WO2019062324A1 - 物品运送设备 - Google Patents

物品运送设备 Download PDF

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Publication number
WO2019062324A1
WO2019062324A1 PCT/CN2018/098241 CN2018098241W WO2019062324A1 WO 2019062324 A1 WO2019062324 A1 WO 2019062324A1 CN 2018098241 W CN2018098241 W CN 2018098241W WO 2019062324 A1 WO2019062324 A1 WO 2019062324A1
Authority
WO
WIPO (PCT)
Prior art keywords
article
article transporting
transporting apparatus
receiving
item
Prior art date
Application number
PCT/CN2018/098241
Other languages
English (en)
French (fr)
Inventor
马庆光
李洪波
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710927735.2A external-priority patent/CN107597601A/zh
Priority claimed from CN201710927756.4A external-priority patent/CN107640569A/zh
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to JP2019516243A priority Critical patent/JP6663541B2/ja
Priority to US16/643,223 priority patent/US11273467B2/en
Publication of WO2019062324A1 publication Critical patent/WO2019062324A1/zh
Priority to US17/650,497 priority patent/US11883850B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B65G47/51—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
    • B65G47/5104—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G06K7/10415—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM
    • G06K7/10425—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device
    • G06K7/10435—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing
    • G06K7/10445—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing the record carriers being fixed to further objects, e.g. RFIDs fixed to packages, luggage, mail-pieces or work-pieces transported on a conveyor belt

Definitions

  • the present disclosure relates to the field of intelligent logistics technology, for example, to an item transport apparatus.
  • the above-mentioned parcel sorting robot system greatly improves the sorting efficiency compared with the traditional manual sorting method, and has the advantages of low cost and high flexibility compared with the traditional automatic manners such as the cross-belt sorter, and thus has been widely concerned and rapidly popularized in the industry.
  • the present disclosure provides an article transport apparatus that at least partially solves the problem of damage to fragile goods due to height differences after the express robot transports the goods to the receiving end.
  • An article transport device comprising:
  • Receiving means the receiving device being arranged to receive one or more items to be transported;
  • a communication device configured to learn a height of a receiving end of the transport device that matches the item transport device
  • a height adjustment device configured to adjust a height of the carrier device to a height that matches a receiving end of the transport device when the article transport device approaches the transfer device.
  • the item to be transported has road direction information
  • the item transporting apparatus further includes a transport information acquiring device configured to acquire direction information of the item to be transported; or the item transporting apparatus
  • the direction information of the item to be transmitted is obtained by the query server, and the direction information of the item to be transmitted is acquired by the shipping information acquiring device on the provider end and sent to the server.
  • the transfer device has an identity ID identifier that matches the direction information of the item to be delivered.
  • the item transport device is configured to obtain directions information of items shipped in the current task, and determine a transfer device that matches the current task based on the direction information of the items transported in the current task.
  • the communication device is further configured to be in communication with the dispatching server, and acquire, by the dispatching server, the height information of the receiving end of the transporting device; or the communication device is internally provided with a height database.
  • the communication device is configured to query the height database to acquire and know the height information of the receiving end of the transfer device.
  • the communication device is further configured to acquire operation information of the other item delivery device by the scheduling server, and determine whether to adjust an operation route of the item delivery device based on the operation information.
  • the article transporting device is configured to obtain the power amount information of the article transporting device, and report the remaining power amount information to the dispatching server when the remaining power of the article transporting device meets the preset condition.
  • the item transporting apparatus is further configured to receive a charging instruction of the dispatching server, and based on the charging instruction, the item transporting apparatus moves to a predetermined area for charging.
  • the article transporting device is further configured to detect a fault condition of the article transporting device and report the fault information of the article transporting device to the dispatching server.
  • the item transport device is arranged to navigate by identifying a combination of graphics.
  • the receiving device is provided with an item conveying device, the item to be conveyed being located on the item conveying device, the item conveying device being arranged to convey the item to be conveyed to a designated destination.
  • the article transport device comprises any one of a conveyor belt, a drum, a cross belt or a flap.
  • An article transport device comprising:
  • Receiving means the receiving device being arranged to receive one or more items to be transported;
  • a traveling device comprising at least two drive wheels at a bottom of the travel device, the at least two drive wheels controlling the travel device to rotate in a first rotational direction;
  • a rotation support device located between the receiving device and the traveling device, and respectively connected to the receiving device and the traveling device, wherein the rotating support device is disposed at the When rotating in a rotational direction, the rotation is performed in a direction opposite to the first rotational direction.
  • the rotational support device when the traveling device is rotated in the first rotational direction, the rotational support device is arranged to rotate at a constant speed in a direction opposite to the first rotational direction.
  • the receiving device has a first recess
  • the rotary support device is mounted on the first recess of the receiving device.
  • the running device has a second recess
  • the rotary support device is mounted on the second recess of the running device.
  • the receiving device is provided with an item conveying device, the item to be conveyed being located on the item conveying device, the item conveying device being arranged to convey the item to be conveyed to a designated destination.
  • the article transport device comprises any one of a conveyor belt, a drum, a cross belt or a flap.
  • the receiving device is further provided with a sensing device, and the sensing device is arranged to measure the position of the item to be conveyed on the receiving device on the receiving device.
  • the receiving device controls the item conveying device to move the item to be transported to the receiving device Central location.
  • the number of drive wheels of the running device is two.
  • the walking device is configured to control the two drive wheels to operate in the same direction at the same speed such that the article transport device moves in a linear direction.
  • the running device is further configured to control the two drive wheels to operate in reverse speed at the same speed such that the article transport device rotates in place.
  • the rotary support device further includes a telescopic support bar that is capable of controlling the height of the receiving device.
  • the projection of the walking device in the vertical direction is within the projection of the receiving device in the vertical direction.
  • the projection of the rotary support device in the vertical direction is located within the projection of the receiving device in the vertical direction.
  • the projection of the rotary support device in the vertical direction is within the projection of the travel device in the vertical direction.
  • An article transporting apparatus through which the height of a receiving end of a transporting device matching the article transporting device is known, and when the article transporting device approaches the transporting device, the height adjusting device uses the carrying device The height is adjusted to match the height of the receiving end.
  • the height information of the receiving end of the article can be known, and when approaching the receiving end, the height of the receiving device is adjusted to the height matching the high end of the receiving end, so that during the transportation of the article, the center of gravity has a stable center of gravity.
