CN114476583A

CN114476583A - Control method and device, intelligent cabinet and robot

Info

Publication number: CN114476583A
Application number: CN202210153480.XA
Authority: CN
Inventors: 马付才; 张湧晨
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-05-13

Abstract

The embodiment of the invention discloses a control method, a control device, an intelligent cabinet and a robot. The method transfers the delivered articles into the bin in response to detecting that the bin is at the same height as the target bin after sending a pick message to notify a robot to pick up. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, wherein the target cabinet lattice stores distribution articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting the bin body to be at the same height as the target cabinet lattice. By the method, the distribution cost can be reduced, the distribution efficiency is improved, and the user experience is improved.

Description

Control method and device, intelligent cabinet and robot

Technical Field

The invention relates to the technical field of robots, in particular to a control method and device, an intelligent cabinet and a robot.

Background

With the continuous development of internet technology, after a user purchases goods in an online manner, the shopping platform generally provides goods distribution service for the user.

In the prior art, the delivery personnel usually wait for the user to pick up the parts after transporting the delivered objects to the delivery location, or the delivery personnel stores the delivered objects in an intelligent cabinet near the delivery location, and the user selects the time to pick up the parts by himself. The existing distribution method has high distribution cost and low distribution efficiency, so that the user experience is poor.

Disclosure of Invention

In view of this, the embodiment of the invention provides a control method, a control device, an intelligent cabinet and a robot.

In a first aspect, an embodiment of the present invention provides an intelligent cabinet, where the intelligent cabinet includes:

the cabinet comprises a cabinet body, wherein the cabinet body comprises a plurality of layers of cabinet lattices, and each cabinet lattice is provided with a cabinet door; and

a smart cabinet control apparatus configured to perform the steps of:

sending a pickup message to inform a robot to pick up a pickup, wherein the pickup message comprises cabinet grid identification information of a target cabinet grid, the target cabinet grid is stored with delivered articles, and the cabinet grid identification information is used for indicating the robot to move to the front of the target cabinet grid and adjusting a bin body to be at the same height with the target cabinet grid;

transferring the dispensed articles into the bin body in response to detecting that the bin body is at the same height as the target bin grid.

In a second aspect, an embodiment of the present invention provides a robot, including:

a moving device for moving the robot;

at least one cartridge body;

a height adjustment device for adjusting the height of the cartridge body; and

a robot control device configured to perform the steps of:

receiving pickup information, wherein the pickup information comprises cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores distribution articles;

moving to the front of the target cabinet lattice according to the cabinet lattice identification information;

controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet grid;

In a third aspect, an embodiment of the present invention provides a control method, which is applicable to an intelligent cabinet, and the method includes:

In a fourth aspect, an embodiment of the present invention provides a control method, which is applicable to a robot, and the method includes:

controlling a height adjusting device to adjust the bin body to be at the same height with the target cabinet grid;

In a fifth aspect, an embodiment of the present invention provides an intelligent cabinet control apparatus, where the apparatus includes:

the pickup message sending unit is used for sending a pickup message to inform a robot of pickup, wherein the pickup message comprises cabinet lattice identification information of a target cabinet lattice, the target cabinet lattice is stored with delivered articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting a bin body to be at the same height as the target cabinet lattice;

a first delivered article transfer unit for transferring the delivered articles into the bin body in response to detecting that the bin body is at the same height as the target bin.

In a sixth aspect, an embodiment of the present invention provides a robot control apparatus, including:

the pickup message receiving unit is used for receiving pickup messages, wherein the pickup messages comprise cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores distribution articles;

the moving unit is used for moving to the front of the target cabinet according to the cabinet identification information;

the height adjusting unit is used for controlling the height adjusting device to adjust the bin body to be at the same height with the target cabinet grid;

a second delivered article transfer unit for transferring the delivered articles into the bin in response to detecting that the bin is at the same height as the target bin.

In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium on which computer program instructions are stored, the computer program instructions, when executed by a processor, implementing the method according to any one of the third aspect or the fourth aspect.

In an eighth aspect, an embodiment of the present invention provides a control apparatus, where the apparatus includes:

a memory for storing one or more computer program instructions;

a processor, the one or more computer program instructions being executable by the processor to implement the method of any of the third or fourth aspects.

According to the control method provided by the embodiment of the invention, after the pickup message is sent to inform the robot of pickup, the delivered articles are transferred into the bin body in response to the fact that the bin body and the target cabinet grid are at the same height. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, wherein the target cabinet lattice stores distribution articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting the bin body to be at the same height as the target cabinet lattice. By the method, the distribution cost can be reduced, the distribution efficiency is improved, and the user experience is improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a delivery system according to an embodiment of the present invention;

FIG. 2 is a signaling diagram of a distribution system during a distributed item transfer process according to an embodiment of the present invention;

FIG. 3 is a flow chart of a control method of an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an intelligent cabinet according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a cabinet according to an embodiment of the present invention;

FIG. 6 is a flowchart of a method for storing a file according to an embodiment of the present invention;

FIG. 7 is a flow chart of a method of closing a door after transferring a dispensed item in accordance with an embodiment of the present invention;

FIG. 8 is a flow chart of a control method in an embodiment of the present invention;

fig. 9 is a flowchart of a robot moving method in an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 11 is another schematic diagram of a robot in an embodiment of the present invention;

FIG. 12 is a schematic structural view of the cartridge body in an embodiment of the present invention;

FIG. 13 is a schematic view of the bin body and the target cabinet grid of the embodiment of the present invention at the same height;

FIG. 14 is a schematic flow chart illustrating a robot delivery method according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of an intelligent cabinet control apparatus in an embodiment of the invention;

FIG. 16 is a schematic diagram of a robot control apparatus in an embodiment of the present invention;

fig. 17 is a schematic diagram of a control device of an embodiment of the present invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout this application, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Fig. 1 is a schematic diagram of a distribution system according to an embodiment of the present invention. As shown in fig. 1, the distribution system includes a terminal 11, a robot 12, a smart cabinet 13, and a smart cabinet server 14.

