WO2019233207A1 - 移动机器人 - Google Patents

移动机器人 Download PDF

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Publication number
WO2019233207A1
WO2019233207A1 PCT/CN2019/084072 CN2019084072W WO2019233207A1 WO 2019233207 A1 WO2019233207 A1 WO 2019233207A1 CN 2019084072 W CN2019084072 W CN 2019084072W WO 2019233207 A1 WO2019233207 A1 WO 2019233207A1
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WO
WIPO (PCT)
Prior art keywords
receiving device
mobile robot
item
article
control
Prior art date
Application number
PCT/CN2019/084072
Other languages
English (en)
French (fr)
Inventor
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
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 KR1020217000216A priority Critical patent/KR102541919B1/ko
Priority to AU2019282930A priority patent/AU2019282930A1/en
Priority to EP19815410.6A priority patent/EP3805135A4/en
Priority to US16/607,840 priority patent/US11401110B2/en
Priority to MX2020013233A priority patent/MX2020013233A/es
Priority to CA3102225A priority patent/CA3102225C/en
Priority to JP2019559025A priority patent/JP2020527119A/ja
Publication of WO2019233207A1 publication Critical patent/WO2019233207A1/zh

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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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    • G06Q10/00—Administration; Management
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    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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    • B07C3/00—Sorting according to destination
    • B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
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    • 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
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    • 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
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    • 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
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    • B66F9/195—Additional means for facilitating unloading for pushing the load
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Definitions

  • the present disclosure relates to the field of intelligent logistics technology, for example, to mobile robots.
  • the mainstream intelligent storage solutions include automated three-dimensional library solutions and intelligent storage robot solutions. Both solutions use the "cargo-to-person" form of delivering goods directly to the picker.
  • the automated three-dimensional warehouse has high picking efficiency and large throughput, but has high construction and maintenance costs and inflexible use.
  • the intelligent storage robot is not as efficient in picking goods as the automated three-dimensional library, it is flexible in use, low in input cost, high in input and output, and flexible in operation and maintenance.
  • Robots are usually equipped with a receiving device (for example, a flap, a conveyor belt) to receive and transport items to be transported. After arriving at the designated destination, the receiving device that delivers the items to be delivered to the specific receiving container through the receiving device can only deliver one item to be delivered at a time, and the delivery efficiency is low.
  • a receiving device for example, a flap, a conveyor belt
  • the present disclosure provides a mobile robot having a plurality of receiving devices, and solves the problem of low delivery efficiency of the mobile robot in the related art.
  • the present disclosure provides a mobile robot including:
  • a first receiving device configured to receive a first item
  • a second receiving device configured to receive a second item
  • a control device connected to the first driving device and the second driving device, respectively, and configured to control the operation of the first driving device and the second driving device;
  • the first driving device configured to drive the mobile robot to walk along a delivery path matching the direction of the first item and the second item under the control of the control device ;
  • the second driving device is connected to the first receiving device and the second receiving device, respectively, and is configured to drive the first receiving device delivery office under the control of the control device.
  • the first article and the second receiving device are driven to deliver the second article.
  • the mobile robot provided by the present disclosure provides a first receiving device and a second receiving device on the robot, so that the mobile robot can deliver multiple items at one time, and improves the efficiency of item delivery.
  • FIG. 1a is a schematic structural diagram of a mobile robot according to an embodiment
  • FIG. 1b is a top view of a dual-belt structure provided by an embodiment
  • FIG. 1c is a top view of another dual-belt structure provided by an embodiment
  • FIG. 2 is a schematic structural diagram of another mobile robot according to an embodiment
  • FIG. 3 is a schematic structural diagram of another mobile robot according to an embodiment
  • FIG. 4 is a schematic structural diagram of another mobile robot according to an embodiment
  • FIG. 5 is a schematic diagram of a docking of a mobile robot and a receiving container according to an embodiment.
  • this embodiment provides a mobile robot, which includes a first receiving device 102, a second receiving device 103, and a driving device 101.
  • the first receiving device 102 is disposed on the upper part of the mobile robot and is configured to place the first item to be delivered.
  • the first receiving device 102 may adopt various bearing styles.
  • the first receiving device 102 may be a conveyor belt or a flap. Or a transfer box, the style of the first receiving device 102 is not limited here.
  • the first identification 1021 is provided on the first receiving device 102.
  • the first identification 1021 may be any form of identification mark, for example,
  • the first identification 1021 may be a two-dimensional code, a radio frequency identification (Radio Frequency Identification) tag, or a similar mark.
  • the first identifier 1021 is represented as a unique identifier (ID), through which the user can bind the item to be delivered with the ID.
  • ID unique identifier
  • each item to be assigned has specific attribute information.
  • attribute information include, but are not limited to: the weight of the item, the type of the item (for example, whether it is fresh or fragile, etc.) ), The direction information of the item (for example, Beijing, Shanghai, etc.), the item ID, etc.
  • the system for item distribution will automatically assign the corresponding mobile robot and the corresponding carrying device on the mobile robot.