  • the article conveying device provided by the present disclosure adds a rotating support device between the traveling device and the receiving device of the device, so that the device can freely turn and walk through the rotation of the device chassis while ensuring that the carrying device and the package are not moving, when the article is When the conveying device is rotated in place, as long as the rotary support device is controlled to rotate at the same angular velocity in the reverse direction, the storage platform and the package can be kept stationary, thereby greatly improving the conveying efficiency of the article conveying device.
  • FIG. 1 is a schematic structural view of an article conveying device according to an embodiment
  • FIG. 2 is a schematic structural view of a transfer device according to an embodiment
  • FIG. 3 is a schematic diagram of an article transport apparatus according to an embodiment for transporting articles to a transfer device
  • FIG. 4 is a schematic diagram of a wrapping robot operating in a grid in the related art
  • FIG. 5 is a schematic structural diagram of an article conveying device according to another embodiment.
  • the courier robot After obtaining the parcel that needs to be transported, the courier robot usually needs to automatically transport the parcel to the corresponding receiving container.
  • the receiving container receiving the parcel will have different heights due to different application scenarios, so The case where the courier robot is delivered to the destination cannot be automatically unloaded. For example, if the receiving end of the receiving container is too low, there may be a situation in which the courier robot transports the parcel to the receiving end of the receiving container and the fragile goods in the parcel are damaged due to the difference in height.
  • FIG. 1 is an article conveying device provided by the embodiment, and the conveying device includes a receiving device 1, a height adjusting device 2, and a communication device 3.
  • the receiving device 1 is arranged to receive one or more items to be transported, and the items to be transported may be wrapped items or other items to be transported.
  • the receiving device 1 is a common device having a receiving structure.
  • the article conveying device reaches the article sending end (for example, the sending end of the article), the article can be placed on the receiving device 1 by manual means, or can be passed through the supply end.
  • An automatic loading device (such as a robot) automatically places the item to be delivered, for example, the item to be sorted.
  • the receiving device can receive one or more items to be transported, and the destinations of the one or more items to be transported may be the same or different.
  • the carrying device can transport the items to be transported to the item receiving end (for example, an article conveyor belt, a cage car, etc.) in one or several times.
  • the carrier device can release the corresponding items to be transported at the item receiving end representing the different destinations. In this way, the space of the receiving device can be fully utilized, and the efficiency of the article conveying device can be improved.
  • the item transport device may be a package transport robot or other device that performs the same or similar functions.
  • the communication device 3 can obtain the item information of the item to be delivered, and the item information includes the destination of the item to be delivered (for example, Haidian District, Beijing), the type of the item to be delivered. (such as books or fragile items, etc.).
  • the communication device 3 can obtain the information of the transfer device (for example, the conveyor belt, the transport elevator, the cage car, etc.) corresponding to the item to be transported by checking the server, and query the information of the transfer device to query the item.
  • the height of the receiving end of the transport device that matches the transport device. On the one hand, the height of the receiving end of the transport device matched with the article transporting device can be sent by the server.
  • there can be a height database inside the communication device 3 and the communication device 3 knows the receiving end of the transport device by querying the height database. Height information.
  • the height adjusting device 2 adjusts the height of the receiving device 1 to a height matching the receiving end.
  • the height adjustment device 2 can be a common hydraulic lifting device, a common stud lifting device, or other common lifting devices.
  • a transport label is usually arranged on the item to be sorted for storing the transport information, which may be a two-dimensional code, radio frequency identification devices (RFID). Labels, etc.
  • the transportation information of the item to be sorted contains at least the transportation destination information of the item (such as Guangzhou, Shanghai, Shenyang, etc.), and may also contain other information.
  • the supplier end may include a shipping information acquiring device for identifying the shipping label on the item to be sorted.
  • the shipping information acquiring device may be a camera that acquires tag information such as a two-dimensional code on the goods to be sorted, thereby obtaining shipping information of the item to be sorted.
  • the shipping information acquiring device may also be an RFID card reader that reads the RFID tag information on the goods to be sorted, thereby obtaining the shipping information of the items to be sorted.
  • the item to be transported has road direction information
  • the item transport apparatus can acquire direction information of the item to be transported obtained by the transport information acquiring apparatus by the query server, or can integrate the transport information acquiring apparatus into the item transport apparatus. Go and get the relevant information.
  • the transfer device has an identity (ID) identifier that matches the way information of the item to be delivered.
  • ID identity
  • the transfer device is a plurality of conveyor belts 21, 22, 23, each of which transports the cargo to a certain height and then conveys it to a receiving container of a different direction.
  • the conveyor belt can also be a flat conveyor belt or a conveyor belt that transports goods to a lower location.
  • Each of the conveyor belts has a receiving end 212, 222, 232 at the bottom.
  • the height of the receiving end may be the same or different, and the height values of the receiving ends of different numbered conveyor belts are stored in the server.
  • the transfer device may also be an article receiving device (e.g., a cage) having a height as shown in Fig. 3, in which case the edge of the article receiving device constitutes its receiving end.
  • the server invokes the item shipping device in the form of a task
  • the item shipping device acquires the direction information of the item transported in the current task, and determines the matching with the current task based on the direction information of the item transported in the current task.
  • Transfer device
  • the server mentioned in the above example manner may be a scheduling server or other types of servers.
  • the communication device 3 is further arranged to communicate with the dispatch server and obtain information of the transport device through the dispatch server.
  • the communication device 3 is further configured to acquire operation information of the other item delivery device through the scheduling server, and determine whether to adjust an operation route of the item delivery device based on the operation information.
  • the process of determining whether to adjust the running route of the article transporting device may be done on the server side or on the item transporting device side.
  • the article transporting device is equipped with a battery inside, so that the article transporting device can carry out the task transportation by its own energy.
  • the item transport device monitors the remaining battery power in real time. When the remaining power of the item transport device reaches a certain threshold, the item transport device is controlled to charge itself to the preset area.
  • the article transport device can acquire the power amount information of the article transport device; when the remaining power of the article transport device meets the preset condition, the article transport device reports the remaining power amount information to the dispatch server, and the dispatch server According to various factors such as the current power and the dispatching task, it is considered whether to control the article transporting device to a predetermined place for charging.
