

the unmanned equipment is configured to send query requests to the adjacent containers respectively;

the adjacent container is configured to determine self vacant box body information according to the query request and send the vacant box body information to the unmanned equipment;

the unmanned equipment is configured to determine a target container to be put in from each adjacent container according to the received free box body information of each adjacent container and the order information of the order to be delivered.

The present specification provides an unmanned distribution system, the unmanned distribution system at least comprises an unmanned device, a server and a plurality of containers, wherein:

the unmanned equipment is configured to determine a target container to be put in from the plurality of containers according to a distribution address of an order to be distributed; driving to the appointed position of the target container, and sending order information of the order to be distributed to the server;

the server is configured to determine a target box body from each vacant box body of the target container according to the received order information, send box body information of the target box body to the unmanned equipment and open the target box body;

the unmanned equipment is further configured to release the goods of the order to be delivered to the target box body according to the received box body information of the target box body, and send a release completion instruction to the server;

the server is further configured to close the target box body according to the received putting completion instruction.

The present specification provides an unmanned distribution method including:

determining a target container to be put in from a plurality of containers according to a distribution address of an order to be distributed, and driving to a specified position of the target container;

sending order information of an order to be distributed to a server or the target container, so that the server or the target container determines a target container from each vacant container of the target container according to the received order information, and opening the target container;

receiving box body information of a target box body returned by the server or the target container, releasing the goods of the order to be delivered to the target box body according to the box body information of the target box body, and sending a releasing completion instruction to the server or the target container to enable the server or the target container to close the target box body;

and the target box body is a vacant box body in the target container.

This specification provides an unmanned dispensing device, including:

the determining module is used for determining a target container to be put in from a plurality of containers according to the distribution address of the order to be distributed and driving to the specified position of the target container;

the sending module is used for sending order information of an order to be distributed to a server or the target container so that the server or the target container determines a target container from each vacant container of the target container according to the received order information and opens the target container;

the delivery module is used for receiving box body information of a target box body returned by the server or the target container, delivering the goods of the order to be delivered to the target box body according to the box body information of the target box body, and sending a delivery completion instruction to the server or the target container to enable the server or the target container to close the target box body; and the target box body is a vacant box body in the target container.

The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned distribution method.

The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:

in this specification, the unmanned device may determine and go to a target container to be placed according to a delivery address of an order to be delivered. After the target container reaches the designated position, sending order information of the order to be distributed to the server or the target container, releasing the goods of the order to be distributed into the target container according to the box body information of the target container returned by the server or the target container, and sending a releasing completion instruction to the server or the target container so as to close the target container. Through the cooperative operation of the unmanned equipment and the container, the automatic delivery of the order goods is realized, and the delivery cost is saved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present disclosure;

FIG. 2 is a schematic view of a container provided in an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an unmanned distribution system provided in an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an interaction between an unmanned aerial device and a target container provided in an embodiment of the present specification;

fig. 5 is a schematic structural diagram of an unmanned distribution system provided in an embodiment of the present disclosure;

fig. 6 is a schematic flow chart of an unmanned distribution method according to an embodiment of the present disclosure;

fig. 7 is a schematic flow chart of an unmanned distribution method according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an unmanned dispensing device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an unmanned dispensing device according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.

The present specification provides an unmanned aerial vehicle for performing an unmanned delivery process to deposit a cargo to be delivered into a container. The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic view of an unmanned aerial vehicle provided in an embodiment of the present disclosure, where the unmanned aerial vehicle 100 may be an unmanned vehicle, an unmanned aerial vehicle, or the like, and the unmanned aerial vehicle 100 is further configured with a conveying device 1000 (e.g., a mechanical arm, or the like) for dropping goods into a container.