  • the first receiving device 102 is configured to receive a first item that matches (has a binding relationship) with the first identifier 1021.
  • a common mobile robot has only one bearing device, which has low delivery efficiency and also increases corresponding energy consumption.
  • the mobile robot disclosed in the present disclosure is provided with a second receiving device 103, which is provided To undertake the second item.
  • the second receiving device 103 has a second identification 1031, and the second receiving device 103 is configured to receive a second item that matches (is in a binding relationship with) the second identification 1031.
  • the second receiving device 103 is disposed on the upper part of the mobile robot and is configured to place the second item to be delivered.
  • the second receiving device 103 can adopt various bearing styles.
  • the second receiving device 103 can be a conveyor belt or a flap. Or a transfer box, the style of the second receiving device 103 is not limited here.
  • the second identification 1031 is provided on the second receiving device 103.
  • the second identification 1031 may be any form of identification mark, for example,
  • the second identification 1031 may be a two-dimensional code, an RFID tag, or the like.
  • the second identifier 1031 is represented as a unique ID, and through the ID, the user can bind the item to be delivered with the ID.
  • each item to be assigned has specific attribute information.
  • attribute information include, but are not limited to: the weight of the item, the type of the item (for example, whether it is fresh or fragile, etc.) ), The direction information of the item (for example, Beijing, Shanghai, etc.), the item ID, etc.
  • the system for item distribution will automatically assign the corresponding mobile robot and the corresponding carrying device on the mobile robot.
  • the second receiving device 103 is configured to receive a second item matching the second identifier 1031.
  • the driving device 101 includes a first driving device 101a that drives the mobile robot to advance, and a second driving device 101b that drives the first receiving device 102 and the second receiving device 103 to deliver articles.
  • the second driving device 101b and the first receiving device 102 and the second The receiving device 103 is connected.
  • the mobile robot further includes a control device (not shown in FIG. 1a).
  • the control device is respectively connected to the first driving device 101a and the second driving device 101b, and is configured to control the operation of the first driving device 101a and the second driving device 101b .
  • the direction information of the first item and the second item is read by the server (for example, the first item and the second item are pasted or attached with a face sheet, face sheet, respectively) It is marked with a QR code and other types of tags.
  • the QR code carries the corresponding road direction information.
  • the mobile robot carries the first and second items, and keeps it facing up from below the scanner through the scanner.
  • the two-dimensional code mark on the scanner scan sheet reads the direction information and sends it to the server), and the server sets the corresponding delivery path according to the direction information of the first item and the second item.
  • the server sends the set delivery path to the control device of the mobile robot, and the control device controls the first driving device 101a, so that the first driving device 101a drives the mobile robot along the first object and the second object. The way to the matching delivery path.
  • the path information of the first and second items is read by the mobile robot (for example, an RFID reader or the like is provided on the mobile robot).
  • the scanning device of the device, the RFID tag or similar mark is affixed or attached to the first article and the second article respectively, and the RFID tag carries corresponding road direction information.
  • the RFID tag pasted or attached to the article is read by the RFID code reader on the mobile robot and obtains the corresponding road direction information)
  • the mobile robot sets the corresponding delivery path according to the road direction information of the first article and the second article, And upload the set delivery path to the server for review.
  • the server sends the reviewed delivery path to the mobile robot, and the mobile robot controls the first driving device 101a so that the first driving device 101a drives the mobile robot to match the destination of the first item and the second item. Walking along the delivery path.
  • the mobile robot may also send the direction information to the server, and the server sets the corresponding delivery path according to the direction information of the first item and the second item.
  • the server sends the set delivery path to the control device of the mobile robot, and the control device controls the first driving device 101a, so that the first driving device 101a drives the mobile robot along the first object and the second object. The way to the matching delivery path.
  • the first receiving device 102 and the second receiving device 103 may be arranged in various ways.
  • the first receiving device 102 and the second receiving device 103 are horizontally disposed.
  • the first belt 1022 and the second belt 1032 are horizontally arranged left and right.
  • the arrow indicates the direction in which the belt can move, that is, it can move left and right. See FIG. 1c. 1022 and the second belt 1032 are horizontally arranged forward and backward, and the arrow indicates the direction in which the belt can move.
  • the first receiving device 102 and the second receiving device 103 are vertically disposed.
  • the first receiving device 102 and the second receiving device 103 may be added with a logo so as to establish a correspondence between the two receiving devices and the received items.
  • sensors it is also possible to use sensors to achieve correspondence between the receiving devices and the items they receive.
  • the first receiving device 102 and the second receiving device 103 are horizontally arranged left and right, and the on-beam sensors 1023 and 1033 are respectively provided on the first receiving device 102 and the second receiving device 103, respectively.
  • each radio sensor includes a transmitting end and a receiving end, as shown in Fig.
  • the radio sensor 1023 includes transmitting ends 1023a and 1023b
  • the radio sensor 1033 includes The transmitting ends 1033a and 1033b.
  • the first article blocks the signal transmitted between the transmitting terminal 1023a and the receiving terminal 1023b, but does not block the signal transmitted between 1033a and 1033b, and is detected by the radio sensor 1023
  • the mobile robot reports the detection result to the server.