The terminal 11 is a terminal held by a distributor. The terminal 11 may specifically be a mobile phone, a computer, or a tablet computer. The distribution personnel may interact with the intelligent cabinet 13 or the intelligent cabinet server 14 through the distribution personnel 11. The intelligent cabinet server 14 is a general-purpose computing device or data processing device or storage device. In this embodiment, the intelligent cabinet server 14 is specifically configured to provide relevant information support for the distribution system in this embodiment. The robot 12 is provided with a moving device. The robot 12 may be moved by the moving means. The movement may be mechanical, such as wheel movement or track movement. Further, the robot 12 is also provided with at least one cabin with a cabinet door. The bin is used for storing the delivered articles to ensure that the delivered articles do not fall or lose during the process of delivering the articles by the robot 12. Further, the robot is also provided with a height adjusting device, and the height adjusting device is used for adjusting the height of the cabin body. In the present embodiment, the robot 12 can be provided with a short-distance article delivery function by inputting an area map or setting a travel route to the robot 12. The intelligent cabinet 13 is provided with a plurality of layers of cabinet lattices, and each cabinet lattice is provided with a cabinet door. Each cabinet grid can be used for storing articles. The terminal 11, the robot 12, the intelligent cabinet 13 and the intelligent cabinet server 14 are connected through a network to transmit data. The network connection may be through a local area network or a network cable. Optionally, in this embodiment, the terminal 11, the robot 12, the smart cabinet 13, and the smart cabinet server 14 may also transmit instructions or data in other manners, for example, bluetooth, two-dimensional code scanning, and the like.

Specifically, in the actual application process, after the user purchases the product in an online manner, the shopping platform server generates a corresponding target order, and distributes the distribution task of the target order to the terminal 11. The delivery person delivers the delivery item according to the delivery address in the target order. The shopping platform server is a server corresponding to a shopping platform and is used for providing relevant service for commodity purchase for a user and generating a corresponding order after the user selects commodities. Further, the shopping platform server stores the information related to the generated order, such as the order placing time, the number of the purchased goods, and the delivery address.

In an alternative implementation, the delivery personnel may store the delivered items in an intelligent cabinet 13 located near the delivery address. Specifically, the delivery person may send a storage request to the intelligent cabinet 13 through the terminal 11. After receiving the storage request, the intelligent cabinet 13 allocates a currently available target cabinet grid to the distribution personnel and opens the cabinet door of the target cabinet grid. The delivery person may store the delivered item in the target bin. Optionally, after the distribution staff sends a storage request to the intelligent cabinet 13 through the terminal 11, the intelligent cabinet 13 may choose to report the storage request to the intelligent cabinet server 14. After receiving the storage request, the intelligent cabinet server 14 performs information interaction with the shopping platform server to obtain the relevant information of the target order and generate a forwarding task bound with the target order. It should be understood that the smart cabinet server 14 may also choose not to interact with the shopping platform server. At this time, when the intelligent cabinet server 14 receives the reported storage request, a temporary transfer task is generated, and the relevant information of the target order needs to be manually input by the delivery personnel. Further, after the delivery person stores the delivered item in the target bin, the intelligent bin 13 may notify the robot 12 to pick up the item. When the robot 12 moves to the front of a target cabinet lattice in which the delivered articles are stored, a door opening request can be sent to instruct the intelligent cabinet 13 to open the cabinet door of the target cabinet lattice, and then the bin body is adjusted to be at the same height as the target cabinet lattice through the height adjusting device and the delivered articles are transferred into the bin body from the target cabinet lattice. Further, after transferring the dispensed articles to the magazine, the robot 12 will complete subsequent dispensing tasks.

The delivery system shown in fig. 1 can complete the subsequent delivery tasks of the delivered items by the robot after the delivery personnel store the delivered items in the intelligent cabinet located near the delivery address. Compared with the prior art, the distribution system can reduce distribution cost and improve distribution efficiency, and meanwhile, the distribution system avoids the process that a user takes the parts by oneself, and improves user experience.

Fig. 2 is a signaling diagram of a distribution system during a process of transferring distributed items according to an embodiment of the present invention. As shown in fig. 2, the distribution system involves signaling interaction between the intelligent cabinet 21, the robot 22, and the intelligent cabinet server 23 during the distribution article transfer process.

S100', the intelligent cabinet sends a pickup message.

Specifically, after the delivery personnel store the delivered items in the target cabinet grid, the intelligent cabinet sends a pickup message to inform the robot to pick up the items in the future. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, and the cabinet lattice identification information corresponds to the target cabinet lattice. The cabinet grid identification information is used for indicating the robot to move to the front of the target cabinet grid and adjusting the cabin body to be at the same height with the target cabinet grid. Alternatively, step S100' may be that the intelligent cabinet sends the pickup message to the intelligent cabinet server, and the pickup message is forwarded to the robot by the intelligent cabinet server. Or the intelligent cabinet can directly send the pickup message to the robot.

S200', the robot moves to the front of the target cabinet according to the cabinet identification information in the pickup message.

Specifically, after acquiring the cabinet lattice identification information in the pickup message, the robot may determine the cabinet lattice position information of the target cabinet lattice according to the cabinet lattice identification information, and move to the front of the target cabinet lattice. The position information of the target cabinet may be specifically a coordinate address of the target cabinet in a map of an area where the target cabinet is located, which is input for the robot in advance. It should be understood that the coordinate address is a three-dimensional coordinate address that includes height information.

S300', the robot sends a door opening request.

Specifically, after moving to the place ahead of the target cabinet check, the robot can send a door opening request to instruct the intelligent cabinet to open the cabinet door of the target cabinet check. Alternatively, step S300' may be that the robot sends the door opening request to the intelligent cabinet server, and the door opening request is forwarded to the intelligent cabinet by the intelligent cabinet server. Or the robot can directly send the door opening request to the intelligent cabinet.

S400', the intelligent cabinet opens the cabinet door of the target cabinet lattice.

Specifically, the intelligent cabinet can open the cabinet door of the corresponding target cabinet lattice according to the door opening request sent by the robot.

S500', the height adjusting device is controlled by the robot to adjust the bin body to be at the same height as the target cabinet grid.