When the unmanned delivery task is executed in the present specification, first, the unmanned aerial vehicle 100 may determine, for each order to be delivered, a delivery address of the order to be delivered in turn. And according to the position of each container 102 stored in advance, the container 102 closest to the delivery address is determined as the target container 102 to be placed with goods. Fig. 2 is a schematic view of a container provided in this specification, which includes a display interface 1020 and a plurality of container spaces, where a container body with an open door is a target container body 1022 to which goods are to be put.

Then, the unmanned device 100 can plan a route according to the position of the target container 102 and the current position of the unmanned device and drive to the specified position of the target container 102. Wherein the specified location of target container 102 can be a location 2 meters away towards target container 102, and can be set as desired.

Further, since a plurality of containers 102 are usually installed in a community, when a container whose distance from the distribution address is less than a predetermined value is determined from a plurality of containers 102 as an adjacent container 102 according to the distribution address of the order to be distributed, the unmanned aerial vehicle 100 can select one container 102 from the adjacent containers 102 as a target container 102. The preset value can be set according to the requirement, such as setting the range of the distance from the delivery address to 300 m.

Alternatively, in other embodiments of the present description, the drone 100 may also determine, from among neighboring containers 102, the container 102 closest to the delivery address, or the container 102 closest to its current location, as the target container 102.

Further, to avoid the situation that the storage space of the selected target container 102 is full, after determining several neighboring containers 102 of the distribution address, the unmanned device 100 can send query requests to the neighboring containers 102, respectively, so that the neighboring containers 102 query their own empty container information and return to the unmanned device 100. The spare box information comprises at least one of the number of spare boxes and the volume of the spare boxes. The unmanned aerial vehicle 100 can determine any adjacent container in line with the order to store the ordered goods as the target container 102 according to the free box information of each adjacent container 102 and the order information of the order to be delivered.

In another embodiment of the present specification, the unmanned aerial vehicle 100 can determine the number of vacant boxes in each neighboring container 102 that fit the order according to the vacant box information of each neighboring container 102 and the order information of the order to be distributed, and determine the neighboring container 102 that fits the largest number of vacant boxes as the target container 102.

Since containers 102 typically comprise boxes of different space sizes for storing different volumes of cargo, when the drone 100 reaches a specified location of a target container 102 to be placed, order information for an order to be delivered may be sent to the target container 102 to enable the target container 102 to determine an appropriate target box 1022 based on the order information. The order information at least comprises information such as an order number, the size of goods corresponding to the order, a mobile phone number of an order placing user and the like.

Then, after receiving the tank information of the target tank 1022 returned by the target container 102, the unmanned aerial vehicle 100 may transmit the cargo to be delivered in order based on its own configured transmission device 1000 (e.g., a robot arm, a conveyor belt, etc.), and may drop the cargo into the target tank 1022 according to the tank information of the target tank 1022. Wherein, the conveying device is further provided with a camera for collecting images of each box body containing the target container 102 so as to position the target box body 1022 and release the goods. And the conveyor 1000 is generally capable of covering the extent of all of the containers in the container.

In one embodiment of the present disclosure, the transfer device 1000 may be a robotic arm, and the unmanned aerial vehicle 100 may grasp the goods to be delivered to the order and drop the goods into the target container 1022.

In another embodiment of the present disclosure, the conveyor 1000 may be a conveyor belt, and the unmanned aerial vehicle 100 may align one end of the conveyor belt with the opening of the target box 1022 and convey goods to be delivered to the target box 1022.

In one or more embodiments of the present specification, the box information of the target box 1022 includes a box identifier of the target box 1022, and taking the box identifier as a box code as an example, the box codes on the container are usually arranged consecutively from left to right and from top to bottom, and the box codes are attached to the outer side of the cabinet door. Then, after the door of the target container 1022 is opened, the unmanned device 100 can capture an image including the codes of the non-target containers 102 by the camera, determine the relative position relationship between the non-target containers and the target container 1022 according to the codes of the non-target containers in the image, the codes of the target containers 1022, and the sequence of the codes of the target containers 102, and position the target container 1022 according to the determined relative position relationship and the position of the non-target containers, so as to adjust the position of the conveying apparatus 1000, align the conveying apparatus 1000 with the hatch of the target container 1022, and deposit the cargo to the target container 1022.