  • the server can determine that the first item is placed on the first receiving device 102.
  • the server can remotely control the mobile robot to drive only the first receiving device 102 to deliver the first item.
  • the on-beam sensor 1023 can also detect the signal change, and the mobile robot reports the detection result to the server, and the server can further verify the first receiving device 102 based on the detection result. Whether the first item was successfully delivered.
  • the second receiving device 103 is similar to this.
  • the first receiving device 102 and the second receiving device 103 are horizontally arranged before and after, and the diffuse receiving sensors 1024 and 1034 are respectively provided on the first receiving device 102 and the second receiving device 103. Each of them is connected to a control device (not shown in FIG. 1c).
  • Each diffuse reflection sensor includes a transmitting end. Referring to FIG. 1c, the diffuse reflection sensor 1024 includes a transmitting end, and the diffuse reflection sensor 1034 includes a transmitting end.
  • the signal emitted by the transmitting end is reflected back after passing through the first item, and the reflected signal is weaker in signal strength than the transmitted signal, and the diffuse reflection sensor detects the signal strength
  • the mobile robot reports the detection result to the server. Based on the detection result, the server can determine that the first item is placed on the first receiving device 102.
  • the diffuse reflection sensor 1024 can also detect the change in signal strength.
  • the mobile robot reports the detection result to the server, and the server can further verify the first receiving device based on the detection result. 102 Whether the first item is successfully delivered.
  • the second receiving device 103 is similar to this.
  • the mobile robot further includes a third receiving device 104, and the third receiving device 104 is configured as We accept third item.
  • the third receiving device 104 has a third identifier 1041, and the third receiving device 104 is configured to receive a third item matching the third identifier 1041.
  • the first driving device 101a drives the mobile robot to walk along a delivery path matching the directions of the first, second, and third items; the second driving device 101b is also connected to the third receiving device 104 Under the control of the control device, the third receiving device 104 is driven to deliver the third item.
  • the third receiving device 104 may be disposed on the upper part of the mobile robot or at another position to place a third item to be delivered.
  • the third receiving device 104 may adopt various receiving styles.
  • the third receiving device 104 may be a conveyor belt, or It can be a flap or a transfer box.
  • the style of the third receiving device 104 is not limited.
  • a third identifier 1041 is provided on the third receiving device 104.
  • the third identifier 1041 may be any form of marking, for example, the first
  • the triple identification 1041 may be a two-dimensional code, an RFID tag, or the like.
  • the third identifier 1041 is represented as a unique ID, and through the ID, the user can bind the item to be delivered with the ID.
  • each item to be assigned has specific attribute information.
  • attribute information include, but are not limited to: the weight of the item, the type of the item (for example, whether it is fresh or fragile, etc.) ), The direction information of the item (for example, Beijing, Shanghai, etc.), the item ID, etc.
  • the system for item distribution will automatically assign the corresponding mobile robot and the corresponding carrying device on the mobile robot.
  • the third receiving device 104 is configured to receive a third item that matches (has a binding relationship) with the third identifier 1041.
  • the first receiving device 102, the second receiving device 103, and the third receiving device 104 are arranged horizontally in order or vertically in order.
  • the larger-sized items can be placed directly on the first carrier device 102 and the second carrier device 103.
  • the first article and the second article are the same article.
  • the first article, the second article, and the third article are the same article.
  • the first receiving device 102, the second receiving device 103, and the third receiving device 104 can be implemented by using any device having an article bearing function.
  • the first receiving device 102, the second receiving device 103, and the third receiving device 104 are any one of a conveyor belt and a tray.
  • the mobile robot when there are multiple items on the mobile robot, in addition to controlling the mobile robot's server to obtain the movement path, the mobile robot can also self-determine according to the first item and the second item.
  • the path calculates the optimal delivery path.
  • the server may also calculate an optimal delivery path according to the directions of the first item and the second item, where the mobile robot reports the first item and the second item ’s direction information and reports it
  • the server or the scanner reads the direction information and sends it to the server, so that the server knows the direction information of the item and performs path planning based on the direction information.
  • the mobile robot further includes a communication device (not shown in FIG. 1 a).
  • the communication device is connected to the control device, and is configured to receive a delivery path sent by the server and transmit the delivery path to the control device.
  • the control device is configured to control the first driving device 101a according to the delivery path, so that the driving device 101a drives the mobile robot to walk along the delivery path.
  • the length of the mobile robot's walking path will directly affect the delivery time of the mobile robot, and then determine the delivery efficiency of the mobile robot.
  • the mobile robot returns to the target sorting station after the item is delivered, for example, the sorting station closest to the mobile robot. With this setting method, the shortest path of the mobile robot can be guaranteed.
  • the communication device is further configured to receive the return path sent by the server after the mobile robot has delivered the item, and transmit the return path to the control device; the control device is further configured to control the first driving device 101a according to the return path, The first driving device 101a drives the mobile robot to return to the sorting station closest to the mobile robot along the return path.
  • the mobile robot can also obtain the item delivery information from the server, and then obtain the item delivery demand information of different sorting stations.