Specifically, after the robot sends out a door opening request, the cabin body is adjusted to be at the same height as the target cabinet grid by controlling the height adjusting device. It should be understood that the execution sequence between step S500 'and step S400' is not limited, that is, step S500 'and step S400' may be executed simultaneously or the execution sequence may be selected according to the actual situation. It should be understood that in order to ensure that the robot can adjust the cabin body without conflict with the operation of opening the cabinet door of the target cabinet grid, the cabinet door of the target cabinet grid can be a rolling door or a folding door. Or the cabinet door of the target cabinet grid can also be an opening and closing door, and at this time, the step S400 'can be executed first and then the step S500' can be executed.

S600', in response to the fact that the target cabinet grid and the bin body are at the same height, transferring the delivered articles into the bin body.

Optionally, the step S600' may specifically include the following several implementation manners.

Specifically, in an optional implementation manner, when the intelligent cabinet detects that the target cabinet lattice and the bin body are at the same height through the detection device in the target cabinet lattice, the telescopic device in the target cabinet lattice can be controlled to push the delivered articles into the bin body.

In an optional implementation mode, when the robot detects that the target cabinet lattice and the bin body are at the same height through the detection device in the bin body, a push request can be sent to the intelligent cabinet, and the telescopic device in the intelligent cabinet control target cabinet lattice is indicated to push the delivered articles into the bin body.

In another optional implementation mode, when the robot detects that the target cabinet grids and the bin body are at the same height through the detection device in the bin body, the magnetic suction device in the bin body can be controlled to suck the metal tray into the bin body. It will be appreciated that the dispensed articles will now be placed on the metal tray which is being sucked up.

In another optional implementation manner, when the intelligent cabinet detects that the target cabinet lattice and the bin body are at the same height through the detection device in the target cabinet lattice, a magnetic attraction request can be sent to the intelligent cabinet, and the robot is instructed to control the magnetic attraction device in the bin body to suck the metal tray into the bin body. It will be appreciated that the dispensed articles will now be placed on the metal tray which is being sucked up.

Through steps S100 '-S600' shown in fig. 2, after the delivery person stores the delivered article in the target bin, the delivered article can be further transferred from the target bin into the robot bin, so that the robot can complete the subsequent delivery task.

Fig. 3 is a flowchart of a control method according to an embodiment of the invention. As shown in fig. 3, the control method is suitable for the intelligent cabinet in the above embodiment. The control method comprises the following steps:

and S100, sending a pickup message to inform the robot to pick up the workpieces.

Specifically, after the delivery personnel store the delivered items in the target bin, the intelligent bin may send a pick-up message to notify the robot to pick up the pick-up. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, wherein the cabinet lattice identification information is used for indicating that the robot moves to the front of the target cabinet lattice and adjusting the bin body to be at the same height with the target cabinet lattice.

Fig. 4 is a schematic structural diagram of an intelligent cabinet according to an embodiment of the present invention. As shown in fig. 4, the intelligent cabinet includes a cabinet body 41. The cabinet body 41 has three layers of cabinet lattices, and each layer includes two cabinet lattices. Wherein, each cabinet check all possesses the cabinet door. It should be understood that, in practical application, the number of the cabinet lattices of the intelligent cabinet and the number of the cabinet lattices of each layer can be determined according to the distribution requirement of the area where the intelligent cabinet is located. For example: for areas with large distribution demands, the number of cabinet grids in the intelligent cabinet and the number of cabinet grids on each layer are large. For the region with small distribution demand, the number of the cabinet grids in the intelligent cabinet and the number of the cabinet grids in each layer are less. Further, besides the cabinet body 41, the intelligent cabinet also comprises a plurality of selectively installed hardware. As shown on the right side of fig. 4, the hardware may include a cabinet door control device 42, a communication assembly 43, a telescoping device 44, a cabinet compartment dispensed article detection device 45, and a bin detection device 46. Each device is connected to the processor 47, and the connection mode may be a wired connection or a wireless connection. The processor 47 is used for controlling the devices to realize the related functions of the intelligent cabinet in the embodiment, for example, the cabinet door control device 42 can open and close the cabinet door of the cabinet grid, and the communication component 43 can receive or send instructions or data. It should be understood that fig. 4 is only shown for illustrative purposes, and in the practical application process, the type, number, placement position, etc. of the hardware may be combined or adjusted according to the practical requirements.

In an optional implementation manner, the intelligent cabinet further comprises a plurality of cabinet distribution article detection devices. The cabinet grid distribution article detection devices are respectively arranged on different cabinet grids and are used for detecting the existence condition of distribution articles in the corresponding cabinet grids. Fig. 5 is a schematic structural diagram of a cabinet according to an embodiment of the present invention. As shown in fig. 5, the cabinet lattice 51 is a cabinet lattice in the intelligent cabinet shown in fig. 4. The cabinet lattice 51 is provided with a cabinet lattice distribution article detection device 511, and the cabinet lattice distribution article detection device 511 is used for detecting the existence condition of distribution articles in the cabinet lattice 51. Alternatively, the cabinet delivered article detection device 511 may be a gravity detection device, and the gravity sensing detection device may be disposed on the bottom surface of the cabinet 51, which may determine the existence of the delivered article by detecting gravity. Alternatively, the cabinet dispensed item detecting device 511 may be an infrared detecting device, which may be disposed on a sidewall of the cabinet 51, and may determine the existence of the dispensed item by emitting and receiving infrared rays and detecting a loss of the infrared rays during transmission.

Further, in order to ensure that the delivery personnel can store the delivered items in the intelligent cabinet. The embodiment of the invention also provides a storage method. FIG. 6 is a flowchart illustrating a method for storing a file according to an embodiment of the present invention. As shown in fig. 6, the storage method specifically includes the following steps:

and S110, before sending a pickup message to inform the robot of pickup, responding to the received pickup request, and opening the cabinet door of the target cabinet.

Specifically, after receiving the storage request, the intelligent cabinet may determine a currently available target cabinet and open a cabinet door of the target cabinet, so that the delivery personnel can store the delivered items. The storage request may be an instruction transmitted based on a two-dimensional code scanning mode, a bluetooth mode, a local area network mode, or the like.