  • the item transporting apparatus is further configured to receive a charging instruction of the dispatching server, and based on the charging instruction, the item transporting apparatus moves to a predetermined area for charging.
  • the item shipping device is further configured to detect its own fault condition and report its own fault information to the dispatch server.
  • the item transport device is configured to navigate by identifying a combination of graphics, which may be a two-dimensional code, and may be any combination of graphics that are combined by other graphics.
  • the item shipping device determines the current geographic location information by identifying a combination of graphics.
  • the receiving device 1 is provided with an article conveying device, for example, the item to be conveyed is located on the article conveying device, and the article conveying device is arranged to convey the articles on the receiving device 1 Go to the specified destination.
  • the article transport device can include a conveyor belt, a drum, a cross belt, a flap or other device that can move the item.
  • the robot sorting system map is mostly square (see Figure 4).
  • the rotating diameter of the robot can not exceed the size of the map square. Therefore, the robot bearing mechanism is severely restricted by the square. The style is large, and the system efficiency will be sacrificed.
  • the robot carrier mechanism is designed as a rounded edge, since the express parcel is mostly rectangular, it is impossible to increase the size of the package carried, and the problem cannot be fundamentally solved. Therefore, how to increase the size of the robot carrying package as much as possible while keeping the map unchanged, or how to design a robot to make the basic walking unit of the robot map smaller, based on the robot with the same size package carrying capacity
  • the map is more flexible and has become a major problem for robot design.
  • the parcel sorting robot mainly needs to ensure that the robot does not collide during the rotation because it needs to rotate freely within the map, thus limiting the design of the robot carrying mechanism, thereby causing the limitation of carrying the parcel.
  • a rotating device is added between the robot running mechanism and the supporting mechanism, so that the robot can freely turn and walk through the rotation of the robot chassis while ensuring that the carrying device and the package are not moving.
  • the embodiment provides an article transporting device, that is, a mobile device for transporting articles, which may be a parcel sorting robot, or other types of robots for transporting articles.
  • the mobile device includes a storage platform 5, a traveling device 6, and a rotation support device 7.
  • a storage platform 5 (eg, a carrying device) that is configured to receive items (eg, items to be delivered) received by the mobile device.
  • the storage platform is arranged to place articles such as parcels, and in order to ensure that the storage platform can effectively transport the articles, the form of the articles transported by the storage platform is not limited, and the articles can be carried out by means of a conveyor belt, a roller, a cross belt, a flap, or a pushing device. Transfer. If a conveyor belt, roller or cross belt is used, the position of the package can be obtained by the measurement information of the sensor, and the conveyor belt, the roller or the cross belt can be controlled to automatically adjust the package so that the center position of the package is placed at the center of the storage platform.
  • a traveling device 6 comprising at least two drive wheels 61 at the bottom, the at least two drive wheels 61 controlling the mobile device to rotate in a first direction of rotation.
  • the traveling device is a power core device of the mobile device.
  • the two driving wheels are running in the same direction at the same speed, the mobile device travels straight, and when the two driving wheels are differentially operated, the steering of the mobile device can be realized, and when the two driving wheels of the mobile device are Reverse running at the same speed enables in-situ rotation of the mobile device.
  • a power unit such as a motor may be provided in the traveling device, and the driving wheel is rotated by the power device.
  • the mobile device also contains a rechargeable power source for providing energy supply to the entire mobile device.
  • a communication module such as a wireless fidelity (wifi) communication module
  • the walking device can receive the instruction of the article transportation through the communication module. Ship the item to the designated destination.
  • the mobile device needs to be moved on the square road surface shown in FIG. 4, and the traveling device has an image recognition device capable of recognizing a square road edge, for example, a square type road surface is provided for the position.
  • the two-dimensional code of the navigation, the image recognition device on the walking device can recognize the two-dimensional code, and read the position identifier represented by the two-dimensional code, thereby implementing the navigation function.
  • Rotating support device 7 is located between the storage platform 5 and the traveling device 6 and is respectively connected with the storage platform 5 and the traveling device 6, and the rotating support device 7 is When the traveling device 6 rotates in the first rotational direction, it rotates in a direction opposite to the first rotational direction.
  • the item is held at a fixed angle and position in the square to prevent a larger grid space from being occupied by the rotation of the item, resulting in congestion of the item being conveyed and a reduction in the efficiency of the item being conveyed.
  • the rotating supporting device 7 is The first direction of rotation is rotated in the opposite direction.
  • a speed sensor is provided on the traveling device, and the speed sensor is set to know the rotational speed of the driving wheel 61.
  • the differential speed of the driving wheel 61 By calculating the differential speed of the driving wheel 61, the resulting angular velocity of rotation is calculated, and the angular velocity value is transmitted to the rotation in real time.
  • the device 7 is supported, thereby completing the rotation of the rotation support device 7 at a constant speed in a direction opposite to the first rotation direction.
  • the storage platform 5 has a first recessed portion, and the rotary support device 7 is installed in the The first recessed portion of the storage platform 5 is described.
  • the running device 6 has a second recess, and the rotary support device 7 is mounted on the second recess of the running device 6.
  • the storage platform 5 is provided with an article conveying device, and the article conveying device is arranged to place the storage platform 5
  • the item on it is delivered to the specified destination.
  • the item transport device on the storage platform can be activated, and the item transfer device automatically delivers the item to be transported by the item transfer device to a designated destination or container.
  • the article transport device may be a conventional mechanical structure device for automatically transporting articles, such as any one of a conveyor belt, a drum, a cross belt, or a flap.
  • the storage platform 5 is also A sensing device which is capable of measuring the position of the item on the storage platform 5 on the storage platform 5.
  • the position sensor can be a conventional pressure sensor that obtains different positions of the item on the storage platform 5 by measuring pressure data at different locations on the storage platform 5.
  • the storage The platform 5 controls the article transport device to move the item to a central position of the storage platform 5.
  • the camera observes the center of the item, and tells the mobile device to adjust the position of the item through the server.
  • the drive wheel 61 of the travel device 6 The number is two, and the number of the driving wheels 61 of the traveling device 6 may be two or more.
  • the movement direction and the direction of rotation of the entire mobile device can be controlled as long as the rotational speed and steering on the two drive wheels are controlled.
  • the travel device 6 controls the two drive wheels 61 to operate in the same direction at the same speed such that the mobile device moves in a linear direction.