  • the mobile robot based on the principle of optimal optimization of the global item delivery amount, the mobile robot returns to the sorting station with the largest item delivery demand after the item is delivered.
  • the communication device is further configured to receive the return path sent by the server after the mobile robot has delivered the item, and transmit the return path to the control device; the control device is further configured to control the driving device 101a according to the return path so that The driving device 101a drives the mobile robot along the return path to return to the sorting station where the item delivery demand is greatest.
  • the second receiving device is configured to receive a receiving container corresponding to a direction on the second receiving device 103 and the first receiving device 102 after the first receiving device 102 receives the first item.
  • the path of an item corresponds to the second item closest to the receiving container.
  • This embodiment provides a mobile robot.
  • the mobile robot can provide a first receiving device 102 and a second receiving device 103 so that the mobile robot can deliver multiple items at a time, which improves the efficiency of item delivery.
  • the first identification device 1021 and the second identification device 1031 are set on the first receiving device and the second receiving device, and items matching the first identification device 1021 and the second identification device 1031 can be set on the receiving device.
  • Different items can be set differently. Can easily mark different items without confusing the delivered items.
  • the total path of the delivered items is shortened, thereby improving the delivery efficiency of the robot.
  • the mobile robot with multiple carrying devices provided in the embodiments of the present application is suitable for an article sorting scenario.
  • the mobile robot can be applied to a flexible floor-based sorting scenario, as well as a traditional steel platform sorting scenario.
  • a receiving container e.g., a cage cart
  • receiving items e.g., a parcel
  • the mobile robot and the receiving container Both are located on the ground.
  • the height of the upper surface of the receiving device 50 on the mobile robot from the ground is greater than or equal to the height of the upper surface of the receiving container 51 from the ground. In this way, when the mobile robot moves to a receiving container At the time of delivery, the package is delivered to the receiving container through the receiving device.