And S120, detecting the existence condition of the delivered articles in the target cabinet grid.

Specifically, after the delivery personnel store the delivered articles in the target cabinet lattice, the intelligent cabinet can detect whether the delivered articles exist in the target cabinet lattice through the cabinet lattice delivered article detection device in the target cabinet lattice.

S130, responding to the fact that the delivery articles exist in the target cabinet lattice, and closing a cabinet door of the target cabinet lattice.

Specifically, when the intelligent cabinet determines that the delivered objects exist in the target cabinet lattice, the cabinet door of the target cabinet lattice is closed.

In an optional implementation manner, the delivered item corresponds to a target order, and the pickup message further includes delivery address information corresponding to the target order. Further, before the intelligent cabinet sends a pickup message to inform the robot to pick up the pickup, the delivery address information corresponding to the target order is also acquired. The delivery address information is the delivery address information filled by a user who purchases delivery items, and specifically comprises information such as hotel room numbers or house numbers. The distribution address information can be acquired from the shopping platform server by the intelligent cabinet server, or can be input by a distributor through a human-computer interaction interface of the intelligent cabinet or an interaction interface of terminal equipment of the distributor.

S200, responding to a received door opening request sent by the robot, and opening the cabinet door of the target cabinet grid.

Specifically, after receiving the pickup message, the robot moves to the front of the target cabinet and sends a door opening request. And when the intelligent cabinet receives a door opening request sent by the robot, the cabinet door of the target cabinet grid is opened. It should be understood that in some alternative implementations, step S200 may be selected whether to execute according to actual requirements. For example: step S200 may be omitted when the intelligent cabinet is an open type intelligent cabinet without cabinet doors.

S300, in response to the fact that the bin body and the target cabinet grid are detected to be at the same height, transferring the delivered articles into the bin body.

Specifically, after the robot sends out a door opening request, the height of the bin body can be adjusted through the height adjusting device. When it is detected in step S300 that the bin is at the same height as the target bin, the dispensed articles are transferred into the bin. The executing body for detecting whether the bin body is at the same height as the target bin grid in step S300 may be an intelligent bin or a robot. The executing body that transfers the delivered articles to the bin in step S300 may also be a smart cabinet or a robot.

Specifically, the intelligent cabinet further comprises a plurality of bin body detection devices. Each bin body detection device is respectively arranged on different cabinet grids and is used for detecting whether the bin body is at the same height with the corresponding cabinet grid. As shown in fig. 5, a bin body detection device 512 is arranged on the cabinet lattice 51. The bin body detection device 512 is used for detecting whether the bin body is at the same height as the cabinet lattice 51.

Further, the bin body detection device can correspond to a cabinet grid detection device on the bin body of the robot. That is, when the cabinet compartment detecting device of the cabinet compartment is opposite to the cabinet compartment detecting device on the robot compartment, the bottom surface grid of the cabinet compartment and the bottom surface grid of the compartment can be spliced together, as shown in fig. 13, the 131 is the cabinet compartment detecting device and the compartment detecting device which are overlapped when the bottom surface grid of the cabinet compartment and the bottom surface grid of the compartment are spliced together. Optionally, the bin body detection device can also be arranged inside the cabinet lattice. When the bin body detection device is arranged inside the cabinet grid, the front of the bin body detection device is free of a shielding object after a cabinet door of the cabinet grid is opened.

In an optional implementation manner, the bin body detection device may be a cabinet grid light receiving device, and the cabinet grid detection device on the robot bin body may be a robot light emitting device. At this time, the detection execution main body in step S300 may be an intelligent cabinet, and the method for detecting whether the bin body and the target cabinet lattice are at the same height in the intelligent cabinet may be:

in response to receiving a light signal of a specific pattern through a cabinet light receiving device of the target cabinet, determining that the bin body and the target cabinet are at the same height. Specifically, the intelligent cabinet can determine whether the target cabinet lattice is at the same height as the cabin body by judging whether the cabinet lattice light receiving devices in the target cabinet lattice receive the light signals of the specific mode emitted by the robot light emitting device. It should be understood that the optical signal of a particular mode in this embodiment may be a modulated infrared signal.

In another optional implementation manner, the bin body detection device can also be a cabinet grid light emitting device. Correspondingly, the cabinet lattice detection device on the robot cabin body can be a robot light receiving device. At this time, the detection execution subject of step S300 is the robot, and the intelligent cabinet needs to control the cabinet grid light emitting devices in the target cabinet grid to emit light signals in a specific mode, so as to assist the robot to detect whether the cabin body is at the same height as the target cabinet grid. Specifically, after the cabinet door of the target cabinet lattice is opened, the intelligent cabinet can control the cabinet lattice light emitting device in the target cabinet lattice to emit a light signal in a specific mode. In the process of adjusting the height of the bin body by the robot, if the robot receives the optical signal of a specific mode transmitted by the cabinet grid light emitting device in the target cabinet grid through the robot light receiving device, the target cabinet grid and the bin body are determined to be at the same height.

Further, the intelligent cabinet also comprises a plurality of telescopic devices. The extension devices are respectively arranged on different cabinet grids and used for pushing articles stored in the corresponding cabinet grids into the bin body. As shown in fig. 5, the cabinet 51 is provided with a telescopic device 513. The telescopic device 513 is used for pushing the articles in the cabinet lattice 51 into the bin body when the bin body and the target cabinet lattice are detected to be at the same height. The telescopic device may in particular be a telescopic spring device.

Further, step S300 in this embodiment may be specifically implemented by the following several ways:

in an optional implementation manner, in response to detecting that the bin body and the target cabinet grid are at the same height by the bin body detection device of the target cabinet grid, the telescopic device in the target cabinet grid is controlled to push the delivered articles into the bin body. Specifically, when the intelligent cabinet detects that the bin body and the target cabinet lattice are at the same height through the bin body detection device of the target cabinet lattice, the telescopic device in the target cabinet lattice is controlled to push the delivered articles into the bin body.