  • the travel device 6 controls the two drive wheels 61 to operate in reverse speed at the same speed such that the mobile device rotates in place.
  • the receiving port of the receiving container usually has a different height, and the storage platform of the mobile device may not reach the height, which needs to be convenient. Adjust the height of the storage platform.
  • the rotary support device 7 further comprises a telescopic support rod 71 capable of controlling the height of the storage platform 5. For example, before the mobile device reaches the preset receiving container, the interface height of the receiving container is obtained in advance, and before the mobile device reaches the receiving container, the support rod 71 is in a contracted state, so that the center of gravity of the mobile device is low, which is convenient for the movement process. stable.
  • the support lever 71 When the mobile device reaches the receiving container, the support lever 71 becomes a predetermined height, and the article is transported into the receiving container by the article transporting device, after which the support lever 71 becomes the contracted state again, keeping the stability of the mobile device.
  • the support rod 71 can be a conventional threaded rotary support rod, or a common hydraulic support rod, or other common mechanical structure capable of telescopic support.
  • the area of the rotation support device 7 and the traveling device 6 in the horizontal direction is smaller than the area of the storage platform in the horizontal direction, so that the largest possible item area can be received through the storage platform.
  • the rotating support device 7 and the traveling device 6 do not occupy too much area.
  • the projection of the walking device 6 in the vertical direction is located within the projection of the loading platform 5 in the vertical direction.
  • the projection of the rotary support device 7 in the vertical direction is located within the projection of the storage platform 5 in the vertical direction.
  • the rotation support device 7 is projected in the vertical direction within the projection of the traveling device 6 in the vertical direction.
  • a is to be understood as “at least one” or “one or more”, that is, in one embodiment, the number of one element may be one, and in other embodiments, the number of such elements may be multiple.
  • a is not to be construed as limiting the quantity.
  • ordinal numbers such as “first”, “second”, etc. will be used to describe various components, those components are not limited herein. This term is only used to distinguish one component from another. For example, a first component could be termed a second component, and as such, a second component could also be termed a first component without departing from the teachings of the inventive concept.
  • the term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Abstract