Alternatively, in another embodiment of the present disclosure, the drone 100 may adjust its position according to the position of the target box 1022 located, so that the drone 100 aligns with the hatch of the target box 1022 and puts the goods to be delivered to the target box 1022.

For example, assuming that the target container 102 has a 5 × 5 container structure, the corresponding container codes of the containers of the target container 102 from left to right and from top to bottom are 00-24, and the container code of the target container 1022 is 09. If the bin code of the non-target bin in the image captured by the camera is 05, it may be determined that the target bin 1022 is located at the right side of the captured non-target bin, and the position of the transfer device 1000 may be adjusted to the right side until the transfer device 1000 faces the target bin 1022.

In addition, if the movable range of the transfer device 1000 disposed in the robot 100 is limited, each box in the container cannot be completely covered. The unmanned aerial vehicle 100 can determine the relative position relationship between the non-target container and the target container 1022 according to the container codes of the non-target containers in the image, the container code of the target container 1022 and the sequence of the container codes in the target container 102, and adjust the position of the unmanned aerial vehicle 100 according to the determined relative position relationship and the position of the non-target container, so that the conveying device 1000 can cover the target container 1022 to complete the cargo delivery.

In one embodiment of the present disclosure, the box identifier may be an electronic tag, and the transmission device 1000 of the unmanned aerial device may be provided with a reader for transmitting and receiving radio frequency signals. Then, the unmanned aerial vehicle 100 may use Radio Frequency Identification (RFID) technology to transmit Radio Frequency signals to the electronic tags of the boxes respectively through the reader and receive data information returned by the electronic tags of the boxes. Finally, the electronic tag of the target enclosure 1022 is determined therefrom to locate the target enclosure 1022. Wherein, different electronic tags are correspondingly arranged in different boxes.

In one embodiment of the present disclosure, after the target box 1022 is opened, the unmanned device 100 cannot observe the box code attached to the cabinet door of the target box 1022 through the camera, so the box information of the target box 1022 may include the box code of the adjacent box around the target box 1022 and the relative position relationship between the adjacent box and the target box 1022, so as to position the target box 1022 through the adjacent box. The drone 100 may then capture an image containing the box codes of the target container 102 via a camera, and position the target box 1022 according to the relative positional relationship between the adjacent box and the target box 1022, the box code of the adjacent box in the image, and the box code of the target box 1022, to adjust the position of the transmitting device 1000, such that the transmitting device 1000 delivers the cargo to the target box 1022.

Further, before the target box 1022 is loaded with goods, the unmanned aerial vehicle 100 may further determine whether the target box 1022 is in an open state according to the captured image. When the target box 1022 is determined to be opened, the goods are delivered to the target box 1022. Otherwise, the unmanned device 100 can send an opening instruction to the target container 102 to open the target container 1022, or the unmanned device 100 can also send a replacement instruction to the target container 102 to re-determine another target container 1022 with the target container 102, or the unmanned device 100 can also report an abnormality to wait for manual handling.

In other embodiments of the present disclosure, the unmanned device 100 may also directly capture an image including a code of each box by a camera, identify the image, determine an open target box 1022 in the image, and adjust the position of the transportation device 1000, so that the transportation device 1000 puts goods into the target box 1022.

In this specification, after the cargo is completely released, that is, after the unmanned aerial vehicle 100 releases the cargo to the target container 1022, a releasing completion instruction needs to be sent to the target container 102, so that the target container 102 closes the door of the target container 1022 according to the received releasing completion instruction.