In another optional implementation manner, in response to detecting that the bin body and the target cabinet grid are at the same height by the bin body detection device of the target cabinet grid, a magnetic attraction request is sent to instruct the robot to suck the metal tray into the bin body by a magnetic attraction device. Wherein the distribution article is placed on the metal tray. Specifically, when the intelligent cabinet detects that the bin body and the target cabinet grid are at the same height through the bin body detection device of the target cabinet grid, the magnetic attraction request can be sent to indicate that the robot sucks the metal tray into the bin body through the magnetic attraction device.

In another alternative implementation, in response to receiving a push request, a telescopic device in the target bin is controlled to push the dispensed articles into the bin body. Wherein the push request is used for representing that the bin body and the target cabinet grid are at the same height. Specifically, when the robot detects that the bin body and the target cabinet grid are at the same height through the cabinet grid detection device, a push request is sent to the intelligent cabinet. After the intelligent cabinet receives the push request, the intelligent cabinet can control the telescopic device in the target cabinet grid to push the delivered articles into the bin body.

Alternatively, fig. 7 is a flowchart of a method for closing a cabinet door after transferring a dispensed item according to an embodiment of the present invention. As shown in fig. 7, after transferring the dispensed items, the door closing method includes the steps of:

s310, detecting the existence condition of the delivered articles in the target cabinet grid.

S320, in response to the fact that the delivery articles do not exist in the target cabinet lattice, closing a cabinet door of the target cabinet lattice.

Specifically, the intelligent cabinet detects the existence condition of the delivered articles in the target cabinet lattice through the cabinet lattice delivered article detection device in the target cabinet lattice, and when the delivered articles in the target cabinet lattice are confirmed to be taken away by the robot, the cabinet door of the target cabinet lattice is closed.

Further, the control method of the embodiment further includes: after the cabinet door of the target cabinet grid is closed, sending a delivery instruction to instruct the robot to detect the existence condition of the delivered goods in the cabin body and deliver the delivered goods according to the existence condition of the delivered goods. Specifically, after closing the cabinet door of the target cabinet grid, the intelligent cabinet may send a delivery instruction to instruct the robot to detect the presence of the delivered articles in the cabin and deliver the delivered articles according to the detection result.

Further, the control method of the embodiment further includes: and reporting the delivery starting message of the target order. Specifically, after the intelligent cabinet detects that the robot takes the delivered goods away, the task progress of the current unloading task can be reported to the intelligent cabinet server.

According to the control method provided by the embodiment of the invention, after the pickup message is sent to inform the robot of pickup, the door of the target cabinet grid is opened in response to receiving the door opening request sent by the robot, and the delivered articles are transferred to the bin body in response to detecting that the bin body and the target cabinet grid are at the same height. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, wherein the target cabinet lattice stores distribution articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting the bin body to be at the same height as the target cabinet lattice. By the method, the distribution cost can be reduced, the distribution efficiency is improved, and the user experience is improved.

Fig. 8 is a flowchart of a control method in an embodiment of the present invention. As shown in fig. 8, the control method is applied to the robot in the above embodiment. The control method specifically comprises the following steps:

s400, receiving pickup information, wherein the pickup information comprises cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores delivered articles.

Specifically, pickup information sent by the intelligent cabinet is received, and cabinet lattice identification information in the pickup information is acquired.

And S500, moving to the front of the target cabinet lattice according to the cabinet lattice identification information.

Specifically, after acquiring the cabinet lattice identification information, the robot may move to the front of the target cabinet lattice according to the cabinet lattice identification information.

Fig. 9 is a flowchart of a robot moving method according to an embodiment of the present invention. As shown in fig. 9, the robot moving method includes the steps of:

and S510, determining cabinet lattice position information of the target cabinet lattice according to the cabinet lattice identification information.

And S520, moving to the front of the target cabinet according to the cabinet position information.

Specifically, after acquiring the cabinet grid identification information, the robot may determine the cabinet grid position information of the target cabinet grid according to the cabinet grid identification information, and move to the front of the target cabinet grid through the mobile device. The position information of the target cabinet may be specifically a coordinate address of the target cabinet in a map of an area where the target cabinet is located, which is input for the robot in advance. It should be understood that the coordinate address is a three-dimensional coordinate address that includes height information.

S600, sending a door opening request to indicate the intelligent cabinet to open the cabinet door of the target cabinet grid.

Specifically, after the robot reaches the front of the target cabinet lattice, the robot sends a door opening request to instruct the intelligent cabinet to open the cabinet door of the target cabinet lattice. It should be understood that in some alternative implementations, step S600 may be selected whether to execute according to actual requirements. For example: step S600 may be omitted when the intelligent cabinet is an open type intelligent cabinet without cabinet doors.

S700, controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet grid.

Specifically, the robot controls a height adjusting device to adjust the bin body to be at the same height as the target cabinet grid.

Fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention. As shown in fig. 10, the robot includes a cabin 101, a moving device 102, and a height adjusting device 103. Wherein the bin body 101 has a cabinet door 1011. The height adjusting device 103 is used for adjusting the height of the bin body. The moving device 102 is used to move the robot. Alternatively, the height of the cartridge body can be adjusted by the height adjusting device 103 by raising or lowering the cartridge body 101 as shown in fig. 10. Further, the robot comprises a variety of selectively mountable hardware, in addition to the cartridge body 101, the moving means 102, and the height adjusting means 103. As shown in the upper left side of fig. 10, the hardware includes a cabinet door control device 104, a communication component 105, a magnetic attraction device 106, a bin distribution article detection device 107, and a cabinet detection device 108. The devices are connected to the processor 109, and the connection may be wired or wireless. The processor 109 is used for controlling each device to realize the relevant functions of the robot in the embodiment, for example, the cabinet door control device 104 can open and close the cabinet door, and the communication component 105 can receive or send instructions or data. It should be understood that fig. 10 is only shown for illustrative purposes, and in the practical application process, the type, number, placement position, etc. of the hardware may be combined or adjusted according to the practical requirements.

In another alternative implementation manner, fig. 11 is another schematic structural diagram of the robot in the embodiment of the present invention. Similarly to fig. 10, the robot shown in fig. 11 also includes a cabin 111, a moving device 112, and a height adjusting device 113. However, unlike the robot in fig. 10, the height adjusting device 113 is a frame structure with a slide rail, and the height adjusting device 113 can control the cabin 111 to slide upwards or downwards in the frame structure.

