CN113780908A

CN113780908A - Unmanned distribution method and system

Info

Publication number: CN113780908A
Application number: CN202010581726.4A
Authority: CN
Inventors: 李洪涛
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-12-10

Abstract

The embodiment of the application provides an unmanned distribution method and system, wherein the method is applied to an unmanned distribution system, and the unmanned distribution system comprises a controller, a first scanning device, a conveying channel, an unmanned distribution vehicle and a first manipulator; the method comprises the following steps: acquiring cargo information of the cargo acquired by a first scanning device, wherein the cargo information is used for indicating the category of the cargo; controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category; controlling the unmanned distribution vehicle to run to the distribution port; and controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place. The automatic distribution of the goods is realized, and the participation of logistics employees is not needed, so that the cost can be reduced; and the automatic distribution process can improve the distribution efficiency of the goods and reduce the distribution error rate.

Description

Unmanned distribution method and system

Technical Field

The embodiment of the application relates to the field of warehouse logistics, in particular to an unmanned distribution method and system.

Background

With the continuous application of logistics, logistics has become an indispensable process part in modern life. In the management process of warehouse logistics, goods need to be delivered so that the goods can enter a designated transport vehicle or a designated place.

Among the prior art, can be artificial sort and deliver the goods, and then the manual work is with article goods to freight train or warehouse in, and then by freight train with freight to destination.

In the process of implementing the present application, the inventor finds that at least the following problems exist in the prior art: a large amount of logistics practitioners are required to manually sort and distribute the goods, so that a large amount of cost is consumed, and the distribution efficiency of the goods is low; and the condition of cargo distribution errors is easy to occur in a manual distribution mode.

Disclosure of Invention

The embodiment of the application provides an unmanned distribution method and system, which are used for solving the problems that the distribution cost of goods is high, the distribution efficiency is low and the goods distribution error is easy to cause.

In a first aspect, an embodiment of the present application provides an unmanned distribution method, where the method is applied to a controller in an unmanned distribution system, where the unmanned distribution system includes the controller, a first scanning device, a conveying passage, an unmanned distribution vehicle, and a first manipulator, and the method includes:

acquiring cargo information of the cargo acquired by the first scanning device, wherein the cargo information is used for indicating cargo category;

controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category; controlling the unmanned distribution vehicle to travel to the distribution port;

and controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place.

In an optional implementation manner, the unmanned cargo allocation system further comprises a conveying line, and the conveying line is provided with a plurality of conveying channels; controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category, wherein the goods distribution port comprises:

determining the emergency degree of the cargo according to the cargo information;

when the emergency degree is emergency, determining that the goods category of the goods is an emergency order or a timing order, and controlling the goods to enter a first category of conveying channels on the conveying line, wherein the first category of conveying channels are emergency channels;

and when the emergency degree is non-emergency, determining that the goods category of the goods is a common order, and controlling the goods to enter a second category of conveying channel on the conveying line, wherein the second category of conveying channel is a common channel.

In an optional implementation manner, the conveying line further comprises a conveying front end channel; the rear port of the conveying front-end channel is respectively communicated with the front port of the first type of conveying channel and the front port of the second type of conveying channel;

controlling the cargo into a first category of transfer lanes on the transfer line, comprising: controlling the goods to enter the first category of conveying passage from the conveying front end passage;

controlling the cargo into a second category of transfer lanes on the transfer line, comprising: controlling the goods to enter the second category of conveying channels from the conveying front end channel.

In an optional implementation, the conveyor line further comprises a rotary distribution device; the second type of conveying channel comprises a plurality of sub-channels, the rotary distribution device is positioned on the second type of conveying channel, and the rotary distribution device is respectively communicated with the front ports of the sub-channels;

controlling the passage of the cargo from the transport front lane into the second category of transport lanes, comprising:

controlling the goods to enter the front port of the second category of conveyance way from the front end way to enter the goods onto the rotary distribution device;

controlling the rotary distribution device to rotate to enter the goods from the rotary distribution device into one of the plurality of sub-channels.

In an alternative implementation, the unmanned cargo distribution system further comprises a second scanning device; the second scanning device is positioned at the rear port of the conveying channel corresponding to the goods category; controlling the first manipulator to grab the goods onto the unmanned distribution vehicle, comprising:

acquiring the cargo information of the cargo acquired by the second scanning device, and determining the cargo allocation port information of the cargo allocation port where the cargo is located currently;

and when the cargo information is determined to be matched with the cargo port information, controlling the first mechanical arm to grab the cargo to the unmanned distribution vehicle.

In an optional implementation manner, when it is determined that the cargo information matches the cargo allocation port information, controlling the first manipulator to grab the cargo onto the unmanned distribution vehicle includes:

collecting unmanned vehicle information of an unmanned distribution vehicle positioned on a cargo allocation port;

and when the goods information is determined to be matched with the goods distribution port information and the goods information is determined to be matched with the unmanned vehicle information, controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle.

In an optional implementation manner, the method further includes:

when the cargo information is determined to be matched with the cargo distribution port information and the cargo information is determined not to be matched with the unmanned vehicle information, controlling the unmanned distribution vehicle matched with the cargo information to travel to the current cargo distribution port;

and controlling the first mechanical arm to grab the goods to an unmanned distribution vehicle matched with the goods information.

In an optional implementation, the unmanned cargo distribution system further comprises a return channel, wherein the return channel is communicated with the front port of the conveying channel; the method further comprises the following steps:

and when the goods information is determined not to be matched with the goods distribution port information, controlling the first mechanical arm to grab the goods to the return channel so as to transfer the goods to the front port of the conveying channel.

In an alternative implementation, the unmanned distribution system further comprises a second manipulator, and the second manipulator and the first scanning device are positioned at the front port of the conveying line; before acquiring the cargo information of the cargo collected by the first scanning device, the method further includes:

and controlling the second manipulator to grab the goods to the front end port of the conveying line.