  • a mobile robot with multiple carrying devices replaces the manual sorting operation of goods in a pre-defined work area. Because the mobile robot of the present application is suitable for a flexible floor-type sorting scene and plays the role of a sorting robot, the mobile robot is also often referred to as a "sorting robot with multiple carrying devices", or “sorting robot” for short .
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element may be one, and in other embodiments, the number of the element There can be multiple, and the term “a” cannot be understood as a limitation on the number.
  • ordinal numbers such as “first”, “second”, etc. will be used to describe various components, those components are not limited here. This term is only used to distinguish one component from another. For example, a first component may be referred to as a second component, and as such, a second component may be referred to as a first component without departing from the teachings of the concepts disclosed.
  • the term "and / or” as used herein includes any and all combinations of one or more of the associated listed items.

Abstract

一种移动机器人，包括：第一承接装置（102），第一承接装置（102）设置为承接第一物品；第二承接装置（103），第二承接装置（103）设置为承接第二物品；控制装置，控制装置分别与第一驱动装置（101a）和第二驱动装置（101b）连接，设置为控制第一驱动装置（101a）和第二驱动装置（101b）工作；第一驱动装置（101a），第一驱动装置（101a）设置为在控制装置的控制下，驱动移动机器人沿着与第一物品及第二物品的路向匹配的投递路径行走；第二驱动装置（101b），第二驱动装置（101b）分别与第一承接装置（102）和第二承接装置（103）连接，设置为在控制装置的控制下，驱动第一承接装置（102）投递第一物品以及驱动第二承接装置（103）投递第二物品。

Description

移动机器人
本公开要求在2018年06月06日提交中国专利局、申请号为201810577788.0的中国专利申请的优先权，该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，例如涉及移动机器人。
背景技术
伴随着电子商务的发展，新零售模式不断兴起，人们购物观念也在不断变化，开始越来越注重消费体验，而时效性对用户体验起着至关重要的作用。
仓储服务作为消费服务背后的重要环节对货品的时效性起着至关重要的作用。物流企业都在想方设法加快仓库的吞吐速度以提高货品的时效性，减少货物的运输时间。主流的智能仓储方案主要有自动化立体库解决方案和智能仓储机器人解决方案。两种解决方案都采用将货物直接运送到拣货员面前的“货到人”形式，其中自动化立体库捡货效率高、吞吐量大，但建造和维护成本高，使用不灵活。而智能仓储机器人虽捡货效率不及自动化立体库，但使用方式灵活、投入成本低，投入产出比较高，并且运营维护灵活。
智能仓储机器人解决方案得到了大范围的推广，机器人通常设有一个承接装置(例如，翻板、传送带)来接收并运输待运送物品。在到达指定目的地之后，通过承接装置将待运送物品投递到具体的接收容器中机器人上的承接装置一次仅仅只能投递一个待运送物品，投递效率较低。
发明内容
本公开提供一种具有多个承接装置的移动机器人，解决相关技术中存在的移动机器人投递效率低的问题。
本公开提供了一种移动机器人，包括：
第一承接装置，所述第一承接装置设置为承接第一物品；
第二承接装置，第二承接装置设置为承接第二物品；
控制装置，所述控制装置分别与第一驱动装置和第二驱动装置连接，设置 为控制所述第一驱动装置和所述第二驱动装置工作；
所述第一驱动装置，所述第一驱动装置设置为在所述控制装置的控制下，驱动所述移动机器人沿着与所述第一物品及所述第二物品的路向匹配的投递路径行走；
所述第二驱动装置，所述第二驱动装置分别与所述第一承接装置和所述第二承接装置连接，设置为在所述控制装置的控制下，驱动所述第一承接装置投递所述第一物品以及驱动所述第二承接装置投递所述第二物品。
本公开提供的一种移动机器人，通过在机器人上设置第一承接装置及第二承接装置，使得移动机器人一次可以投递多个物品，提高了物品投递的效率。
附图说明
图1a为一实施例提供的一种移动机器人结构示意图；
图1b为一实施例提供的一种双皮带结构的俯视图；
图1c为一实施例提供的另一种双皮带结构的俯视图；
图2为一实施例提供的另一种移动机器人结构示意图；
图3为一实施例提供的另一种移动机器人结构示意图；
图4为一实施例提供的另一种移动机器人结构示意图；
图5为一实施例提供的一种移动机器人与接收容器对接的示意图。
具体实施方式
下面结合附图对本公开进行描述。
应当明确，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。
参见图1a，本实施例提供了一种移动机器人，包括第一承接装置102、第二承接装置103以及驱动装置101。