S800, in response to the fact that the bin body and the target cabinet grid are detected to be at the same height, transferring the delivered articles into the bin body.

In particular, in the process of adjusting the height of the bin body by the robot. If the bin body and the target cabinet grid are at the same height through the step S800, the delivered articles are transferred into the bin body. Similar to step S300, the execution subject detected in step S800 that the bin body is at the same height as the target bin can be a smart bin or a robot. The executing body for transferring the delivered articles into the bin body in step S800 may also be an intelligent cabinet or a robot. It should be appreciated that the door of the cartridge body also needs to be opened prior to transferring the dispensed articles into the cartridge body.

Optionally, the robot further includes a cabinet lattice detection device, the cabinet lattice detection device is disposed on the cabin body, and the cabinet lattice detection device is configured to detect whether the cabin body and the corresponding cabinet lattice are at the same height. Specifically, fig. 12 is a schematic structural view of the cartridge body in an embodiment of the present invention. The cartridge body 121 is embodied as a cartridge body in the robot shown in fig. 10 or 11. The bin body has a bin detection device 1212. The cabinet detection device 1212 is used to detect whether the target cabinet 121 is at the same height as the cabin body. Further, the cabinet grid detection device can correspond to a bin body detection device in a target cabinet grid of the intelligent cabinet.

In an optional implementation manner, the cabinet lattice detection device may be a robot light receiving device, and the bin body detection device in the target cabinet lattice of the intelligent cabinet may be a cabinet lattice light emitting device. At this time, the detection execution main body in step S800 may be a robot, and the method for detecting whether the bin body is at the same height as the target cabinet by the robot may be: in response to receiving a light signal of a particular pattern through the robotic light receiving device, determining that the bin body is at the same height as the target bin. Specifically, when the robot receives a light signal of a specific mode emitted by the cabinet grid light emitting device through the robot light receiving device, it is determined that the bin body and the target cabinet grid are at the same height.

In another optional implementation manner, the cabinet lattice detection device may be a robot light emitting device, and the bin body detection device in the target cabinet lattice of the intelligent cabinet may be a cabinet lattice light receiving device. At this time, the detection execution main body of step S800 may be an intelligent cabinet, and the robot needs to control the robot light emitting device to emit a light signal in a specific mode to assist the intelligent cabinet to detect whether the cabin is at the same height as the target cabinet grid. Specifically, after the robot sends a door opening request to instruct the intelligent cabinet to open the cabinet door of the target cabinet grid, the robot light emitting device is controlled to emit a light signal in a specific mode. In the process of adjusting the height of the bin body by the robot, if the intelligent cabinet receives an optical signal of a specific mode transmitted by the robot light emitting device through the cabinet grid light receiving device in the target cabinet grid, the target cabinet grid and the bin body are determined to be at the same height.

Further, the robot further comprises a magnetic suction device, the magnetic suction device is arranged on the bottom surface of the interior of the bin body, and the magnetic suction device is used for sucking the metal tray into the bin body. It should be understood that the dispensed articles are now placed on the metal tray. As shown in fig. 12, the bottom surface of the bin 121 has a magnetic device 1211, and the magnetic device 1211 is used for sucking the metal trays into the bin when the bin is detected to be at the same height as the target cabinet. The magnetic attraction 1211 can be a magnetic attraction device for supplying power. The magnetic attraction device can generate magnetic force under the support of electric energy. The magnitude of the magnetic force is related to the magnitude of the current.

Further, step S800 in this embodiment may be specifically implemented by the following several ways:

in an optional implementation manner, in response to the cabinet detection device detecting that the bin body and the target cabinet are at the same height, the magnetic suction device is controlled to suck the metal tray into the bin body. Specifically, when the robot detects that the bin body and the target cabinet grid are at the same height through the cabinet grid detection device, the magnetic suction device is controlled to suck the metal tray into the bin body.

In another optional implementation manner, in response to the detection that the bin body and the target cabinet are at the same height by the cabinet detection device, a push request is sent to instruct the intelligent cabinet to push the delivered articles into the bin body through a telescopic device. Specifically, when the robot detects that the bin body and the target bin grid are at the same height through the bin grid detection device, a push request is sent to the intelligent cabinet to indicate the intelligent cabinet to push the delivered articles into the bin body through the telescopic device

In another optional implementation manner, in response to receiving a magnetic attraction request, the magnetic attraction device is controlled to suck the metal tray into the bin body. Specifically, when the intelligent cabinet detects that the bin body and the target cabinet lattice are at the same height through the bin body detection device in the target cabinet lattice, a magnetic attraction request is sent to the robot. After receiving the magnetic attraction request, the robot can control the magnetic attraction device to suck the metal tray into the bin body.

Fig. 13 is a schematic view of the cabin and the target cabinet at the same height according to the embodiment of the present invention. As shown in fig. 13, 131 is a cabinet grid detection device and a bin body detection device, in which the bin body and the target cabinet grid are at the same height, and the bottom grid opening of the bin body and the bottom grid opening of the target cabinet grid are spliced together and then overlapped.

Further, the robot in this embodiment further includes a bin body delivered article detection device, where the bin body delivered article detection device is disposed on the bin body, and the bin body delivered article detection device is configured to detect the presence of delivered articles in the bin body. As shown in fig. 12, a bin body 121 is provided with a bin body delivered article detection device 1213, and the bin body delivered article detection device 1213 is used for detecting the presence of the delivered article in the bin body. It should be understood that, similar to the cabinet compartment delivered article detection device, the bin compartment delivered article detection device may be a gravity detection device or an infrared detection device, which is not described herein again. Further, fig. 14 is a schematic flow chart of a robot distribution method according to an embodiment of the present invention. As shown in fig. 14, after transferring the dispensed article from the target bin into the bin, the robotic dispensing method comprises the steps of:

s910, in response to receiving the delivery instruction, detecting the existence condition of the delivered goods in the warehouse.

Specifically, after the delivery instruction is received, the delivery article in the bin body is detected by a bin body delivery article detection device in the bin body.