一种物品运送设备，包括：承接装置（1），承接装置设置为承接一个或多个待传送物品；通信装置（3），通信装置设置为获知与物品运送设备匹配的转运装置的接收端的高度；高度调节装置（2），当物品运送设备接近转运装置时，高度调节装置将承接装置的高度调节到与接收端匹配的高度。

Description

物品运送设备
本公开要求申请日为2017年9月30日、申请号为201710927735.2，以及申请日为2017年9月30日、申请号为201710927756.4的中国专利申请的优先权，上述申请的全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能物流技术领域，例如涉及一种物品运送设备。
背景技术
电子商务的快速发展，既给快递行业带来了前所未有的发展机遇，也给快递服务提出了严峻的挑战。如何高效率、低成本、灵活准确的进行包裹分拣一直是这个行业面临的难题。传统的人工矩阵式分拣，主要面临效率低，差错率高、人工强度大、招工难、管理难等问题。近年来机器人技术的蓬勃发展为整个物流行业带来了巨大的技术变革，也给分拣行业带来新的技术和新的设计理念。快递机器人分拣系统，操作员在供件台将包裹放在机器人承载装置上，机器人承载着包裹运行到钢落件格口位置将包裹投递到落件格口从而完成包裹分拣任务。上述包裹分拣机器人系统，较传统人工分拣方式大大提高了分拣效率，较交叉带分拣机等传统自动化方式又具有成本低、柔性高等优点，因而得到了业界的广泛关注和快速推广。
发明内容
本公开提供一种物品运送设备，至少部分的解决快递机器人将货物运送到接收端后由于高度差异导致易碎货物损坏的问题。
一种物品运送设备，包括：
承接装置，所述承接装置设置为承接一个或多个待传送物品；
通信装置，所述通信装置设置为获知与所述物品运送设备匹配的转运装置的接收端的高度；
高度调节装置，当所述物品运送设备接近所述转运装置时，所述高度调节装置设置为将所述承载装置的高度调节到与所述转运装置的接收端匹配的高度。
在一实施例中，所述待传送物品具有路向信息，所述物品运送设备还包括运送信息获取装置，所述运送信息获取装置设置为获取待传送物品的路向信息；或者，所述物品运送设备配置为通过查询服务器获取所述待传送物品的路向信息，所述待传送物品的路向信息是由供件端上的所述运送信息获取装置获取并发送给服务器的。
在一实施例中，所述转运装置具有身份ID标识，所述身份ID标识与所述待传送物品的路向信息匹配。
在一实施例中，所述物品运送设备设置为获取当前任务中运送的物品的路向信息，并基于当前任务中运送的物品的路向信息确定与当前任务匹配的转运装置。
在一实施例中，所述通信装置还设置为与调度服务器通信连接，并通过所述调度服务器获取并获知所述转运装置的接收端的高度信息；或者，所述通信装置内部设置有高度数据库，所述通信装置设置为查询所述高度数据库获取并获知所述转运装置的接收端的高度信息。
在一实施例中，所述通信装置还设置为通过所述调度服务器获取其他物品运送设备的运行信息，基于所述运行信息，确定是否调整所述物品运送设备的运行路线。
在一实施例中，所述物品运送设备设置为获取所述物品运送设备的电量信息，当所述物品运送设备的剩余电量满足预设条件时，将剩余电量信息上报给调度服务器。
在一实施例中，所述物品运送设备还设置为接收所述调度服务器的充电指令，基于所述充电指令，所述物品运送设备移动到预定区域进行充电。
在一实施例中，所述物品运送设备还设置为检测所述物品运送设备的故障状况，并将所述物品运送设备的故障信息上报给所述调度服务器。
在一实施例中，所述物品运送设备设置为通过识别图形组合进行导航。
在一实施例中，所述承接装置上设置有物品传送装置，所述待传送物品位于所述物品传送装置上，所述物品传送装置设置为将所述待传送物品传送到指定目的地。
在一实施例中，所述物品传送装置包括输送带、滚筒、交叉带或翻板中的任意一种。
一种物品运送设备，包括：
承接装置，所述承接装置设置为承接一个或多个待传送物品；
行走装置，所述行走装置包括位于所述行走装置底部的至少两个驱动轮，所述至少两个驱动轮控制所述行走装置在第一旋转方向上旋转；以及
旋转支撑装置，所述旋转支撑装置位于所述承接装置及所述行走装置之间，并分别与所述承接装置及所述行走装置连接，所述旋转支撑装置设置为在所述行走装置在第一旋转方向上旋转时按照与所述第一旋转方向相反的方向进行旋转。
在一实施例中，当所述行走装置在第一旋转方向上旋转时，所述旋转支撑装置设置为在与所述第一旋转方向相反的方向等速旋转。
在一实施例中，所述承接装置具有第一凹陷部，所述旋转支撑装置安装在所述承接装置的第一凹陷部。
在一实施例中，所述行走装置具有第二凹陷部，所述旋转支撑装置安装在所述行走装置的第二凹陷部。
在一实施例中，所述承接装置上设置有物品传送装置，所述待传送物品位于所述物品传送装置上，所述物品传送装置设置为将所述待传送物品传送到指定目的地。
在一实施例中，所述物品传送装置包括输送带、滚筒、交叉带或翻板中的任意一种。
在一实施例中，所述承接装置上还设置有传感装置，所述传感装置设置为测量所述承接装置上的待传送物品在所述承接装置上的位置。
在一实施例中，基于所述传感装置测量到的待传送物品在所述承接装置上的位置数据，所述承接装置控制所述物品传送装置将所述待传送物品移动到所述承接装置的中心位置。
在一实施例中，所述行走装置的驱动轮的数目为两个。
在一实施例中，所述行走装置设置为控制所述两个驱动轮同速同向运转，使得所述物品运送设备在直线方向上移动。
在一实施例中，所述行走装置还设置为控制所述两个驱动轮同速反向运转，使得所述物品运送设备在原地旋转。
在一实施例中，所述旋转支撑装置还包括可伸缩的支撑杆，所述支撑杆能够控制所述承接装置的高度。
在一实施例中，所述行走装置在垂直方向的投影位于所述承接装置在垂直方向的投影之内。
在一实施例中，所述旋转支撑装置在垂直方向的投影位于所述承接装置在垂直方向的投影之内。
在一实施例中，所述旋转支撑装置在垂直方向的投影位于所述行走装置在垂直方向的投影之内。
本公开提供的物品运送设备，通过所述通信装置获知与物品运送设备匹配的转运装置的接收端的高度，当所述物品运送设备接近所述转运装置时，所述高度调节装置将所述承载装置的高度调节到与所述接收端匹配的高度。这样一来，能够其他获知物品接收端的高度信息，并在接近接收端时，将承接装置的高度调节到与接收端的高端匹配的高度，使得在物品运送的过程中，具有稳定的重心，在传送货物给接收端时，有足够的高度，保证了物品传送的自动化程度，提高了物品运送的效率。
本公开提供的物品运送设备，在设备的行走装置和承接装置之间增加旋转支撑装置，使设备在保证承载装置和包裹不动的前提下，通过设备底盘的转动 可以自由转向和行走，当物品运送设备原地旋转时，只要控制旋转支撑装置以相同的角速度反向旋转，即可保证置物平台和包裹保持不动，从而大幅提高物品运送设备的传送效率。
附图说明