In a second aspect, an embodiment of the present application provides an unmanned delivery system, including: the automatic conveying device comprises a controller, a first scanning device, a conveying channel, an unmanned distribution vehicle and a first manipulator;

the first scanning device is used for acquiring cargo information of the cargo, and the cargo information is used for indicating the category of the cargo;

the controller is used for acquiring the cargo information of the cargo acquired by the first scanning device; controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category; controlling the unmanned distribution vehicle to travel to the distribution port; controlling the first manipulator to grab the goods onto the unmanned distribution vehicle;

the unmanned distribution vehicle is used for transmitting the goods to a preset place.

In an optional implementation manner, the unmanned cargo allocation system further comprises a conveying line, and the conveying line is provided with a plurality of conveying channels; the controller is specifically configured to, when controlling the cargo to enter the conveying passage corresponding to the cargo category to convey the cargo to the cargo distribution port corresponding to the cargo category:

when the controller controls the goods to enter the first type of conveying channel on the conveying line, the controller is specifically configured to: controlling the goods to enter the first category of conveying passage from the conveying front end passage;

when the controller controls the goods to enter the second type of conveying channel on the conveying line, the controller is specifically configured to: controlling the goods to enter the second category of conveying channels from the conveying front end channel.

when the controller controls the cargo to enter the second type of conveying passage from the conveying front end passage, the controller is specifically configured to:

In an alternative implementation, the unmanned cargo distribution system further comprises a second scanning device; the second scanning device is positioned at the rear port of the conveying channel corresponding to the goods category;

the second scanning device is used for acquiring the cargo information of the cargo;

when the controller controls the first manipulator to grab the goods onto the unmanned delivery vehicle, the controller is specifically configured to:

In an optional implementation manner, when determining that the cargo information matches the cargo allocation port information, the controller controls the first manipulator to grasp the cargo onto the unmanned delivery vehicle, and is specifically configured to:

In an optional implementation, the controller is further configured to:

In an optional implementation, the unmanned cargo distribution system further comprises a return channel, wherein the return channel is communicated with the front port of the conveying channel; the controller is further configured to:

In an alternative implementation, the unmanned distribution system further comprises a second manipulator, and the second manipulator and the first scanning device are positioned at the front port of the conveying line; the controller is further configured to, before acquiring the cargo information of the cargo collected by the first scanning device:

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the unmanned distribution method provided in any one of the above aspects.

The embodiment of the application provides a method applied to a controller in an unmanned cargo distribution system, wherein the unmanned cargo distribution system comprises the controller, a first scanning device, a conveying channel, an unmanned distribution vehicle and a first manipulator; acquiring cargo information of the cargo acquired by a first scanning device, wherein the cargo information is used for indicating the category of the cargo; controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category; controlling the unmanned distribution vehicle to run to the distribution port; and controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place. The first scanning device in the unmanned cargo distribution system can acquire cargo information of cargos, and the controller can determine the cargo type of the cargos, so that the rolling of the conveying channel is controlled, and the cargos are controlled to enter the conveying channel corresponding to the cargo type; meanwhile, the controller controls the unmanned distribution vehicle to travel to a distribution port at the tail end of the conveying channel, and controls the grabbing action of the first manipulator, so that the goods on the conveying channel are grabbed onto the unmanned distribution vehicle; the unmanned delivery vehicle may transport the cargo to a predetermined location. The process can realize the automatic distribution of the goods, and the first scanning device and the controller finish the sorting of the goods, so that the goods of different types enter different conveying channels; and the conveying channel and the first manipulator in the unmanned distribution system operate the goods to the corresponding unmanned distribution vehicle, the unmanned distribution vehicle finishes the final conveying, and then the goods enter a designated train or a designated position to finish the automatic distribution process. In the process, no logistics staff is required to participate, so that the cost can be reduced; and the automatic distribution process can improve the distribution efficiency of the goods and reduce the distribution error rate.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic flow chart of an unmanned distribution method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an unmanned distribution system according to an embodiment of the present application;

fig. 3 is a schematic flow chart of another unmanned distribution method according to an embodiment of the present application;

fig. 4 is a first schematic structural diagram of another unmanned delivery system according to an embodiment of the present disclosure;

fig. 5 is a schematic flow chart of another unmanned distribution method according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of another unmanned distribution system according to an embodiment of the present application.

Reference numerals:

10: goods;

11: a controller;

12: a first scanning device;

13: a delivery channel;

14: an unmanned delivery vehicle;

15: a first manipulator;

16: a second manipulator;

17: a transport front end channel;

18: a rotary distribution device;

19: and a second scanning device.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

In one example, the goods may be manually sorted and delivered, and then manually placed into a truck or warehouse, and then transported by the truck to a destination.

In one example, logistics practitioners manually scan the goods, further enter goods information into a background system, and then manually place the goods on a distribution vehicle; distribution trucks place the cargo into trucks or silos, which transport the cargo to a destination.

However, in the above manner, a large number of logistics practitioners are required to manually sort and distribute the goods, which further requires a large amount of cost, and results in low distribution efficiency of the goods; and the condition of cargo distribution errors is easy to occur in a manual distribution mode.

The unmanned distribution method and system provided by the embodiment of the application aim to solve the problems that the distribution cost of goods is high, the distribution efficiency is low and the goods distribution error is easily caused.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an unmanned distribution method according to an embodiment of the present application, and as shown in fig. 1, the method is applied to a controller 11 in an unmanned distribution system, where the unmanned distribution system includes the controller 11, a first scanning device 12, a conveying passage 13, an unmanned distribution vehicle 14, and a first robot 15; the method comprises the following steps:

101. and acquiring cargo information of the cargo acquired by the first scanning device, wherein the cargo information is used for indicating the cargo category.

Illustratively, the method of the present embodiment is applied to the controller 11 in the unmanned cargo system. Fig. 2 is a schematic structural diagram of an unmanned distribution system according to an embodiment of the present invention, and as shown in fig. 2, the unmanned distribution system includes a controller 11, a first scanning device 12, a conveying passage 13, an unmanned distribution vehicle 14, and a first robot 15.