S920, in response to the fact that the delivery articles exist in the bin body, closing a cabinet door of the bin body.

Specifically, when the presence of the dispensed articles in the bin body is confirmed, the door of the bin body is closed.

And S930, distributing the distributed articles according to the distribution address information.

Specifically, the delivery items are delivered according to delivery address information. The delivery goods correspond to the target order, and the pickup message further comprises delivery address information corresponding to the target order.

Fig. 15 is a schematic diagram of an intelligent cabinet control device according to an embodiment of the present invention. As shown in fig. 15, the intelligent cabinet control apparatus includes a pickup message sending unit 151 and a first delivered item transferring unit 152.

The pickup message sending unit 151 is configured to send a pickup message to notify the robot to pick up a pickup item, where the pickup message includes cabinet identifier information of a target cabinet, the target cabinet stores a delivery item, and the cabinet identifier information is used to instruct the robot to move to a position in front of the target cabinet and adjust a bin to be at the same height as the target cabinet;

the first delivered article transfer unit 152 is used to transfer the delivered articles into the bin in response to detecting that the bin is at the same height as the target bin.

After the intelligent cabinet control device sends the pickup message to inform the robot of pickup, the intelligent cabinet control device responds to the situation that the bin body and the target cabinet grid are at the same height, and the delivered articles are transferred into the bin body. The pickup message comprises cabinet lattice identification information of a target cabinet lattice, wherein the target cabinet lattice stores distribution articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting the bin body to be at the same height as the target cabinet lattice. By the device, the distribution cost can be reduced, the distribution efficiency is improved, and the user experience is improved.

Fig. 16 is a schematic diagram of a robot control device in the embodiment of the present invention. As shown in fig. 16, the robot control device includes a pickup message receiving unit 161, a moving unit 162, a height adjusting unit 163, and a second dispensed article transferring unit 164.

The pickup message receiving unit 161 is configured to receive a pickup message, where the pickup message includes shelf identification information of a target shelf in which a delivery article is stored;

the moving unit 162 is configured to move to the front of the target cabinet according to the cabinet identification information;

the height adjusting unit 163 is used for controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet grid;

a second delivered article transfer unit 164 is used to transfer the delivered articles into the bin in response to detecting that the bin is at the same height as the target bin.

Fig. 17 is a schematic diagram of a control device of an embodiment of the present invention. In the present embodiment, the control device includes a server, a terminal, and the like. As shown in fig. 17, the control device: includes at least one processor 171; and a memory 172 communicatively coupled to the at least one processor 171; and a communication component 173 communicatively coupled to the scanning device, the communication component 173 receiving and transmitting data under the control of the processor 171; the memory 172 stores instructions executable by the at least one processor 171, and the instructions are executed by the at least one processor 171 to implement the control method.

Specifically, the control device includes: one or more processors 171 and a memory 172, and one processor 171 is illustrated in fig. 17. The processor 171 and the memory 172 may be connected by a bus or by other means, and fig. 17 illustrates an example of a bus connection. Memory 172, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 171 executes various functional applications and data processing of the apparatus, that is, implements the above-described control method, by running nonvolatile software programs, instructions, and modules stored in the memory 172.

The memory 172 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 172 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 172 may optionally include memory located remotely from the processor 171, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 172 and, when executed by the one or more processors 171, perform the control method in any of the method embodiments described above.

The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.

Another embodiment of the invention is directed to a non-transitory storage medium storing a computer-readable program for causing a computer to perform some or all of the above-described method embodiments.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The embodiment of the invention discloses A1 and an intelligent cabinet, wherein the intelligent cabinet comprises:

a smart cabinet control apparatus configured to perform the steps of:

A2, the smart cabinet of A1, the smart cabinet control apparatus further configured to:

opening a door of the target bin in response to receiving a door open request sent by the robot prior to transferring the dispensed articles into the bin body.

A3, the smart cabinet according to A2, further comprising a plurality of cartridge body detection means;

the bin body detection devices are respectively arranged on different cabinet grids and are used for detecting whether the bin body is at the same height with the corresponding cabinet grid.

A4, the smart cabinet of A3, further comprising a plurality of telescoping devices;

the extension devices are respectively arranged on different cabinet grids and used for pushing articles stored in the corresponding cabinet grids into the bin body.

A5, the smart cabinet of A4, the smart cabinet control apparatus configured to:

and in response to the detection that the bin body and the target cabinet grid are at the same height through the bin body detection device of the target cabinet grid, controlling a telescopic device in the target cabinet grid to push the delivered articles into the bin body.

A6, the smart cabinet according to A3, the smart cabinet control apparatus configured to:

responding to the situation that the bin body and the target cabinet grid are at the same height through a bin body detection device of the target cabinet grid, and sending a magnetic attraction request to instruct the robot to suck a metal tray into the bin body through a magnetic attraction device;

wherein the distribution article is placed on the metal tray.

A7, the intelligent cabinet according to A5 or 6, wherein the cabin body detection device is a cabinet grid light receiving device corresponding to the robot light emitting device of the cabin body;

wherein the smart cabinet control apparatus is configured to:

in response to receiving a light signal of a specific pattern through a cabinet light receiving device of the target cabinet, determining that the bin body and the target cabinet are at the same height.

A8, the smart cabinet of A4, the smart cabinet control apparatus configured to:

in response to receiving a push request, controlling a telescopic device in the target cabinet grid to push the delivered articles into the bin body;

wherein the push request is used for representing that the bin body and the target cabinet grid are at the same height.

A9, the intelligent cabinet according to A8, wherein the cabin body detection device is a cabinet grid light emitting device which corresponds to the robot light receiving device of the cabin body;

wherein the smart cabinet control apparatus is configured to:

and after the cabinet door of the target cabinet grid is opened, controlling the cabinet grid light emitting device in the target cabinet grid to emit a light signal in a specific mode.

A10, the intelligent cabinet according to A1, further comprising a plurality of cabinet compartment delivered article detection devices;

the cabinet grid distribution article detection devices are respectively arranged on different cabinet grids and are used for detecting the existence condition of distribution articles in the corresponding cabinet grids.