下面将对实施例中所需要使用的附图进行介绍。
图1为一实施例提供的物品运送设备的结构示意图；
图2为一实施例提供的转运装置的结构示意图；
图3为一实施例提供的物品运送设备向转运装置运送物品的示意图；
图4为相关技术中包裹机器人在网格中运行的示意图；
图5为另一实施例提供的物品运送设备的结构示意图。
具体实施方式
下面结合附图对本实施例进行描述。
快递机器人在获得需要转运的包裹之后，通常需要将包裹自动地运送到对应的接收容器中，在实际的操作过程中，由于应用场景的不同，接收包裹的接收容器的高低也会不同，因此会出现快递机器人运送到目的地无法自动卸货的情况。例如，如果接收容器的接收端高度过低，会出现快递机器人将包裹运送到接收容器的接收端后由于高度差导致包裹中的易碎货物损坏的情况。
图1为本实施例提供的一种物品运送设备，该运送设备包括承接装置1、高度调节装置2以及通信装置3。
承接装置1设置为承接一个或多个待传送物品，该待传送物品可以是包裹物品，也可以是其他的待传送的物品。承接装置1为常见的具有容纳结构的装置，当物品运送设备到达物品发送端(例如发送物品的供件端)后，可以通过人工的方式在承接装置1上放置物品，也可以通过供件端的自动装货设备(例如机械手)来自动的放置待传送物品，例如，待分拣的物品。
根据运送任务的不同，承接装置上面能够接收一个或多个待传送物品，该 一个或多个待传送物品的目的地可以相同，也可以不同。当运送的目的地相同的时候，承载装置可以一次性或分次的将待传送物品输送到物品接收端(例如，物品传送带、笼车等)。当运送的目的地不同时，承载装置可以在代表不同目的地的物品接收端释放相应的待传送物品。这样能够充分的利用承接装置空间，提高物品运送设备的效率。在一实施例中，该物品运送设备可以是包裹运送机器人，也可以是其他执行相同或类似功能的设备。
在一实施例中，承载装置接收到物品之后，通信装置3便可以获知待传送物品的物品信息，该物品信息包括待传送物品的运送目的地(例如北京市海淀区)、待传送物品的类型(例如图书类或易碎品等)。获知物品信息后，通信装置3可以通过查收服务器的方式获得该待传送物品所对应的转运装置(例如传送带、传送电梯、笼车等)的信息，通过查询该转运装置的信息，查询到与物品运送设备匹配的转运装置的接收端的高度。一方面，与物品运送设备匹配的转运装置的接收端的高度可以通过服务器进行下发，另外一方面，可以是通信装置3内部存在高度数据库，通信装置3通过查询该高度数据库获知转运装置的接收端的高度信息。
当所述物品运送设备接近所述转运装置时，所述高度调节装置2将所述承接装置1的高度调节到与所述接收端匹配的高度。高度调节装置2可以是常见的液压升高装置，也可是常见的螺柱升高装置，也可是其他的常见的升高装置。
为了能够确定待分拣物品的运输目的地，在待分拣物品的上面通常设置运输标签，用来存储运送信息，该运输标签可以是二维码、无线射频识别(radio frequency identification devices，RFID)标签等。待分拣物品的运送信息中至少包含该物品的运输目的地信息(如广州、上海、沈阳等)，也可以包含其他的信息。
为了能够快速的识别出待分拣物品的运送信息，供件端可以包含运送信息获取装置，用来识别待分拣物品上的运输标签。该运送信息获取装置可以是一个摄像头，该摄像头获取待分拣货物上的二维码等标签信息，进而获得待分拣物品的运送信息。除此之外，该运送信息获取装置还可以是一个RFID读卡器， 该RFID读卡器读取待分拣货物上的RFID标签信息，进而获得待分拣物品的运送信息。
在一实施例中，所述待传送物品具有路向信息，物品运送设备能够通过查询服务器获取运送信息获取装置获得的待传送物品的路向信息，或者也可以将运送信息获取装置集成到物品运送设备中去，进而获得该相关信息。
在一实施例中，所述转运装置具有身份(Identity，ID)标识，所述ID标识与所述待传送物品的路向信息匹配。参见图2，转运装置为多个传送带21、22、23，每个传送带将货物提升一定高度后传送到不同路向的接收容器中。除了图2中的提升传送带之外，传送带也可是平面传送带，或者向低处传送货物的传送带。每个传送带的底部均有一个接收端212、222、232，该接收端的高度可以相同，也可以不同，不同编号传送带的接收端的高度值在服务器中均有存储。除了图2所示的情况之外，转运装置还可以是图3所示的具有一定高度的物品接收装置(例如笼车)，此时物品接收装置的边沿构成了其接收端。
在一实施例中，服务器会以任务的形式调用物品运送设备，所述物品运送设备获取当前任务中运送的物品的路向信息，并基于当前任务中运送的物品的路向信息确定与当前任务匹配的转运装置。
上述实例方式中提到的服务器，可以是调度服务器，也可是其他类型的服务器。在一实施例中，所述通信装置3还设置为与调度服务器通信连接，并通过所述调度服务器获取所述转运装置的信息。
在一实施例中，所述通信装置3还设置为通过所述调度服务器获取其他物品运送设备的运行信息，基于所述运行信息，确定是否调整所述物品运送设备的运行路线。确定是否调整所述物品运送设备的运行路线的过程可以是在服务器端完成，也可以在物品运送设备端完成。
为了便于物品运送设备的运行，可选的，物品运送设备内部装有电池，这样物品运送设备便会通过自身的能量来完成任务的运输。物品运送设备会实时监测电池的剩余电量，当物品运送设备的剩余电量达到一定的阈值后，控制物品运送设备到预设的区域自行充电。另外，所述物品运送设备能够获取所述物 品运送设备的电量信息；当所述物品运送设备的剩余电量满足预设条件时，所述物品运送设备将剩余电量信息上报给调度服务器，由调度服务器根据当前电量以及调度任务等多个因素综合考虑是否将物品运送设备控制到预定地点进行充电。
在一实施例中，所述物品运送设备还设置为接收所述调度服务器的充电指令，基于所述充电指令，所述物品运送设备移动到预定区域进行充电。
在一实施例中，所述物品运送设备还设置为检测自身的故障状况，并将其自身故障信息上报给所述调度服务器。
在一实施例中，所述物品运送设备设置为通过识别图形组合进行导航，该图形组合可以是二维码，可以是通过其他的图形组合而成的任意图形组合。物品运送设备通过识别图形组合来判断当前的地理位置信息。
在一实施例中，所述承接装置1上设置有物品传送装置，例如，所述待传送物品位于所述物品传送装置上，所述物品传送装置设置为将所述承接装置1上的物品传送到指定目的地。所述物品传送装置可以包括输送带、滚筒、交叉带、翻板或其他的可以移动物品的装置。
目前机器人分拣系统地图多为方格(参见图4)，为保证机器人能够自由旋转，机器人的旋转直径最大不能超过地图方格的大小，因此机器人承载机构严重受到方格的限制，如果将方格调大，又会牺牲系统效率。如果将机器人承载机构设计成圆边，因快递包裹多为矩形，也无法增大承载的包裹的尺寸，无法从根本上解决问题。因此如何在保持地图不变的前提下尽可能的增大机器人承载包裹的尺寸，或者如何在具备同等尺寸包裹承载能力机器人的基础上，如何设计机器人才能够让机器人地图的基本行走单元更小、地图更灵活，成了机器人设计所要面临的主要问题。