The first scanning device 12 is configured to scan the cargo 10 to obtain cargo information of the cargo 10; the conveying channel 13 is used for conveying the goods 10. In one example, the first robot 15 may be provided at a rear port of the conveyance channel 13; the first scanning device 12 is provided on the front port of the conveyance path 13. The controller 11 may be in communication with and electrically connected to the first scanning device 12 and the first robot 15. The position of the controller 11 is not limited.

The cargo 10 may be located at the front end of the transfer passage 13 at the time the cargo 10 is being dispensed. The controller 11 sends a scanning instruction to the first scanning device 12; after receiving the scanning instruction, the first scanning device 12 scans and identifies the barcode attached to the cargo 10, where the barcode may be a two-dimensional code or a barcode on the cargo 10, and the first scanning device 12 acquires the cargo information of the cargo 10; the controller 11 may acquire the cargo information acquired by the first scanning device 12. Wherein the cargo information includes: a category of goods, a category of goods 10, a name of goods 10, a date of order for goods 10, a projected ship-to date for goods 10, a ship-to address for goods 10, consignee information for goods 10, and the like.

102. And controlling the goods to enter the conveying channel corresponding to the goods category so as to convey the goods to the goods distribution port corresponding to the goods category.

Illustratively, the controller 11 may control the cargo 10 into the conveyance channel 13 corresponding to the cargo category.

One implementation is: the cargo information acquired by the controller 11 from the first scanning device 12 includes the cargo category; a plurality of conveying channels 13 are arranged in the unmanned cargo allocation system, and different conveying channels 13 are used for conveying cargos 10 of different cargo categories; the controller 11 controls the rolling of the conveying channel 13, so as to control the goods 10 of one goods category to enter one conveying channel 13; and the controller 11 controls the rolling of the conveying passage 13, and thus the goods 10 of another goods category to enter into another conveying passage 13.

For example, if the cargo type in the cargo information of the cargo 10A is a type, the controller 11 controls the rolling of the conveying channel 13, and controls the cargo 10A to enter the conveying channel 13 a; if the cargo type in the cargo information of the cargo 10B is the type B, the controller 11 controls the rolling of the conveying channel 13 and controls the cargo 10B to enter the conveying channel 13B; the goods category represents the goods 10 category, and for example, the goods category may be daily necessities, clothes, cosmetics, food, and the like.

The other realization mode is as follows: the cargo information acquired by the controller 11 from the first scanning device 12 includes a cargo category, and the cargo category represents the emergency degree of the cargo 10; a plurality of conveying channels 13 are arranged in the unmanned cargo allocation system, and different conveying channels 13 are used for conveying cargos 10 of different cargo categories; the controller 11 controls the rolling of the conveying channel 13, so as to control the goods 10 of one goods category to enter one conveying channel 13; and the controller 11 controls the rolling of the conveying passage 13, and thus the goods 10 of another goods category to enter into another conveying passage 13.

Yet another implementation is: cargo information acquired by the controller 11 from the first scanning device 12; the controller 11 determines the cargo type according to the detailed content in the cargo information, and the cargo type represents the emergency degree of the cargo 10; a plurality of conveying channels 13 are arranged in the unmanned cargo allocation system, and different conveying channels 13 are used for conveying cargos 10 of different cargo categories; the controller 11 controls the rolling of the conveying channel 13, so as to control the goods 10 of one goods category to enter one conveying channel 13; and the controller 11 controls the rolling of the conveying passage 13, and thus the goods 10 of another goods category to enter into another conveying passage 13.

Thereby, the controller 11 controls the rolling of each conveyance path 13 so that the goods 10 enter the conveyance path 13 corresponding to the goods category; since the rear port of the conveying passage 13 can be referred to as a distribution port, that is, the rear port of the conveying passage 13 is open, the rear port of the conveying passage 13 does not need to be directly connected with other equipment; the goods 10 are then transported all the way to the delivery opening of the conveyor channel 13.

103. And controlling the unmanned delivery vehicle to travel to the delivery port.

For example, in the process of the above steps, the controller 11 may send a movement instruction to the unmanned delivery vehicle 14, where the movement instruction includes the position information of the dispensing opening; after receiving the movement command, the unmanned distribution vehicle 14 travels to the distribution port up to the distribution port position information. It should be understood that the execution order of step 103, step 101, and step 102 is not limited.

104. And controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place.

Illustratively, one first robot 15 is provided at the rear end of each transfer lane 13, i.e., one first robot 15 is provided at each dispensing opening; the controller 11 sends a grab command to the first manipulator 15, and the first manipulator 15 grabs the goods 10 onto the unmanned delivery car 14 located at the delivery port.

Then, the unmanned distribution vehicle 14 travels to a preset place according to the instruction of the controller 11, and further transfers the goods 10 to the preset place; alternatively, when the unmanned distribution vehicle 14 senses that its cargo carrying capacity reaches a preset value, it is determined to start traveling and further travel to a preset place, and the cargo 10 is transported to the preset place.

In the present embodiment, by providing a method applied to a controller 11 in an unmanned cargo distribution system, the unmanned cargo distribution system includes the controller 11, a first scanner 12, a transportation path 13, an unmanned delivery vehicle 14, and a first robot 15; acquiring cargo information of the cargo 10 acquired by a first scanning device 12, wherein the cargo information is used for indicating cargo category; controlling the goods 10 to enter the conveying channel 13 corresponding to the goods category so as to convey the goods 10 to the goods distribution port corresponding to the goods category; and controls the unmanned delivery vehicle 14 to travel to the delivery port; the first robot 15 is controlled to grasp the goods 10 onto the unmanned distribution vehicle 14 so that the unmanned distribution vehicle 14 transfers the goods 10 to a predetermined place. The first scanning device 12 in the unmanned cargo distribution system can acquire cargo information of the cargo 10, and the controller 11 can determine the cargo type of the cargo 10, so as to control the rolling of the conveying channel 13 and control the cargo 10 to enter the conveying channel 13 corresponding to the cargo type; meanwhile, the controller 11 controls the unmanned distribution vehicle 14 to travel to a distribution port at the tail end of the conveying channel 13, and the controller 11 controls the grabbing action of the first manipulator 15, so that the goods 10 on the conveying channel 13 are grabbed onto the unmanned distribution vehicle 14; unmanned delivery vehicle 14 may transport cargo 10 to a predetermined location. The above process can realize the automatic distribution of the goods 10, and the first scanning device 12 and the controller 11 complete the sorting of the goods 10, so that the goods 10 of different categories enter into different conveying channels 13; in addition, the conveying channel 13 and the first manipulator 15 in the unmanned distribution system operate the goods 10 to the corresponding unmanned distribution vehicle, the unmanned distribution vehicle finishes the final conveying, and then the goods 10 enter a designated train or a designated position, and the automatic distribution process is finished. In the process, no logistics staff is required to participate, so that the cost can be reduced; and the above-described automatic distribution process can provide distribution efficiency of the goods 10, reducing a distribution error rate.