A11, the smart cabinet of A10, the smart cabinet control apparatus further configured to:

before sending a pickup message to inform the robot of pickup, opening a cabinet door of the target cabinet lattice in response to receiving a storage request;

detecting the existence condition of the delivered articles in the target cabinet grid;

and closing the cabinet door of the target cabinet lattice in response to the delivery article existing in the target cabinet lattice.

A12, the smart cabinet of A10, the smart cabinet control apparatus further configured to:

closing a door of the target cabinet compartment in response to detecting the absence of the delivered item within the target cabinet compartment.

A13, the smart cabinet of A12, the smart cabinet control apparatus further configured to:

after the cabinet door of the target cabinet grid is closed, sending a delivery instruction to instruct the robot to detect the existence condition of the delivered goods in the cabin body and deliver the delivered goods according to the existence condition of the delivered goods.

A14, according to the intelligent cabinet A1, the delivered goods correspond to the target order, and the pickup message further includes delivery address information corresponding to the target order;

the smart cabinet control apparatus is further configured to:

and acquiring delivery address information corresponding to the target order before sending the pickup message to inform the robot of pickup.

A15, the smart cabinet of A14, the smart cabinet control apparatus further configured to:

and reporting the delivery starting message of the target order.

The embodiment of the invention discloses B1 and a robot, wherein the robot comprises:

a moving device for moving the robot;

at least one cartridge body;

a height adjustment device for adjusting the height of the cartridge body; and

a robot control device configured to perform the steps of:

B2, the robot of B1, the robot control device further configured to:

and sending a door opening request to instruct the intelligent cabinet to open a cabinet door of the target cabinet lattice before controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet lattice.

B3, the robot of B2, further comprising a cabinet grid detection device disposed on the bin body for detecting whether the bin body is at the same height as a corresponding cabinet grid.

B4, the robot according to B3, further comprising a magnetic attraction device arranged on the bottom surface inside the cabin body, wherein the magnetic attraction device is used for sucking a metal tray into the cabin body;

wherein the distribution article is placed on the metal tray.

B5, the robot of B4, the robot control device configured to:

and controlling the magnetic suction device to suck the metal tray into the bin body in response to the detection that the bin body and the target bin are at the same height through the bin grid detection device.

B6, the robot of B3, the robot control device configured to:

and responding to the situation that the bin body and the target cabinet grid are at the same height through the cabinet grid detection device, and sending a pushing request to indicate the intelligent cabinet to push the delivered articles into the bin body through a telescopic device.

B7, the robot according to any one of B5 or B6, wherein the cabinet detection device is a robot light receiving device, and the robot light receiving device corresponds to the cabinet light emitting device of each cabinet of the intelligent cabinet;

wherein the robot control apparatus is configured to:

in response to receiving a light signal of a particular pattern through the robotic light receiving device, determining that the bin body is at the same height as the target bin.

B8, the robot of B5, the robot control device configured to:

and responding to the received magnetic attraction request, and controlling the magnetic attraction device to suck the metal tray into the bin body.

B9, according to the robot of B8, the cabinet lattice detection device is a robot light emitting device, and the robot light emitting device corresponds to the cabinet lattice light receiving device of each cabinet lattice of the intelligent cabinet;

wherein the robot control apparatus is configured to:

after sending a door opening request to instruct the intelligent cabinet to open the cabinet door of the target cabinet grid, controlling the robot light emitting device to emit a light signal in a specific mode.

B10, the robot according to B4, the robot control device being configured to:

determining cabinet lattice position information of the target cabinet lattice according to the cabinet lattice identification information;

and moving to the front of the target cabinet according to the cabinet position information.

B11, the robot of B4, the robot further comprises a bin body delivered article detection device, the bin body delivered article detection device is arranged on the bin body, and the bin body delivered article detection device is used for detecting the existence of delivered articles in the bin body.

B12, according to the robot of B11, the delivered goods correspond to the target order, and the pickup message further comprises delivery address information corresponding to the target order;

the robot control apparatus is further configured to:

detecting the existence of the delivered goods in the warehouse in response to receiving the delivery instruction;

closing a door of the cartridge body in response to detecting the presence of the dispensed item within the cartridge body;

and distributing the distributed articles according to the distribution address information.

B13, the robot of B4, the robot control device further configured to:

opening a door of the cartridge body prior to transferring the dispensed articles into the cartridge body.

The embodiment of the invention discloses C1 and a control method, which are suitable for an intelligent cabinet, wherein the method comprises the following steps:

The embodiment of the invention discloses D1 and a control method, which are suitable for a robot, and the method comprises the following steps:

The embodiment of the invention discloses E1 and an intelligent cabinet control device, which comprises:

The embodiment of the invention discloses F1 and a robot control device, wherein the device comprises:

The embodiment of the invention discloses G1, a computer readable storage medium on which computer program instructions are stored, the computer program instructions when executed by a processor implement the method as described in any of C1 and D1.

The embodiment of the invention discloses H1 and a control device, wherein the control device comprises:

a memory for storing one or more computer program instructions;

a processor, the one or more computer program instructions being executed by the processor to implement the method as any one of C1 and D1.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent cabinet, characterized in that the intelligent cabinet comprises:

a smart cabinet control apparatus configured to perform the steps of:

2. The smart cabinet of claim 1, wherein the smart cabinet control apparatus is further configured to:

opening a door of the target cabinet compartment in response to receiving a door opening request sent by the robot prior to transferring the dispensed articles into the bin body.

3. The intelligent cabinet according to claim 2, further comprising a plurality of bin body detection devices;

4. A robot, characterized in that the robot comprises:

a moving device for moving the robot;

at least one cartridge body;

a height adjustment device for adjusting the height of the cartridge body; and

a robot control device configured to perform the steps of:

5. A control method is suitable for an intelligent cabinet, and is characterized by comprising the following steps:

6. A control method adapted for use with a robot, the method comprising:

7. An intelligent cabinet control apparatus, the apparatus comprising:

8. A robot control apparatus, characterized in that the apparatus comprises:

9. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 5-6.

10. A control device, characterized in that the device comprises:

a memory for storing one or more computer program instructions;

a processor, the one or more computer program instructions being executed by the processor to implement the method of any of claims 5-6.