根据上面所述，包裹分拣机器人主要因为需要在地图内自由旋转，需要保证机器人在旋转过程中不发生碰撞，因此限制了机器人承载机构的设计，从而导致了承载包裹的局限。本实施例是在机器人行走机构和承载机构间增加旋转 装置，使机器人在保证承载装置和包裹不动的前提下，通过机器人底盘的转动可以自由转向和行走。参见图5，本实施例提供了一种物品运送设备，即一种用于物品传送的移动设备，该移动设备可以是包裹分拣机器人，也可以是其他类型的用于物品传送的机器人，该移动设备包括：置物平台5、行走装置6以及旋转支撑装置7。
置物平台5(例如，承载装置)，所述置物平台5设置为收纳所述移动设备接收的物品(例如，待传送物品)。置物平台设置为放置包裹等传送物品，为了能够保证置物平台能有效的传送物品，置物平台传送物品的形式不限，可以采用输送带、滚筒、交叉带、翻板、或推送装置等装置进行物品传送。如采用输送带、滚筒或交叉带等装置时，可以通过传感器的测量信息获取包裹的位置，并控制输送带、滚筒或交叉带自动调整包裹，使包裹的中心位置置于置物平台的中心。
行走装置6，所述行走装置6包括位于底部的至少两个驱动轮61，所述至少两个驱动轮61控制所述移动设备在第一旋转方向上旋转。行走装置为移动设备的动力核心装置，当两个驱动轮同速同向运转时移动设备直线行走，当两个驱动轮差速运转时可实现移动设备的转向，而当移动设备两个驱动轮同速反向运转，可实现移动设备的原地旋转。为了保证驱动轮的驱动力，可以在行走装置内设置电机等动力装置，通过该动力装置来使驱动轮旋转。可选的，行走装置内部还含有可充电电源，用于为整个移动设备提供能量供应。为了保证整个移动设备能够接收到运输指令，在行走设备的内部还集成有通信模块(如无线保真(Wireless Fidelity，wifi)通信模块)，通过该通信模块，行走装置能够接收物品运送的指令，并将物品运送到指定的目的地。
作为一种应用场景，移动设备需要在图4所示的方格型路面上进行运动，为此行走装置具有能够识别方格型路边的图像识别装置，例如方格型路面上设置有用于位置导航的二维码，行走装置上的图像识别装置能够识别该二维码，读取该二维码所表示的位置标识，进而实现导航功能。
旋转支撑装置7，所述旋转支撑装置7位于所述置物平台5及所述行走装置 6之间，并分别与所述置物平台5及所述行走装置6连接，所述旋转支撑装置7在所述行走装置6在第一旋转方向上旋转时按照与所述第一旋转方向相反的方向进行旋转。通过设置旋转支撑装置7这样的结构，当移动设备原地旋转时，只要控制旋转支撑装置以相同的角速度反向旋转，即可保证置物平台和包裹保持不动，这样就保证了移动设备在运送物品的过程中，物品在方格中以固定的角度和位置保持前进，防止由于物品旋转而占用更大的方格空间，导致物品传送的拥堵以及物品传送效率的降低。
为了保证行走装置6在旋转时，移动设备上的置物平台能够保持稳定，在一实施例中，当所述行走装置6在第一旋转方向上旋转时，所述旋转支撑装置7在与所述第一旋转方向相反的方向等速旋转。在行走装置上设置有速度传感器，所述速度传感器设置为获知驱动轮61的旋转速度，通过计算驱动轮61的差速，计算由此导致的旋转角速度，通过将该角速度值实时的传递给旋转支撑装置7，从而完成所述旋转支撑装置7在与所述第一旋转方向相反的方向等速旋转。
移动设备的重心越低，移动设备的稳定性越好，为了保证移动设备的整体稳定性，在一实施例中，所述置物平台5具有第一凹陷部，所述旋转支撑装置7安装在所述置物平台5的第一凹陷部。或者，在一实施例中，所述行走装置6具有第二凹陷部，所述旋转支撑装置7安装在所述行走装置6的第二凹陷部。
为了提高移动设备的物品传递效率，减少人工在产品运送过程中的参与，在一实施例中，所述置物平台5上设置有物品传送装置，所述物品传送装置设置为将所述置物平台5上的物品传送到指定目的地。例如，当移动设备到达物品接收装置(如笼车)时，可以启动置物平台上的物品传送装置，物品传送装置自动的将该物品传送装置需要运送的物品传递到指定的目的地或容器。
为了保证物品传送装置可以执行物品传递任务，可以从行走装置中的电源(如电池)中获得动力。物品传送装置可以是常见的用于自动传送物品的机械结构装置，比如，所述物品传送装置为输送带、滚筒、交叉带或翻板中的任意一种。
为了使物品在运送的过程中保持稳定，可以将物品放置在移动设备的中心 位置，为了能够确保运送的物品能够置于移动设备的中心位置，在一实施例中，所述置物平台5上还设置有传感装置，所述传感装置能够测量置物平台5上的物品在所述置物平台5上的位置。该位置传感器可以是常见的压力传感器，通过测量置物平台5上不同位置的压力数据，获得物品在置物平台5上的不同位置。
在测量到物品在置物平台上的位置之后，需要及时的调整物品的位置，在一实施例中，基于所述传感装置测量到的物品在所述置物平台5上的位置数据，所述置物平台5控制所述物品传送装置将物品移动到所述置物平台5的中心位置。除此之外，也可以在移动设备的上面增加摄像头，摄像头观察物品的中心，通过服务器告诉移动设备调整物品的位置。
对于移动设备而言，可以采用多个驱动轮61来进行物品运送，然而驱动轮越多，其控制系统便会变得更加复杂，在一实施例中，所述行走装置6的驱动轮61的数目为两个，所述行走装置6的驱动轮61的数目也可以是两个以上。
对于两个驱动轮61的情况，此时只要控制两个驱动轮上的转速和转向，便能够控制整个移动设备的移动方向和旋转方向。例如，在一实施例中，所述行走装置6控制所述两个驱动轮61同速同向运转，使得所述移动设备在直线方向上移动。在另一实施例中，所述行走装置6控制所述两个驱动轮61同速反向运转，使得所述移动设备在原地旋转。
当移动设备将物品运送到接收容器(例如笼车)时，通常情况下接收容器的接收口会有不同的高度，而移动设备的置物平台可能会达不到该高度，此时需要能够方便的调节置物平台的高度。在一实施例中，所述旋转支撑装置7还包括可伸缩的支撑杆71，所述支撑杆71能够控制所述置物平台5的高度。例如，移动设备在到达预设的接收容器之前，会预先获得接收容器的接口高度，在移动设备到达接收容器之前，支撑杆71处于收缩状态，这样移动设备的重心较低，便于运动过程中的稳定。当移动设备到达接收容器时，支撑杆71变成预定高度，将物品通过物品传送装置运送到接收容器中，之后，支撑杆71再次变成收缩状态，保持移动设备的稳定。支撑杆71可以是常见的螺纹旋转支撑杆，或者是常 见的液压支撑杆，或者是其他常见的能够进行伸缩支撑的机械结构。
为了能够适应图4所示的方格型运输场地，需要保证旋转支撑装置7和行走装置6在水平方向的面积小于置物平台在水平方向的面积，这样能够通过置物平台接收尽可能大的物品面积，而旋转支撑装置7和行走装置6不会占用太多的面积。作为一种情况，所述行走装置6在垂直方向的投影位于所述置物平台5在垂直方向的投影之内。作为另外一种情况，所述旋转支撑装置7在垂直方向的投影位于所述置物平台5在垂直方向的投影之内。作为另外一种情况，所述旋转支撑装置7在垂直方向投影位于所述行走装置6在垂直方向投影之内。