第一承接装置102设置在移动机器人的上部，设置为放置需要投递的第一物品，第一承接装置102可采用多种承载样式，例如，第一承接装置102可以是传送带，也可以是翻板，或者是一个中转箱，在此，不对第一承接装置102 的样式进行限定。
第一承接装置102上面放置具有指定目的地的物品，为此在所述第一承接装置102上设置有第一标识1021，第一标识1021可以是一个任何形式的起标识作用的标记，例如，第一标识1021可以是一个二维码、射频识别(Radio Frequency Identification，RFID)标签或类似的标记。第一标识1021表示为一个唯一的标识(Identifier，ID)，通过该ID，用户可以将待投递的物品与该ID进行绑定。
在系统给移动机器人分配物品之前，每个待分配的物品都有具体的属性信息，这些属性信息包括但不限于：物品重量、物品类型(例如，是否为生鲜物品，是否为易碎品等)、物品的路向信息(例如，北京、上海等)、物品ID等。进行物品分发的系统会自动分配相应的移动机器人以及移动机器人上相应的承载装置。在一实施例中，所述第一承接装置102设置为承接与所述第一标识1021匹配(存在绑定关系)的第一物品。
常见的移动机器人上仅有一个承载装置，投递效率较低，同时也会增加相应的能源消耗，为此，本公开的移动机器人上设置有第二承接装置103，所述第二承接装置103设置为承接第二物品。所述第二承接装置103具有第二标识1031，所述第二承接装置103设置为承接与所述第二标识1031匹配(存在绑定关系)的第二物品。
第二承接装置103设置在移动机器人的上部，设置为放置需要投递的第二物品，第二承接装置103可采用多种承载样式，例如，第二承接装置103可以是传送带，也可以是翻板，或者是一个中转箱，在此，不对第二承接装置103的样式进行限定。
第二承接装置103上面放置具有指定目的地的物品，为此在所述第二承接装置103上设置有第二标识1031，第二标识1031可以是一个任何形式的起标识作用的标记，例如，第二标识1031可以是一个二维码、RFID标签或类似的标记。第二标识1031表示为一个唯一的ID，通过该ID，用户可以将待投递的物品与该ID进行绑定。
在系统给移动机器人分配物品之前，每个待分配的物品都有具体的属性信息，这些属性信息包括但不限于：物品重量、物品类型(例如，是否为生鲜物品，是否为易碎品等)、物品的路向信息(例如，北京、上海等)、物品ID等。 进行物品分发的系统会自动分配相应的移动机器人以及移动机器人上相应的承载装置。本实施例中，所述第二承接装置103设置为承接与所述第二标识1031匹配的第二物品。
驱动装置101包括驱动移动机器人前进的第一驱动装置101a以及驱动第一承接装置102和第二承接装置103投递物品的第二驱动装置101b，第二驱动装置101b与第一承接装置102和第二承接装置103连接。
可以理解的，移动机器人还包括控制装置(图1a未示出)，控制装置分别与第一驱动装置101a和第二驱动装置101b连接，配置为控制第一驱动装置101a和第二驱动装置101b工作。
在移动机器人上放置了第一物品及第二物品之后，第一物品及第二物品的路向信息被服务器读取(例如，第一物品和第二物品上分别粘贴或附着有面单，面单上带有二维码等类型的标记，二维码内携带有对应的路向信息，移动机器人携带第一物品和第二物品，且保持面单朝上地从扫描仪下方通过扫描仪，在通过扫描仪时扫描仪扫描面单上的二维码标记读取到路向信息，并发送给服务器)，服务器根据第一物品及第二物品的路向信息设置相应的投递路径。服务器将设置好的投递路径下发给移动机器人的控制装置，控制装置控制所述第一驱动装置101a，使得第一驱动装置101a驱动移动机器人沿着与所述第一物品及所述第二物品的路向匹配的投递路径行走。
作为另外一种方式，在移动机器人上放置了第一物品及第二物品之后，第一物品及第二物品的路向信息被移动机器人读取(例如，移动机器人上设置有RFID读取器或类似设备的扫描装置，第一物品和第二物品上分别粘贴或附着有RFID标签或类似标记，该RFID标签内携带有对应的路向信息，当第一物品和第二物品被放置在移动机器人上时，粘贴或附着在物品上的RFID标签被移动机器人上的RFID读码器读取，并获得对应的路向信息)，移动机器人根据第一物品及第二物品的路向信息自行设置相应的投递路径，并将设置好的投递路径上传给服务器审核。服务器将审核后的投递路径下发给移动机器人，移动机器人控制所述第一驱动装置101a使得第一驱动装置101a驱动移动机器人沿着与所述第一物品及所述第二物品的目的地匹配的投递路径行走。
作为另外一种替换方式，移动机器人在读取到路向信息后，也可以将路向 信息发送给服务器，服务器根据第一物品及第二物品的路向信息设置相应的投递路径。服务器将设置好的投递路径下发给移动机器人的控制装置，控制装置控制所述第一驱动装置101a，使得第一驱动装置101a驱动移动机器人沿着与所述第一物品及所述第二物品的路向匹配的投递路径行走。
所述第一承接装置102与所述第二承接装置103可以采用多种方式进行设置，在一实施例中，参见图1a，所述第一承接装置102与所述第二承接装置103水平设置。以承接装置为皮带为例，参见图1b所示，第一皮带1022和第二皮带1032为左右水平设置，箭头表示皮带可运动方向，即，可以左右运动，参见图1c所示，第一皮带1022和第二皮带1032为前后水平设置，箭头表示皮带可运动方向。
在一实施例中，除了水平设置之外，参见图2，所述第一承接装置102与所述第二承接装置103竖直设置。
为了便于控制两个承接装置将各自承接的物品进行投递，可以为第一承接装置102和第二承接装置103添加标识，以便建立两个承接装置与所承接的物品之间的对应关系。除了为两个承接装置添加标识之外，也可以利用传感器实现承接装置与其承接物品的对应。在一个实现方式中，参见图1b所示，第一承接装置102和第二承接装置103左右水平设置，在第一承接装置102和第二承接装置103上分别设置对射传感器1023和1033，分别与控制装置(图1b中未示出)连接，每个对射传感器都包括一发射端和一接收端，参见图1b所示，对射传感器1023包括发射端1023a和1023b，对射传感器1033包括发射端1033a和1033b。当有第一物品放置在第一承接装置102上时，第一物品阻隔了发射端1023a和接收端1023b之间发射的信号，而未阻隔1033a和1033b之间发射的信号，对射传感器1023检测到信号的变化，移动机器人将检测结果上报给服务器，服务器据此检测结果可以确定第一物品放置在了第一承接装置102上。当需要投递第一物品时，服务器可以远程控制移动机器人只驱动第一承接装置102将第一物品进行投递。并且，当第一承接装置102将第一物品进行投递时，对射传感器1023同样可以检测到信号的变化，移动机器人将检测结果上报给服务器，服务器据此检测结果可以进一步验证第一承接装置102是否成功将第一物品进行投递。同理，第二承接装置103也与此类似。