The present specification also provides a container for receiving an order placed by the drone 100. The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

FIG. 2 is a schematic diagram of a container 102, which is a cabinet for storing goods and generally includes a display screen 1020 and a plurality of container spaces, each of which can be used for storing goods such as express, take-out, etc. according to an embodiment of the present disclosure. Each box space corresponds to a different pick-up code, and the user can input the pick-up code on the display interface 1020 to pick up the goods corresponding to the box space. The box body with the opened cabinet door is a target box body 1022 to be loaded with goods.

In the process of unmanned delivery in this specification, the container 102 may receive an order placed by the unmanned device 102, and since the volume of the order is not constant, and the container 102 generally includes boxes for storing goods with different sizes, before the goods are placed, the container 102 may receive order information of the order to be delivered, which is sent by the unmanned device 100, where the order information at least includes information such as an order number, the volume of the goods corresponding to the order, and a mobile phone number of an order placing user.

Thereafter, the container 102 may determine a target container 1022 suitable for storing the cargo from the cargo volume in the received order information and the container volume of each empty container, transmit the container information of the target container 1022 to the unmanned device 100, and open the target container 1022 (i.e., open the door of the target container 1022). After the door of the target box 1022 is opened, the unmanned aerial vehicle 100 may deposit the goods to be delivered to the target box 1022.

Finally, after the cargo is put in, the container 102 may close the door of the target container 1022 according to the put-in completion instruction sent by the unmanned device 100.

In addition, the target container 102 also needs to send the pickup code corresponding to the target container 1022 to the user according to the user information in the order information, so that the user can extract the goods from the target container 102 according to the pickup code.

The detailed steps of selecting the target container 102 by the unmanned device 100 and performing the releasing operation by the unmanned device 100 have already been explained on the unmanned device 100 side shown in fig. 1, and are not described again in this specification.

The present specification further provides an unmanned distribution system, and the following describes technical solutions provided by embodiments of the present application in detail with reference to the accompanying drawings.

Fig. 3 is a schematic diagram of an unmanned distribution system according to an embodiment of the present disclosure, which includes an unmanned aerial vehicle 100 and a plurality of containers 102. Where the drone 100 may employ the drone 100 shown in FIG. 1, the container 102 may be the container 102 shown in FIG. 2.

When performing the unmanned dispatching task, the unmanned device 100 in the system can determine a target container 102 to be placed from a plurality of containers 102 according to the dispatching address of the order to be dispatched, and drive to the designated position of the target container 102.

Then, the unmanned aerial vehicle 100 can send order information of an order to be delivered to the target container 102, the target container 102 can determine the cargo volume of the cargo to be delivered according to the received order information, select a target container 1022 suitable for storage from each free container, send the container information of the target container 1022 to the unmanned aerial vehicle 100, and open the target container 1022.

Then, the unmanned device 100 can deliver the goods of the order to be delivered to the target container 1022 according to the received container information of the target container 1022 and the transmission apparatus 1000 configured by itself, and send a delivery completion instruction to the target container 102.

Finally, the target container 102 can close the door of the target tank 1022 according to the received discharge completion instruction.

FIG. 4 is an interactive schematic diagram of the unmanned aerial vehicle 100 and the target container 102 provided in the embodiment of the present disclosure, when the unmanned aerial vehicle 100 arrives at the specified position of the target container 102, the unmanned aerial vehicle 100 can send order information of an order to be distributed to the target container 102, so that the target container 102 can determine a target container 1022 suitable for placing the cargo from each vacant container according to the cargo volume in the received order information and open the target container. Thereafter, the target container 102 may return the container information of the target container 1022 to the unmanned device 100, so that the unmanned device 100 completes the cargo delivery according to the container information of the target container 1022. Finally, the drone 100 may send a placement complete instruction to the target container 102 causing the target container 102 to close the target tank 1022.

