WO2020057243A1

WO2020057243A1 - Unmanned delivery station and unmanned vehicle parcel storing and retrieving method therefor

Info

Publication number: WO2020057243A1
Application number: PCT/CN2019/096610
Authority: WO
Inventors: 汪钊; 陈英; 肖军; 张亚方
Original assignee: 北京京东尚科信息技术有限公司; 北京京东世纪贸易有限公司
Priority date: 2018-09-21
Filing date: 2019-07-18
Publication date: 2020-03-26
Also published as: CN110937296A

Abstract

An unmanned delivery station and an unmanned vehicle parcel storing and retrieving method therefor. The unmanned delivery station (1) comprises a cabinet (10) and movable package storing equipment (100) provided within the cabinet (10). The movable package storing equipment (100) comprises multiple parcel compartments (153) used for storing packages. The cabinet (10) also is provided with a cabinet door (11) through which an unmanned vehicle (20) enters or exits. A package grabbing area (30) is also provided within the cabinet (10). A grabbing apparatus (32) is provided within the package grabbing area (30) and is used for transferring a target package (33) between the parcel compartments (153) and the unmanned vehicle (20). When the grabbing apparatus (32) is in action, the movable package storing equipment (100) drives an empty parcel compartment or the parcel compartment (153) where the target package (33) is located to move to the package grabbing area (30) along a predetermined track.

Description

Unmanned distribution station and method for unloading goods by unmanned vehicle

cross reference

This disclosure claims the priority of a Chinese patent application with an application number of 2018111106243, filed on September 21, 2018, the entire content of which is incorporated herein by reference.

Technical field

The present disclosure relates generally to the field of warehousing and logistics, and in particular, to an unmanned distribution station and a method for accessing packages by unmanned vehicles.

Background technique

In the field of logistics, transshipment transportation and cargo extraction are very important links. The cost of this link accounts for a large proportion of the entire logistics cost. Therefore, it is always the industry's research and development direction to optimize the technology.

The existing distribution stations generally set up multiple outlets in the city, and each outlet is equipped with relevant staff, and human resources are responsible for the transfer of goods or helping customers to pick up the goods.

The existing distribution stations and cargo transfer methods are highly dependent on labor. Most of them work in the station for a long time, which has high cost and low efficiency, and the error rate caused by operator errors will restrict logistics to a certain extent Industry development.

The above-mentioned information disclosed in the background section is only used to enhance the understanding of the background of the present disclosure, so it may include information that does not constitute the prior art known to those of ordinary skill in the art.

Public content

An embodiment of the present disclosure provides an unmanned distribution station, which solves the problems of high cost and low efficiency of cargo transfer existing in the prior art.

Another embodiment of the present disclosure provides an unmanned vehicle pickup method using the aforementioned unmanned distribution station.

Yet another embodiment of the present disclosure provides an unmanned vehicle inventory method using the aforementioned unmanned distribution station.

In order to achieve the above disclosure purpose, the present disclosure adopts the following technical solutions:

According to an aspect of the present disclosure, there is provided an unmanned distribution station including a cabinet and a movable parcel storage device disposed in the cabinet, the movable parcel storage device including a plurality of cargo compartments for storing packages The cabinet is also provided with a door for unmanned vehicles to enter and exit; a parcel grabbing area is also provided in the cabinet, and a grabbing device is provided in the parcel grabbing area for the cargo compartment; The target package is transferred to and from the unmanned vehicle; wherein, when the grasping device is actuated, the movable package storage device drives an empty cargo compartment or the cargo compartment where the target parcel is located to move to the package along a predetermined trajectory. Grab area.

According to an embodiment of the present disclosure, a temporary storage platform is further provided in the parcel grasping area for temporarily storing the target parcels being grasped.

According to an embodiment of the present disclosure, a parcel delivery window is further provided on the cabinet, and an orthographic projection of the parcel delivery window is located within a range of a movement track of the cargo compartment.

According to an embodiment of the present disclosure, the package delivery window is connected to the cargo compartment, so that a user can directly place the target package into the empty space through the package delivery window outside the unmanned distribution station. Cargo box, or take out the target package directly.

According to an embodiment of the present disclosure, a human-machine interaction device is provided on the cabinet, and is configured to receive a user's request information and output corresponding feedback information to the user according to the request information.