在另一个实现方式中，参见图1c所示，第一承接装置102和第二承接装置 103前后水平设置，在第一承接装置102和第二承接装置103上分别设置漫反射传感器1024和1034，分别与控制装置(图1c中未示出)连接，每个漫反射传感器都包括一发射端，参见图1c所示，漫反射传感器1024包括发射端，漫反射传感器1034包括发射端。当有第一物品放置在第一承接装置102上时，发射端发射的信号经过第一物品后反射回来，并且反射回来的信号在信号强度上比发射的信号弱，漫反射传感器检测到信号强度的变化，移动机器人将检测结果上报给服务器，服务器据此检测结果可以确定第一物品放置在了第一承接装置102上。并且，当第一承接装置102将第一物品进行投递时，漫反射传感器1024同样可以检测到信号强度的变化，移动机器人将检测结果上报给服务器，服务器据此检测结果可以进一步验证第一承接装置102是否成功将第一物品进行投递。同理，第二承接装置103也与此类似。
根据实际需要运输物品的种类和大小，可以设置多个承载装置，在一实施例中，参见图3及图4，所述移动机器人还包括：第三承接装置104，第三承接装置104设置为承接第三物品。在一实施例中，所述第三承接装置104具有第三标识1041，所述第三承接装置104设置为承接与所述第三标识1041匹配的第三物品。第一驱动装置101a在控制装置的控制下，驱动移动机器人沿着与第一物品、第二物品及第三物品的路向匹配的投递路径行走；第二驱动装置101b还与第三承接装置104连接，在控制装置的控制下，驱动第三承接装置104投递第三物品。
第三承接装置104可以设置在移动机器人的上部或其他位置，设置为放置需要投递的第三物品，第三承接装置104可采用多种承接样式，例如，第三承接装置104可以是传送带，也可以是翻板，或者是一个中转箱，在此，不对第三承接装置104的样式进行限定。
第三承接装置104上面放置具有指定路向的物品，为此在所述第三承接装置104上设置有第三标识1041，第三标识1041可以是一个任何形式的起标识作用的标记，例如，第三标识1041可以是一个二维码、RFID标签或类似的标记。第三标识1041表示为一个唯一的ID，通过该ID，用户可以将待投递的物品与该ID进行绑定。
在系统给移动机器人分配物品之前，每个待分配的物品都有具体的属性信息，这些属性信息包括但不限于：物品重量、物品类型(例如，是否为生鲜物 品，是否为易碎品等)、物品的路向信息(例如，北京、上海等)、物品ID等。进行物品分发的系统会自动分配相应的移动机器人以及移动机器人上相应的承载装置。本实施例中，所述第三承接装置104设置为承接与所述第三标识1041匹配(存在绑定关系)的第三物品。
在一实施例中，第一承接装置102、第二承接装置103和第三承接装置104之间依次水平设置或者依次竖直设置。
当系统需要投递较大尺寸的物品时，可以将较大尺寸的物品直接放置在第一承载装置102及第二承载装置103之上。在一实施例中，所述第一物品与所述第二物品是同一个物品。在一实施例中，所述第一物品、所述第二物品与所述第三物品是同一个物品。
第一承接装置102、所述第二承接装置103及所述第三承接装置104可以采用任何具有物品承载功能的装置来实现。在一实施例中，所述第一承接装置102、所述第二承接装置103及所述第三承接装置104为传送带和托盘中的任意一种。
在一实施例中，当移动机器人上具有多个物品时，除了通过控制移动机器人的服务器来获取移动路径之外，所述移动机器人还可以自行根据所述第一物品及所述第二物品的路向计算最优投递路径，通过这种方式，能够提高移动机器人的投递效率。作为替换的实现方式，也可以由服务器根据所述第一物品及所述第二物品的路向计算最优投递路径，其中，移动机器人读取到第一物品及所述第二物品路向信息后上报给服务器，或者是扫描仪读取到路向信息后发送给服务器，以使服务器获知物品的路向信息并基于路向信息进行路径规划。
在一实施例中，移动机器人还包括通信装置(图1a未示出)，通信装置与控制装置连接，设置为接收服务器发送的投递路径，并将投递路径传送给控制装置。控制装置设置为根据投递路径控制第一驱动装置101a，使驱动装置101a驱动移动机器人沿着该投递路径行走。
移动机器人行走路径的长短，会直接影响到移动机器人的完成投递的时间，进而决定移动机器人的投递效率。在一实施例中，所述移动机器人在投递完物品之后，返回至目标分拣工位，例如，距离移动机器人最近的分拣工位。通过这种设置方式，能够保证移动机器人移动的路径最短。
在一实施例中，通信装置还设置为在移动机器人投递完物品之后接收服务 器发送的返回路径，并将返回路径传送给控制装置；控制装置还设置为根据该返回路径控制第一驱动装置101a，使第一驱动装置101a驱动移动机器人沿着该返回路径返回至距离移动机器人最近的分拣工位。
除此之外，移动机器人还可以向服务器获取物品投递信息，进而获知不同分拣工位的物品投递需求量信息。在一实施例中，从全局物品投递量最优优化的原则出发，所述移动机器人在投递完物品之后，返回至物品投递需求量最大的分拣工位。
在另一实施例中，通信装置还设置为在移动机器人投递完物品之后接收服务器发送的返回路径，并将返回路径传送给控制装置；控制装置还设置为根据该返回路径控制驱动装置101a，使驱动装置101a驱动移动机器人沿着该返回路径返回至物品投递需求量最大的分拣工位。
承接装置上投递物品的目的地越接近，移动机器人运送物品的路径重合度就会越高，移动机器人的投递效率也会越高。在一实施例中，所述第二承接装置是设置为在所述第一承接装置102在接收到第一物品之后，在所述第二承接装置103上接收路向对应的接收容器与所述第一物品的路向对应的接收容器距离最近的第二物品。