Based on the unmanned distribution system shown in fig. 3, the unmanned device in the system can determine and go to the target container to be placed according to the distribution address of the order to be distributed. Then, the target container can determine and open a target box body from each spare box body of the target container body according to the order information of the order to be distributed sent by the unmanned equipment, and send the box body information of the target box body to the unmanned equipment, so that the unmanned equipment finishes cargo delivery based on the box body information of the target box body. Finally, the unmanned equipment can send a putting completion instruction to the target container, so that the target container closes the target box body according to the putting completion instruction. Through the cooperative operation of the unmanned equipment and the container, the automatic delivery of the order goods is realized, the delivery cost is saved, and the delivery efficiency is improved.

It should be noted that, in the above embodiments of the present specification, the information transmission between the unmanned aerial vehicle 100 and each container 102 is taken as an example for explanation, that is, after the unmanned aerial vehicle 100 reaches the designated location of the target container 102, the bluetooth communication can be established based on the bluetooth devices on the unmanned aerial vehicle 100 and the container 102, so as to avoid the problems of network delay and the like.

In other embodiments of the present specification, the unmanned device 100 and the container 102 may perform information transmission through a server, and based on this, the present specification further provides an unmanned distribution system, and the following describes technical solutions provided by the embodiments of the present application in detail with reference to the drawings.

Fig. 5 is a schematic diagram of an unmanned distribution system according to an embodiment of the present disclosure, the system including an unmanned aerial device 100, a server 104, and a plurality of containers 106. The unmanned device 100 can adopt the unmanned device 100 shown in fig. 1, the container 106 is different from the container 102 shown in fig. 2, the server 104 can be a single server which performs information transmission with the unmanned device 100 and the container 106 respectively, or a system composed of a plurality of servers, such as a first server which comprises the unmanned device and a second server which comprises the container, and the first server and the second server can establish communication. For ease of description, the following description is directed to the drone 100 communicating with the container 106 through a single server.

When performing the unmanned dispatching task, the unmanned device 100 in the system can determine a target container 106 to be placed from a plurality of containers 106 according to the dispatching address of the order to be dispatched and the position information of each container, and drive to the specified position of the target container 106.

The position information of each container 106 may be stored in the unmanned device 100 in advance, or may be acquired by the unmanned device 100 from the server 104 in real time, which is not limited in this specification.

Then, the unmanned device 100 may send order information of an order to be delivered to the server 104, and the server 104 may determine a cargo volume of the cargo to be delivered according to the received order information, select a target box 1022 that is suitable for storage from each vacant box of the target container, send box information of the target box 1022 to the unmanned device 100, and open the target box 1022.

The order information at least comprises information such as an order number, the size of goods corresponding to the order, a mobile phone number of an order placing user and the like. Of course, the identification of the target container 106 to be placed in the order is also included.

Then, the unmanned device 100 may release the goods of the order to be delivered to the target box 1022 according to the received box information of the target box 1022 and the transmission device 1000 configured by itself, and send a release completion instruction to the server 104.

Finally, the server 104 may close the door of the target box 1022 according to the received release completion instruction.

Further, in this specification, the server 104 opens the target tank 1022 in the target container 106, and the server 104 can send an opening instruction to the target container 106 to enable the target container 106 to open the target tank 1022 according to the tank identifier of the target tank 1022 in the opening instruction.

In this specification, when the server 104 closes the target tank 1022, it also sends a closing instruction to the target container 106, so that the target container 106 closes the door of the target tank 1022 according to the tank identifier of the target tank 1022 in the closing instruction.

With respect to the above-mentioned unmanned distribution system shown in fig. 3 or fig. 5, the present specification also provides an unmanned distribution method adopted in the unmanned distribution system, as shown in fig. 6.

Fig. 6 is a schematic flow chart of an unmanned distribution method provided in an embodiment of the present disclosure, where the unmanned distribution method uses an unmanned device as an execution main body, and specifically includes the following steps:

s200: and determining a target container to be put in from the plurality of containers according to the distribution address of the order to be distributed, and driving to the specified position of the target container.