Fig. 3 is a schematic flow chart of another unmanned distribution method according to an embodiment of the present application, as shown in fig. 3, the method is applied to a controller 11 in an unmanned distribution system, the unmanned distribution system includes the controller 11, a first scanning device 12, a conveying passage 13, an unmanned distribution vehicle 14, and a first robot 15; the unmanned cargo allocation system further comprises a second manipulator 16, the second manipulator 16 and the first scanning device 12 are positioned at the front end of the conveying line; the unmanned cargo allocation system also comprises a conveying line, wherein the conveying line is provided with a plurality of conveying channels 13; the method comprises the following steps:

201. and controlling the second manipulator to grab the goods to the front end port of the conveying line.

Illustratively, the method of the present embodiment is applied to the controller 11 in the unmanned cargo system. Fig. 4 is a schematic structural diagram of another unmanned distribution system according to an embodiment of the present invention, as shown in fig. 4, the unmanned distribution system includes a controller 11, a first scanning device 12, a conveying line, an unmanned distribution vehicle 14, a first manipulator 15, and a second manipulator 16; wherein the conveyor line has a plurality of conveyor channels 13 therein. The first scanning device 12 is configured to scan the cargo 10 to obtain cargo information of the cargo 10; the conveyor line is used to convey the cargo 10. The first robot arm 15 and the second robot arm 16 are used for gripping the goods 10.

In one example, the first robot 15 may be provided at a rear port of the conveyance channel 13; the first scanning device 12 and the second robot 16 are provided at the front end of the conveyor line. The controller 11 may be in communication with and electrically connected to the first scanning device 12, the first robot 15, and the second robot 16. The position of the controller 11 is not limited.

The controller 11 sends a gripping instruction to the second manipulator 16 when the goods 10 are delivered, the gripping instruction being used for instructing the second manipulator 16 to grip the goods 10; the second robot 16 picks the goods 10 onto the front end of the conveyor line.

202. And acquiring cargo information of the cargo acquired by the first scanning device, wherein the cargo information is used for indicating the cargo category.

Exemplarily, after step 201, the controller 11 sends a scan instruction to the first scanning device 12; after receiving the scanning instruction, the first scanning device 12 scans and identifies the barcode attached to the cargo 10, where the barcode may be a two-dimensional code or a barcode on the cargo 10, and the first scanning device 12 acquires the cargo information of the cargo 10; the controller 11 may acquire the cargo information acquired by the first scanning device 12. Wherein the cargo information includes: a category of goods, a category of goods 10, a name of goods 10, a date of order for goods 10, a projected ship-to date for goods 10, a ship-to address for goods 10, consignee information for goods 10, and the like.

203. And determining the emergency degree of the goods according to the goods information.

Illustratively, the controller 11 determines the urgency of the cargo 10 based on the cargo information. For example, the controller 11 determines the urgency of the cargo 10 as urgent if it is determined that the expected receiving date and the current date of the cargo 10 are close to each other; the controller 11 determines the urgency of the cargo 10 as non-urgency if it determines that the expected date of receipt of the cargo 10 and the current date are not close. Or, for another example, the controller 11 determines that the content is marked as "emergency" according to the content of the remark information of the cargo 10, and then determines that the emergency degree of the cargo 10 is emergency; the controller 11 determines that the content is not marked "emergency" according to the content of the remark information of the cargo 10, and determines that the degree of emergency of the cargo 10 is non-emergency.

204. When the emergency degree is emergency, determining that the goods category of the goods is an emergency order or a timing order, and controlling the goods to enter a first category of conveying channel on a conveying line, wherein the first category of conveying channel is an emergency channel.

In one example, the conveyor line further comprises a conveyor front end channel 17; the rear port of the conveyance front end passage 17 communicates with the front port of the first-type conveyance passage 13 and the front port of the second-type conveyance passage 13, respectively. Step 204 specifically includes: the goods 10 are controlled to enter the first category of conveyor passage 13 from the conveyor front end passage 17.

The conveyor path 13 on the conveyor line is illustratively divided into at least two categories; the controller 11 controls the rolling of the conveyor paths 13 on the conveyor line and thus the cargo 10 of different urgency entering the different categories of conveyor paths 13.

The conveyance line in this embodiment is constituted by a conveyance front end passage 17 and a plurality of conveyance passages 13, and the rear port of the conveyance front end passage 17 is communicated with the front port of the first kind of conveyance passage 13, and the rear port of the conveyance front end passage 17 is communicated with the front port of the second kind of conveyance passage 13.

In one example, the controller 11 may learn that the cargo category of the cargo 10 is an emergency order or a timed order when determining that the urgency level of the cargo 10 is emergency; the controller 11 then controls the rolling of the individual transfer lanes 13 on the transfer line and thus the entry of the goods 10 into the emergency lane on the transfer line, i.e. the entry of the goods 10 into the first category of transfer lane 13 (emergency lane) through the transfer front lane 17.

205. And when the emergency degree is non-emergency, determining that the goods category of the goods is a common order, and controlling the goods to enter a second category of conveying channel on the conveying line, wherein the second category of conveying channel is a common channel.