术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
虽然比如“第一”、“第二”等的序数将用于描述各种组件，但是在这里不限制那些组件。该术语仅用于区分一个组件与另一组件。例如，第一组件可以被称为第二组件，且同样地，第二组件也可以被称为第一组件，而不脱离发明构思的教导。在此使用的术语“和/或”包括一个或多个关联的列出的项目的任何和全部组合。
在这里使用的术语仅用于描述各种实施例的目的且不意在限制。如在此使用的，单数形式意在也包括复数形式，除非上下文清楚地指示例外。另外将理解术语“包括”和/或“具有”当在该说明书中使用时指定所述的特征、数目、步骤、操作、组件、元件或其组合的存在，而不排除一个或多个其它特征、数目、步骤、操作、组件、元件或其组的存在或者附加。

Claims (27)

  1. 一种物品运送设备，包括：
    承接装置，所述承接装置设置为承接一个或多个待传送物品；
    通信装置，所述通信装置设置为获知与所述物品运送设备匹配的转运装置的接收端的高度；
    高度调节装置，当所述物品运送设备接近所述转运装置时，所述高度调节装置设置为将所述承接装置的高度调节到与所述转运装置的接收端匹配的高度。
  2. 根据权利要求1所述的物品运送设备，其中，所述待传送物品具有路向信息，所述物品运送设备还包括运送信息获取装置，所述运送信息获取装置设置为获取所述待传送物品的路向信息；或者，所述物品运送设备配置为通过查询服务器获取所述待传送物品的路向信息，所述待传送物品的路向信息是由供件端上的所述运送信息获取装置获取并发送给服务器的。
  3. 根据权利要求2所述的物品运送设备，其中，所述转运装置具有身份ID标识，所述身份ID标识与所述待传送物品的路向信息匹配。
  4. 根据权利要求3所述的物品运送设备，其中，所述物品运送设备设置为获取当前任务中运送的物品的路向信息，并基于当前任务中运送的物品的路向信息确定与当前任务匹配的转运装置。
  5. 根据权利要求1所述的物品运送设备，其中，所述通信装置还设置为与调度服务器通信连接，并通过所述调度服务器获取并获知所述转运装置的接收端的高度信息；或者，
    所述通信装置内部设置有高度数据库，所述通信装置设置为查询所述高度数据库获取并获知所述转运装置的接收端的高度信息。
  6. 根据权利要求5所述的物品运送设备，其中，所述通信装置还设置为通过所述调度服务器获取其他物品运送设备的运行信息，基于所述运行信息，确定是否调整所述物品运送设备的运行路线。
  7. 根据权利要求5所述的物品运送设备，其中，所述物品运送设备设置为获取所述物品运送设备的电量信息，当所述物品运送设备的剩余电量满足预设条件时，将剩余电量信息上报给调度服务器。
  8. 根据权利要求7所述的物品运送设备，其中，所述物品运送设备还设置 为接收所述调度服务器的充电指令，基于所述充电指令，所述物品运送设备移动到预定区域进行充电。
  9. 根据权利要求5所述的物品运送设备，其中，所述物品运送设备还设置为检测所述物品运送设备的故障状况，并将所述物品运送设备的故障信息上报给所述调度服务器。
  10. 根据权利要求1所述的物品运送设备，其中，所述物品运送设备设置为通过识别图形组合进行导航。
  11. 根据权利要求1所述的物品运送设备，其中，所述承接装置上设置有物品传送装置，所述待传送物品位于所述物品传送装置上，所述物品传送装置设置为将所述待传送物品传送到指定目的地。
  12. 根据权利要求11所述的物品运送设备，其中，所述物品传送装置包括输送带、滚筒、交叉带或翻板中的任意一种。
  13. 一种物品运送设备，包括：
    承接装置，所述承接装置设置为承接一个或多个待传送物品；
    行走装置，所述行走装置包括位于所述行走装置底部的至少两个驱动轮，所述至少两个驱动轮控制所述行走装置在第一旋转方向上旋转；以及
    旋转支撑装置，所述旋转支撑装置位于所述承接装置及所述行走装置之间，并分别与所述承接装置及所述行走装置连接，所述旋转支撑装置设置为在所述行走装置在第一旋转方向上旋转时按照与所述第一旋转方向相反的方向进行旋转。
  14. 根据权利要求13所述的物品运送设备，其中，当所述行走装置在第一旋转方向上旋转时，所述旋转支撑装置设置为在与所述第一旋转方向相反的方向等速旋转。
  15. 根据权利要求13所述的物品运送设备，其中，所述承接装置具有第一凹陷部，所述旋转支撑装置安装在所述承接装置的第一凹陷部。
  16. 根据权利要求13所述的物品运送设备，其中，所述行走装置具有第二凹陷部，所述旋转支撑装置安装在所述行走装置的第二凹陷部。
  17. 根据权利要求13所述的物品运送设备，其中，所述承接装置上设置有物品传送装置，所述待传送物品位于所述物品传送装置上，所述物品传送装置 设置为将所述待传送物品传送到指定目的地。
  18. 根据权利要求17所述的物品运送设备，其中，所述物品传送装置包括输送带、滚筒、交叉带或翻板中的任意一种。
  19. 根据权利要求17所述的物品运送设备，其中，所述承接装置上还设置有传感装置，所述传感装置设置为测量承接装置上的待传送物品在所述承接装置上的位置。
  20. 根据权利要求19所述的物品运送设备，其中，基于所述传感装置测量到的待传送物品在所述承接装置上的位置数据，所述承接装置控制所述物品传送装置将所述待传送物品移动到所述承接装置的中心位置。
  21. 根据权利要求13所述的物品运送设备，其中，所述行走装置的驱动轮的数目为两个。
  22. 根据权利要求21所述的物品运送设备，其中，所述行走装置设置为控制所述两个驱动轮同速同向运转，使得所述物品运送设备在直线方向上移动。
  23. 根据权利要求21所述的物品运送设备，其中，所述行走装置还设置为控制所述两个驱动轮同速反向运转，使得所述物品运送设备在原地旋转。
  24. 根据权利要求13所述的物品运送设备，其中，所述旋转支撑装置还包括可伸缩的支撑杆，所述支撑杆设置为控制所述承接装置的高度。
  25. 根据权利要求13所述的物品运送设备，其中，所述行走装置在垂直方向的投影位于所述承接装置在垂直方向的投影之内。
  26. 根据权利要求13所述的物品运送设备，其中，所述旋转支撑装置在垂直方向的投影位于所述承接装置在垂直方向的投影之内。
  27. 根据权利要求13所述的物品运送设备，其中，所述旋转支撑装置在垂直方向的投影位于所述行走装置在垂直方向的投影之内。
PCT/CN2018/098241 2017-09-30 2018-08-02 物品运送设备 WO2019062324A1 (zh)

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