本实施例提供的一种移动机器人，通过在移动机器人上设置第一承接装置102及第二承接装置103，使得移动机器人一次可以投递多个物品，提高了物品投递的效率。同时在第一承接装置及第二承接装置上设置第一标识1021及第二标识1031，能够在承接装置上设置与第一标识1021及第二标识1031匹配的物品，通过对不同的物品设置不同的标识，能够方便地对不同的物品进行标记，不会导致投递物品的混淆。最后，通过规划与第一物品及第二物品的路向匹配的路径，使得投递物品的总路径变短，进而提高了机器人的投递效率。
本申请实施例提供的具有多个承载装置的移动机器人，适用于物品分拣场景。例如，该移动机器人可以适用于柔性落地式分拣场景中，也适用于传统的钢平台分拣场景。在柔性落地式分拣场景中，用于接收物品(如，包裹)的接收容器(如，笼车)具有绑定的路向，即，一个接收容器只接收特定路向的包裹，移动机器人与接收容器都位于地面上，如图5所示，移动机器人上的承接装置50的上表面距离地面的高度大于或等于接收容器51的上表面距离地面的高度，这样，当移动机器人运动到某个接收容器处时，通过承接装置将包裹投 递到接收容器中。
在仓储物流领域，具有多个承载装置的移动机器人，代替人工在预先划分出的工作区域内进行货物的分拣操作。因本申请的移动机器人适用于柔性落地式分拣场景，担当分拣机器人的角色，所以该移动机器人也常被称为“具有多个承载装置的分拣机器人”，或简称“分拣机器人”。
本公开中，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多种组件，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，而不脱离本公开构思的教导。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多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。
包括技术和科学术语的在这里使用的术语具有与本领域技术人员通常理解的术语相同的含义，只要不是不同地限定该术语。应当理解在通常使用的词典中限定的术语具有与相关技术中的术语的含义一致的含义。

Claims (13)

  1. 一种移动机器人，包括：
    第一承接装置，所述第一承接装置设置为承接第一物品；
    第二承接装置，所述第二承接装置设置为承接第二物品；
    控制装置，所述控制装置分别与第一驱动装置和第二驱动装置连接，设置为控制所述第一驱动装置和所述第二驱动装置工作；
    所述第一驱动装置，所述第一驱动装置设置为在所述控制装置的控制下，驱动所述移动机器人沿着与所述第一物品及所述第二物品的路向匹配的投递路径行走；
    所述第二驱动装置，所述第二驱动装置分别与所述第一承接装置和所述第二承接装置连接，设置为在所述控制装置的控制下，驱动所述第一承接装置投递所述第一物品以及驱动所述第二承接装置投递所述第二物品。
  2. 根据权利要求1所述的移动机器人，其中，
    所述第一承接装置与所述第二承接装置水平设置或者竖直设置。
  3. 根据权利要求1所述的移动机器人，还包括：
    第三承接装置，所述第三承接装置设置为承接第三物品；
    所述第一驱动装置是设置为在所述控制装置的控制下，驱动所述移动机器人沿着与所述第一物品、所述第二物品及所述第三物品的路向匹配的投递路径行走；
    所述第二驱动装置还与所述第三承接装置连接，还设置为在所述控制装置的控制下，驱动所述第三承接装置投递所述第三物品。
  4. 根据权利要求3所述的移动机器人，其中，所述第一承接装置、所述第二承接装置与所述第三承接装置依次水平设置或者依次竖直设置。
  5. 根据权利要求1或2所述的移动机器人，其中，
    所述第一物品与所述第二物品是同一个物品，所述第一承接装置和所述第二承接装置设置为共同承接同一个物品。
  6. 根据权利要求1或2所述的移动机器人，其中，所述第二承接装置承接的所述第二物品的路向对应的接收容器与所述第一物品的路向对应的接收容器距离最近。
  7. 根据权利要求3或4所述的移动机器人，其中，所述第一物品、所述第二物品与所述第三物品是同一个物品，所述第一承接装置、所述第二承接装置和所述第三承接装置设置为共同承接同一个物品。
  8. 根据权利要求3、4或7所述的移动机器人，其中，
    承接装置为传送带和托盘中的任意一种，所述承接装置包括所述第一承接装置、所述第二承接装置及所述第三承接装置中的至少一个。
  9. 根据权利要求1-8任一项所述的移动机器人，还包括：
    通信装置，所述通信装置与所述控制装置连接，设置为接收服务器发送的投递路径，并将所述投递路径传送给所述控制装置，所述投递路径为与所述第一物品及所述第二物品的路向匹配的投递路径；
    所述控制装置是设置为通过如下方式控制所述第一驱动装置工作：根据所述投递路径控制所述第一驱动装置，使所述第一驱动装置驱动所述移动机器人沿着所述投递路径行走。
  10. 根据权利要求9所述的移动机器人，其中，
    所述通信装置还设置为在所述移动机器人投递完物品之后接收所述服务器发送的返回路径，并将所述返回路径传送给所述控制装置；
    所述控制装置还设置为根据所述返回路径控制所述第一驱动装置，使所述第一驱动装置驱动所述移动机器人沿着所述返回路径返回至目标分拣工位。
  11. 根据权利要求10所述的移动机器人，其中，所述目标分拣工位为距离所述移动机器人最近的分拣工位或者物品投递需求量最大的分拣工位。
  12. 根据权利要求2所述的移动机器人，其中，
    所述第一承接装置与所述第二承接装置左右水平设置或前后水平设置。
  13. 根据权利要求1或2所述的移动机器人，还包括：
    第一传感器，设置在所述第一承接装置上，并与所述控制装置连接，设置为检测所述第一物品放置在所述第一承接装置上，并将检测结果传送给所述控制装置；
    第二传感器，设置在所述第二承接装置上，并与所述控制装置连接，设置为检测所述第二物品放置在所述第二承接装置上，并将检测结果传送给所述控制装置。
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