In one example, step 205 specifically includes: the goods 10 are controlled to enter the second category of conveyor paths 13 from the conveyor front end path 17.

In one example, the conveyor line further comprises a rotary distribution device 18; the second type of conveying channel 13 comprises a plurality of sub-channels, the rotary distribution device 18 is positioned on the second type of conveying channel 13, and the rotary distribution device 18 is respectively communicated with the front ports of the sub-channels. Step 205 specifically includes: controlling the goods 10 to enter the front end of the second category of transportation channel 13 from the front end channel to make the goods 10 enter the rotary distribution device 18; the rotating distribution device 18 is controlled to rotate to move the cargo 10 from the rotating distribution device 18 into one of the plurality of sub-passageways.

For example, after step 205, the controller 11 may learn that the cargo category of the cargo 10 is a general order when determining that the urgency level of the cargo 10 is non-urgency; the controller 11 then controls the rolling of the various transfer lanes 13 on the transfer line and thus the entry of the goods 10 into the common lane on the transfer line, i.e. the entry of the goods 10 into the transfer lane 13 of the second category (common lane) through the transfer front lane 17.

In this embodiment, the second type of conveying passage 13 is formed by a plurality of sub-passages, and a large number of cargos 10 can be conveyed through the plurality of sub-passages. In order to distribute a large number of goods 10 to the sub-channels, a rotary distribution device 18 is provided on the second type of conveyor line conveyor channel 13; the rotary distribution device 18 is respectively communicated with the front ports of the sub-channels; the controller 11 may control the rotation of the rotary distribution device 18. Thus, when determining that the degree of urgency of the cargo 10 is non-urgent, the controller 11 first controls the front end lane to roll to the front port of the second category of conveyance lane 13; at this point, the goods 10 are run onto the rotating distribution device 18 on the front end of the second category of conveyor channel 13, the goods 10 enter into the rotating distribution device 18; the controller 11 continuously controls the rotary distribution device 18 to rotate, so that the goods 10 enter one of the sub-channels from the rotary distribution device 18 along with the rotation of the rotary distribution device 18; the controller 11 continuously controls the rolling of the sub-passage so that the goods 10 enter the dispensing opening corresponding to the sub-passage.

206. And controlling the unmanned delivery vehicle to travel to the delivery port.

For example, in the process of the above steps, the controller 11 may send a movement instruction to the unmanned delivery vehicle 14, where the movement instruction includes the position information of the dispensing opening; after receiving the movement command, the unmanned distribution vehicle 14 travels to the distribution port up to the distribution port position information. It should be understood that the execution order of step 206 and the above steps is not limited.

207. And controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place.

In this embodiment, on the basis of the above embodiment, when it is determined that the urgency level of the cargo 10 is urgent, the cargo 10 is controlled to enter an emergency passage on the conveying line; when the emergency degree of the cargo 10 is determined to be non-emergency, the cargo 10 is controlled to enter the rotary distribution device 18 from the front end channel, and during the process of controlling the rotary distribution device 18 to rotate, the cargo 10 enters one of the plurality of sub-channels from the rotary distribution device 18. The rolling of the conveyor line can be controlled according to the urgency of the goods 10, so that the goods 10 enter the different types of conveying channels 13; the cargo 10 is automatically sorted.

Fig. 5 is a schematic flow chart of another unmanned distribution method according to an embodiment of the present application, and as shown in fig. 5, the method is applied to a controller 11 in an unmanned distribution system, where the unmanned distribution system includes the controller 11, a first scanning device 12, a conveying passage 13, an unmanned distribution vehicle 14, and a first robot 15; the unmanned cargo allocation system further comprises a second manipulator 16, the second manipulator 16 and the first scanning device 12 are positioned at the front end of the conveying line; the unmanned cargo allocation system also comprises a conveying line, wherein the conveying line is provided with a plurality of conveying channels 13; the method comprises the following steps:

301. and controlling the second manipulator to grab the goods to the front end port of the conveying line.

Illustratively, the method of the present embodiment is applied to the controller 11 in the unmanned cargo system. The solution provided by the present embodiment is applied to an unmanned cargo distribution system, which includes the above-mentioned controller 11.

This step can be referred to as step 201 shown in fig. 3, and is not described again.

302. And acquiring cargo information of the cargo acquired by the first scanning device, wherein the cargo information is used for indicating the cargo category.

For example, this step can be referred to as step 202 shown in fig. 3, and is not described again.

303. And determining the emergency degree of the goods according to the goods information.

For example, this step may refer to step 203 shown in fig. 3, which is not described again.

304. When the emergency degree is emergency, determining that the goods category of the goods is an emergency order or a timing order, and controlling the goods to enter a first category of conveying channel on a conveying line, wherein the first category of conveying channel is an emergency channel.

For example, this step may refer to step 204 shown in fig. 3, which is not described again.

305. And when the emergency degree is non-emergency, determining that the goods category of the goods is a common order, and controlling the goods to enter a second category of conveying channel on the conveying line, wherein the second category of conveying channel is a common channel.

For example, this step may refer to step 205 shown in fig. 3, which is not described again.

306. And controlling the unmanned delivery vehicle to travel to the delivery port.

For example, the step can refer to step 206 shown in fig. 3, and is not described in detail.

307. The unmanned cargo allocation system also comprises a second scanning device; the second scanning device is positioned at the rear port of the conveying channel corresponding to the goods category; and acquiring the cargo information of the cargo acquired by the second scanning device, and determining the cargo distribution port information of the cargo distribution port where the cargo is located currently.

The unmanned cargo distribution system further comprises a second scanning device 19, and one second scanning device 19 may be disposed at the rear end of each conveying passage 13. The second scanning device 19 may acquire the cargo information of the cargo 10 while the cargo 10 is conveyed to the rear port of the conveyance passage 13, and then the controller 11 may acquire the cargo information acquired by the second scanning device 19.