The unmanned distribution method provided by the specification is executed by taking unmanned equipment as an execution main body. When unmanned delivery is performed, the unmanned device may determine, for each order to be delivered, a delivery address of the order to be delivered in turn. And determining the container closest to the delivery address according to the positions of the containers stored in advance as a target container to be put in goods.

And then, the unmanned equipment can plan a path and drive to the specified position of the target container according to the position of the target container and the current position of the unmanned equipment. The designated position of the target container can be a position 2 meters towards each box body of the target container, and can be specifically set according to requirements.

S202: and sending order information of the order to be distributed to a server or the target container.

Since the container usually includes boxes with different space sizes for storing goods with different volumes, when the unmanned device reaches the designated position of the target container to be released, the order information of the order to be delivered can be sent to the server or the target container, so that the server or the target container can select a proper box according to the order information and open the box. The order information at least comprises information such as an order number, the size of goods corresponding to the order, a mobile phone number of an order placing user and the like.

S204: and receiving box body information of a target box body returned by the server or the target container, releasing the goods of the order to be delivered to the target box body according to the box body information of the target box body, and sending a releasing completion instruction to the server or the target container to enable the server or the target container to close the target box body.

In this specification, the unmanned device may receive the box information of the target box returned by the server or the target container, and extract the goods of the order to be delivered by a transmission device (e.g., a mechanical arm) configured by the unmanned device according to the box information of the target box, and place the goods into the target box. The conveying device is also provided with a camera for acquiring images of each box body containing the target container so as to position the target box body and put in the goods.

After the goods are put in, the unmanned equipment also needs to send a putting completion instruction to the server or the target container, so that the server or the target container closes the cabinet door of the target box body according to the received putting completion instruction.

The unmanned distribution method shown in steps S200 to S204 in this specification can be applied to the unmanned distribution system, where an unmanned device is used as an execution main body, and the specific execution process is described in detail in the above-mentioned unmanned device side, and a description thereof is not repeated here.

With respect to the above-mentioned unmanned distribution system shown in fig. 3 or fig. 5, the present specification also provides an unmanned distribution method adopted in the unmanned distribution system, as shown in fig. 7.

Fig. 7 is a schematic flow chart of an unmanned distribution method provided in an embodiment of the present specification, where the unmanned distribution method takes a server or a terminal of a container as an execution subject, and specifically includes the following steps:

s300: receiving order information of orders to be distributed sent by unmanned equipment, determining a target box body from each vacant box body of a target container according to the order information, and sending the box body information of the target box body to the unmanned equipment.

The unmanned distribution method provided by the specification can be executed by a target container to be released or a server as an execution main body. After the unmanned equipment travels to the designated position of the target container, the server or the target container can receive the order information of the order to be dispensed, which is sent by the unmanned equipment, determine a target container which is in accordance with the goods to be stored from the order information according to the goods volume in the received order information and the container volume of each vacant container of the target container, and send the container information of the target container to the unmanned equipment.

S302: and opening the target box body.

In this specification, the server or the target container opens the target box (i.e., opens a door of the target box), so that the unmanned device puts the goods of the order to be delivered into the target box.

S304: and closing the target box body according to a throwing completion instruction sent by the unmanned equipment.

In this specification, after the unmanned device finishes releasing the goods, the server or the target container may close the door of the target container according to a releasing completion instruction sent by the unmanned device.

Based on the unmanned distribution method shown in fig. 6, the embodiment of the present specification further provides a schematic structural diagram of an unmanned distribution device, as shown in fig. 8.

Fig. 8 is a schematic structural diagram of an unmanned dispensing device provided in an embodiment of the present disclosure, including:

the determining module 400 is used for determining a target container to be put in from a plurality of containers according to the distribution address of the order to be distributed and driving to the appointed position of the target container;

a sending module 402, configured to send order information of an order to be delivered to a server or the target container, so that the server or the target container determines a target container from each empty container of the target container according to the received order information, and opens the target container;

a delivery module 404, configured to receive box information of a target box returned by the server or the target container, deliver the goods of the order to be delivered to the target box according to the box information of the target box, and send a delivery completion instruction to the server or the target container, so that the server or the target container closes the target box; and the target box body is a vacant box body in the target container.