Moreover, since the second scanning device 19 is located at the rear port of the conveying passage 13, and the goods distribution port is the rear port of the conveying passage 13, the controller 11 may also obtain the position information of the second scanning device 19, which uploads the goods information, while obtaining the goods information collected by the second scanning device 19, where the position information includes the goods distribution port information of the goods distribution port where the goods 10 are currently located.

308. And when the goods information is matched with the goods distribution port information, controlling the first mechanical arm to grab the goods to the unmanned distribution vehicle so that the unmanned distribution vehicle transmits the goods to a preset place.

In one example, step 308 specifically includes the following processes:

the method comprises the following steps of firstly, collecting unmanned vehicle information of an unmanned delivery vehicle positioned on a cargo port.

And a second step of controlling the first mechanical arm to grab the goods 10 onto the unmanned distribution vehicle when the goods information is matched with the information of the goods distribution port and the goods information is matched with the information of the unmanned vehicle.

Step three, when the goods information is determined to be matched with the goods distribution port information and the goods information is not matched with the unmanned vehicle information, controlling the unmanned distribution vehicle matched with the goods information to travel to the current goods distribution port; and controlling the first mechanical arm to grab the goods 10 to the unmanned distribution vehicle matched with the goods information.

The unmanned cargo distribution system also comprises a backflow channel, and the backflow channel is communicated with the front port of the conveying channel; and when the cargo information is determined not to be matched with the cargo port information, controlling the first mechanical arm to grab the cargo 10 onto the return channel so as to operate the cargo 10 onto the front port of the conveying channel.

Illustratively, the controller 11 analyzes whether there is a match between the cargo information and the port information. In one example, the cargo information may indicate a cargo category, the cargo category characterizes the urgency of the cargo 10, and the cargo gate information may indicate a category (emergency gate, or general gate) of the transportation path 13, so that the controller 11 may analyze whether the cargo 10 is transported to the transportation path 13 matching the urgency, that is, the urgent cargo 10 is transported to the emergency gate, the non-urgent cargo 10 is transported to the general gate, and further analyze whether there is a match between the cargo information and the cargo gate information; if the goods 10 are conveyed to the conveying channel 13 matched with the emergency degree, matching is carried out between the goods information and the goods distribution port information; if the cargo 10 is conveyed to the conveyance path 13 that does not match the degree of urgency, there is no match between the cargo information and the port information.

If it is determined that the cargo information matches the cargo port information, the controller 11 sends a grab instruction to the first manipulator 15, and the first manipulator 15 grabs the cargo 10 onto the unmanned distribution vehicle 14 according to the grab instruction. Then, the unmanned distribution vehicle 14 travels to a preset place according to the instruction of the controller 11, and further transfers the goods 10 to the preset place; alternatively, when the unmanned distribution vehicle 14 senses that its cargo carrying capacity reaches a preset value, it is determined to start traveling and further travel to a preset place, and the cargo 10 is transported to the preset place.

In one example, in this step, fig. 6 is a schematic structural diagram of another unmanned distribution system provided in the embodiment of the present application, as shown in fig. 6, fig. 6 shows a partial structure of the unmanned distribution system, and the second scanning device 19 has scanned the label on the goods 10, so as to acquire the goods information; the controller 11 may obtain the cargo information collected by the second scanning device 19. Meanwhile, the second scanning device 19 may scan the information code on the unmanned delivery vehicle 14 to obtain the unmanned vehicle information, where the second scanning device 19 may be a vision camera, and then the controller 11 obtains the unmanned information; alternatively, the information code on the unmanned delivery vehicle 14 may be scanned by another scanning device, such as a vision camera, to obtain the unmanned vehicle information, and then the controller 11 acquires the unmanned information.

Next, the controller 11 analyzes whether there is a match between the cargo information and the cargo gate information, and simultaneously analyzes whether there is a match between the cargo information and the unmanned vehicle information. If the goods 10 are conveyed to the conveying channel 13 matched with the emergency degree, matching is carried out between the goods information and the goods distribution port information; if the cargo 10 is conveyed to the conveyance path 13 that does not match the degree of urgency, there is no match between the cargo information and the port information. The controller 11 has recorded therein the unmanned vehicle information of the unmanned distribution vehicle 14 assigned to each distribution port, and the controller 11 also has recorded therein the cargo information of the cargo 10 assigned to each distribution port, so that the controller 11 has recorded therein the unmanned vehicle information of the unmanned distribution vehicle 14 corresponding to each distribution port, the cargo information of the cargo 10; if the currently acquired cargo information and the unmanned vehicle information both correspond to the same delivery port, determining that the cargo information is matched with the unmanned vehicle information; if any one of the currently acquired cargo information and the unmanned vehicle information does not correspond to the same delivery port, it is determined that the cargo information does not match the unmanned vehicle information, that is, it is determined that the unmanned delivery vehicle 14 does not travel to the required delivery port.

According to the above process, if the controller 11 determines that the cargo information matches the cargo allocation port information and the cargo information matches the unmanned vehicle information, it determines that the cargo 10 is conveyed to the cargo allocation port matched with the degree of urgency and the unmanned vehicle 14 travels to the required cargo allocation port, and then the controller 11 sends a grabbing instruction to the first manipulator 15, and the first manipulator 15 grabs the cargo 10 onto the unmanned vehicle 14 according to the grabbing instruction. Unmanned distribution vehicle 14 then travels to the predetermined location and transports cargo 10 to the predetermined location.

According to the above process, different unmanned delivery vehicles 14 need to travel to different preset locations; if the controller 11 determines that the cargo information is matched with the cargo allocation port information and the cargo information is not matched with the unmanned vehicle information, it is determined that the cargo 10 is conveyed to the cargo allocation port matched with the degree of urgency but the unmanned distribution vehicle 14 does not travel to the required cargo allocation port, and then the controller 11 sends a control instruction to the unmanned distribution vehicle 14 matched with the cargo information (i.e., the unmanned distribution vehicle 14 corresponding to the cargo allocation port) so that the unmanned distribution vehicle 14 matched with the cargo information travels to the current cargo allocation port; then, the controller 11 compares the cargo information with the unmanned vehicle information of the current unmanned distribution vehicle 14 again to determine whether the cargo information is matched with the unmanned vehicle information of the current unmanned distribution vehicle 14, if so, the controller 11 sends a grabbing instruction to the first manipulator 15, and the first manipulator 15 grabs the cargo 10 onto the unmanned distribution vehicle 14 according to the grabbing instruction; unmanned distribution vehicle 14 then travels to the predetermined location and transports cargo 10 to the predetermined location.

According to the above process, if the controller 11 determines that the cargo information does not match the cargo gate information, it determines that the cargo 10 is delivered to the cargo gate that does not match the urgency; at this time, the goods 10 need to be returned to be delivered again. To achieve this, a return channel may be provided in the unmanned cargo system, communicating with the front port of each of the conveyance channels 13. If the controller 11 determines that the cargo information is not matched with the cargo allocation port information, it is determined that the cargo 10 is conveyed to the cargo allocation port which is not matched with the emergency degree, and then the controller 11 sends a grabbing instruction to the first manipulator 15; the first manipulator 15 grabs the goods 10 onto the return channel according to the grabbing instruction; since the controller 11 continuously controls the backflow passage to roll, the backflow passage operates the goods 10 to the front end of the conveying passage 13, that is, operates the goods 10 to the front end of the conveying line, as the backflow passage rolls. Then, the process of step 302-308 of the present embodiment is re-executed to re-perform the distribution process for the goods 10.

In this embodiment, on the basis of the above embodiment, if the controller 11 determines that the cargo information matches the cargo allocation port information and the cargo information does not match the unmanned vehicle information, it determines that the cargo 10 is transported to the cargo allocation port matching the emergency degree but the unmanned distribution vehicle 14 does not travel to the required cargo allocation port, and the controller 11 sends a control instruction to the unmanned distribution vehicle 14 matching the cargo information (i.e., the unmanned distribution vehicle 14 corresponding to the cargo allocation port) so that the unmanned distribution vehicle 14 matching the cargo information travels to the current cargo allocation port, so that the correct unmanned distribution vehicle 14 travels to the current cargo allocation port to transport the cargo 10. If the controller 11 determines that the cargo information does not match the cargo gate information, it determines that the cargo 10 is delivered to the cargo gate that does not match the urgency; at this time, the goods 10 may be returned using the return passage to redistribute the goods 10. Thus, at the cargo allocation port, the cargo information and the unmanned distribution vehicle 14 are rechecked again, and whether the cargo 10 is conveyed to the cargo allocation port matched with the emergency degree and whether the unmanned distribution vehicle 14 runs to the required cargo allocation port are determined; when the goods 10 are not matched, the goods 10 are redistributed, so that the error rate of distribution is reduced, and the distribution accuracy is improved; meanwhile, the increase of the distribution cost due to distribution errors is avoided, and the cost is further reduced.

As shown in fig. 2, the unmanned distribution system provided in this embodiment includes: a controller 11, a first scanner 12, a conveyance path 13, an unmanned distribution vehicle 14, and a first robot 15.

The first scanning device 12 is used for acquiring cargo information of the cargo 10, and the cargo information is used for indicating cargo categories;

a controller 11, configured to obtain cargo information of the cargo 10 collected by the first scanning device 12; controlling the goods 10 to enter the conveying channel 13 corresponding to the goods category so as to convey the goods 10 to the goods distribution port corresponding to the goods category; and controls the unmanned delivery vehicle 14 to travel to the delivery port; the first robot 15 is controlled to grasp the goods 10 onto the unmanned distribution vehicle 14.

An unmanned delivery vehicle 14 for transporting the cargo 10 to a predetermined location.

For example, the present embodiment may refer to the description of the above embodiments, and is not described again.

As shown in fig. 4 and 6, on the basis of the unmanned distribution system shown in fig. 2, the unmanned distribution system further includes a conveying line having a plurality of conveying passages 13; when the controller 11 controls the cargo 10 to enter the conveying passage 13 corresponding to the cargo category to convey the cargo 10 to the cargo distribution port corresponding to the cargo category, the controller is specifically configured to:

determining the urgency of the cargo 10 according to the cargo information; when the emergency degree is emergency, determining that the goods category of the goods 10 is an emergency order or a timing order, and controlling the goods 10 to enter a first category of conveying channels 13 on a conveying line, wherein the first category of conveying channels 13 are emergency channels; when the emergency degree is not emergency, the goods category of the goods 10 is determined to be a common order, the goods 10 are controlled to enter the second category of conveying channels 13 on the conveying line, and the second category of conveying channels 13 are common channels.

In one example, the conveyor line further comprises a conveyor front end channel 17; the rear port of the conveyance front end passage 17 communicates with the front port of the first-type conveyance passage 13 and the front port of the second-type conveyance passage 13, respectively.

The controller 11, when controlling the goods 10 to enter the first category of transportation path 13 on the transportation line, is specifically configured to: the goods 10 are controlled to enter the first category of conveyor passage 13 from the conveyor front end passage 17.

The controller 11, when controlling the goods 10 to enter the second category of transportation path 13 on the transportation line, is specifically configured to: the goods 10 are controlled to enter the second category of conveyor paths 13 from the conveyor front end path 17.

In one example, the conveyor line further comprises a rotary distribution device 18; the second type of conveying channel 13 comprises a plurality of sub-channels, the rotary distribution device 18 is positioned on the second type of conveying channel 13, and the rotary distribution device 18 is respectively communicated with the front ports of the sub-channels.

The controller 11, when controlling the goods 10 from the front end conveying channel 17 to the second type conveying channel 13, is specifically configured to: controlling the goods 10 to enter the front end of the second category of transportation channel 13 from the front end channel to make the goods 10 enter the rotary distribution device 18; the rotating distribution device 18 is controlled to rotate to move the cargo 10 from the rotating distribution device 18 into one of the plurality of sub-passageways.