Based on the unmanned distribution method shown in fig. 7, the embodiment of the present specification further provides a schematic structural diagram of an unmanned distribution device, as shown in fig. 9.

Fig. 9 is a schematic structural diagram of an unmanned dispensing device provided in an embodiment of the present disclosure, including:

the receiving module 500 is used for receiving order information of orders to be distributed sent by the unmanned equipment, determining a target box body from each vacant box body of a target container according to the order information, and sending the box body information of the target box body to the unmanned equipment;

an opening module 502, which opens the target box body to enable the unmanned equipment to carry out cargo delivery;

and a closing module 504, configured to close the target box according to the delivery completion instruction sent by the unmanned device.

Embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored, and the computer program may be used to execute the unmanned distribution method provided in fig. 6 or fig. 7.

Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and create a dedicated integrated circuit chip. Furthermore, nowadays, instead of manually generating an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardbyscript Description Language (vhigh Description Language), and so on, which are currently used in the most popular languages. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

Claims

1. An unmanned device, comprising:

2. The unmanned aerial device of claim 1, configured to determine, as an adjacent container, a container from the plurality of containers that is less than a predetermined value from a delivery address of an order to be delivered; sending a query request to the server or each adjacent container; and determining a target container to be released from each adjacent container according to the order information of the order to be distributed and the received vacant box body information returned by the server or each adjacent container.

3. The drone of claim 1, wherein the drone includes a conveyor;

4. The unmanned aerial device of claim 3, wherein the conveyance device is a robotic arm;

5. The drone of claim 3, wherein the conveyor is a conveyor belt;

6. The drone of claim 1, wherein the drone includes a camera, the tank information of the target tank includes a tank identification of the target tank;

7. The drone of claim 3, wherein the drone includes a camera, the tank information of the target tank includes a tank identification of the target tank;

8. The drone of claim 1, wherein the drone includes a camera, the tank information of the target tank includes a tank identification of a neighboring tank around the target tank, and a relative positional relationship between the neighboring tank and the target tank;

9. The drone of claim 3, wherein the drone includes a camera, the tank information of the target tank includes a tank identification of a neighboring tank around the target tank, and a relative positional relationship between the neighboring tank and the target tank;

10. A freight container, comprising:

11. The container of claim 10, wherein the container is further configured to send a pick code corresponding to the target container to a user based on the order information.

12. An unmanned distribution system, comprising at least an unmanned device and a plurality of containers, wherein:

13. The system of claim 12, wherein the unmanned device is configured to determine, as the neighboring container, a container from the plurality of containers that is less than a predetermined value from the delivery address according to the delivery address of the order to be delivered;

14. An unmanned distribution system, comprising at least an unmanned device, a server and a plurality of containers, wherein:

15. An unmanned distribution method, comprising:

and the target box body is a vacant box body in the target container.

16. An unmanned distribution method, comprising:

receiving order information of a to-be-distributed order sent by unmanned equipment, determining a target box body from each vacant box body of a target container according to the order information, and sending the box body information of the target box body to the unmanned equipment;

opening the target box body to enable the unmanned equipment to carry out cargo delivery;

and closing the target box body according to a throwing completion instruction sent by the unmanned equipment.

17. An unmanned dispensing device, comprising:

18. An unmanned dispensing device, comprising:

the receiving module is used for receiving order information of orders to be distributed sent by the unmanned equipment, determining a target box body from each vacant box body of a target container according to the order information, and sending the box body information of the target box body to the unmanned equipment;

the opening module is used for opening the target box body so as to enable the unmanned equipment to carry out cargo delivery;

and the closing module is used for closing the target box body according to the releasing completion instruction sent by the unmanned equipment.

19. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when being executed by a processor, carries out the method of claim 15 or 16.