In one example, the unmanned cargo distribution system further comprises a second scanning device 19; the second scanning device 19 is located at the rear end of the conveyance channel 13 corresponding to the cargo category.

And a second scanning device 19 for collecting cargo information of the cargo 10.

The controller 11, when controlling the first manipulator 15 to grasp the goods 10 onto the unmanned distribution vehicle 14, is specifically configured to:

acquiring the cargo information of the cargo 10 acquired by the second scanning device 19, and determining the cargo allocation port information of the cargo allocation port where the cargo 10 is located currently; when it is determined that the cargo information matches the cargo gate information, the first robot 15 is controlled to pick up the cargo 10 onto the unmanned distribution vehicle 14.

In one example, when determining that the cargo information matches the cargo gate information, the controller 11 controls the first manipulator 15 to grasp the cargo 10 onto the unmanned delivery vehicle 14, specifically to: collecting unmanned vehicle information of an unmanned delivery vehicle 14 positioned on a cargo allocation port; and when the cargo information is matched with the cargo port information and the cargo information is matched with the unmanned vehicle information, controlling the first mechanical arm 15 to grab the cargo 10 onto the unmanned vehicle 14.

In one example, the controller 11 is further configured to: collecting unmanned vehicle information of an unmanned delivery vehicle 14 positioned on a cargo allocation port; when the cargo information is determined to be matched with the cargo allocation port information and the cargo information is determined not to be matched with the unmanned vehicle information, controlling the unmanned distribution vehicle 14 matched with the cargo information to drive to the current cargo allocation port; the first robot 15 is controlled to pick up the goods 10 onto the unmanned distribution vehicle 14 matched with the goods information.

In one example, the unmanned cargo system further comprises a return channel, the return channel being in communication with a front port of the delivery channel 13; the controller 11 is also configured to: when the cargo information is determined not to match the cargo port information, the first manipulator 15 is controlled to grab the cargo 10 onto the return channel to transfer the cargo 10 onto the front port of the transfer channel 13.

In one example, the unmanned distribution system further includes a second robot 16, the second robot 16 and the first scanning device 12 being located at a front port of the conveyor line; before acquiring the cargo information of the cargo 10 acquired by the first scanning device 12, the controller 11 is further configured to: the second robot 16 is controlled to grasp the goods 10 onto the front end of the conveyor line.

The present application also provides a non-transitory computer readable storage medium having instructions that, when executed by a processor of an electronic device, enable the electronic device to perform the above-described unmanned distribution method.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An unmanned distribution method, applied to a controller in an unmanned distribution system comprising the controller, a first scanning device, a transportation path, an unmanned distribution vehicle, and a first manipulator, the method comprising:

2. The method of claim 1, further comprising a conveyor line having a plurality of said conveyor lanes therein; controlling the goods to enter a conveying channel corresponding to the goods category so as to convey the goods to a goods distribution port corresponding to the goods category, wherein the goods distribution port comprises:

3. The method of claim 2, wherein the conveyor line further comprises a conveyor front end channel; the rear port of the conveying front-end channel is respectively communicated with the front port of the first type of conveying channel and the front port of the second type of conveying channel;

4. The method of claim 3, wherein the conveyor line further comprises a rotary distribution device; the second type of conveying channel comprises a plurality of sub-channels, the rotary distribution device is positioned on the second type of conveying channel, and the rotary distribution device is respectively communicated with the front ports of the sub-channels;

5. The method of any of claims 1-4, wherein the unmanned cargo distribution system further comprises a second scanning device; the second scanning device is positioned at the rear port of the conveying channel corresponding to the goods category; controlling the first manipulator to grab the goods onto the unmanned distribution vehicle, comprising:

6. The method of claim 5, wherein controlling the first manipulator to grasp the cargo onto the unmanned delivery vehicle upon determining that the cargo information matches the cargo port information comprises:

7. The method of claim 5, further comprising:

8. The method of claim 5, wherein the unmanned cargo system further comprises a return channel in communication with a front port of the delivery channel; the method further comprises the following steps:

9. The method of any of claims 1-4, wherein the unmanned distribution system further comprises a second robot, the second robot and the first scanning device being located at a front port of the conveyor line; before acquiring the cargo information of the cargo collected by the first scanning device, the method further includes:

10. An unmanned delivery system, comprising: the automatic conveying device comprises a controller, a first scanning device, a conveying channel, an unmanned distribution vehicle and a first manipulator;

11. The system of claim 10, further comprising a conveyor line having a plurality of said conveyor lanes therein; the controller is specifically configured to, when controlling the cargo to enter the conveying passage corresponding to the cargo category to convey the cargo to the cargo distribution port corresponding to the cargo category:

12. The system of claim 11, wherein the conveyor line further comprises a conveyor front end channel; the rear port of the conveying front-end channel is respectively communicated with the front port of the first type of conveying channel and the front port of the second type of conveying channel;

13. The system of claim 12, wherein the conveyor line further comprises a rotary distribution device; the second type of conveying channel comprises a plurality of sub-channels, the rotary distribution device is positioned on the second type of conveying channel, and the rotary distribution device is respectively communicated with the front ports of the sub-channels;

14. The system of any of claims 10-13, wherein the unmanned cargo distribution system further comprises a second scanning device; the second scanning device is positioned at the rear port of the conveying channel corresponding to the goods category;

15. The system of claim 14, wherein the controller, when determining that the cargo information matches the cargo port information, is configured to control the first manipulator to grasp the cargo onto the unmanned delivery vehicle, and is further configured to:

16. The system of claim 14, wherein the controller is further configured to:

17. The system of claim 14, wherein the unmanned cargo system further comprises a return channel in communication with a front port of the delivery channel; the controller is further configured to:

18. The system of any one of claims 10-13, wherein the unmanned distribution system further comprises a second robot, the second robot and the first scanning device being located at a front port of the conveyor line; the controller is further configured to, before acquiring the cargo information of the cargo collected by the first scanning device:

19. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, are configured to implement the unmanned distribution method of any one of claims 1 to 9.