According to an embodiment of the present disclosure, the target package may be a product for sale.

According to an embodiment of the present disclosure, the movable parcel storage device includes two rotating shafts horizontally disposed in the upper and lower portions of the cabinet, respectively, and a rectangular plane composed of the two rotating shafts is perpendicular to a horizontal plane; and two groups Symmetrically arranged linkage components, each said linkage component is linked between two said rotation shafts; a plurality of said cargo compartments are installed on two sets of said linkage components, The rotation of the linkage assembly rotates cyclically around the two rotation axes.

According to an embodiment of the present disclosure, each of the linkage components includes two sprocket wheels and a chain sleeved on the two sprocket wheels, and the two sprocket wheels are respectively mounted on two of the rotation shafts. One end; the movable parcel storage device further includes a plurality of horizontally arranged connecting rods, and two ends of the plurality of connecting rods are respectively connected to each of the chains of each of the linkage components; a plurality of the The cargo grid is hinged on a plurality of said connecting rods.

According to an embodiment of the present disclosure, the projection of the connecting rod on the top surface of the cargo grid is centered.

According to an embodiment of the present disclosure, a guide wheel is provided on the cargo compartment, and a guide plate is provided adjacent to the guide wheel, and the guide wheel can roll along the guide plate.

According to an embodiment of the present disclosure, the movable parcel storage device may be a plurality of parallel and independent work.

According to another aspect of the present disclosure, an unmanned vehicle pickup method is provided, which adopts the aforementioned unmanned distribution station, including:

The central control system issues a pickup instruction;

The unmanned vehicle receives the pickup instruction, the pickup instruction includes a parcel code and a cargo code bound to the parcel code;

Judging whether the cargo compartment in which the cargo compartment code is located is in a parcel grabbing area, and if so, the grabbing device performs a pickup operation;

If not, the movable parcel storage device drives the cargo compartment where the cargo compartment code is located to move along the predetermined trajectory to the parcel grabbing area.

According to an embodiment of the present disclosure, the pickup operation includes:

The grasping device takes out the parcel to be retrieved from the cargo compartment and puts it into a temporary storage platform;

The second identification device obtains a parcel code of the parcel to be retrieved;

The grabbing device stores the package to be picked up on the temporary storage platform into the unmanned vehicle.

According to yet another aspect of the present disclosure, a method for inventorying an unmanned vehicle is provided. The above-mentioned unmanned distribution station includes:

Central control system issues inventory instructions;

Unmanned vehicle receiving said inventory instruction;

The central control system determines an empty cargo cell closest to the parcel grabbing area;

Determine whether the position of the empty cargo compartment is within the range of the parcel grabbing area, and if so, perform an inventory operation;

If not, the movable parcel storage device drives the empty cargo compartment to move to the parcel grabbing area along a predetermined trajectory.

According to an embodiment of the present disclosure, the inventory operation includes:

The grasping device puts the package to be stored in the unmanned vehicle into a temporary storage platform;

The first identification device obtains a parcel code of the parcel to be stored;

The grasping device deposits the package to be stored on the temporary storage platform into the empty cargo compartment;

The second identification device acquires a cargo code of the empty cargo box;

The central control system binds the parcel code and the cargo code.

It can be known from the above technical solutions that the advantages and positive effects of the unmanned distribution station and the method for unmanned vehicle access to parcels of the present disclosure are:

In the unmanned distribution station provided by the present disclosure, the grasping device can automatically access the package between the unmanned distribution station and the unmanned vehicle, and there is no need to sort the packages through other auxiliary tools, which greatly reduces labor costs and improves work. effectiveness.

On the other hand, the present disclosure also includes a human-machine interactive device and a parcel delivery window. Users and delivery staff can perform parcel access operations through a shared parcel delivery window, which is versatile and versatile. Through the self-service access function of the parcel delivery window and the unloading function of the unmanned vehicle, the unmanned distribution station integrates functions such as receiving, unloading, sorting, temporary storage, and delivery, and realizes full automation. Deliver packages. At the same time, the packages in the unmanned distribution station can also be goods for sale, such as drinks, snacks, daily necessities, etc., which meets the public's demand for goods at any time.

In another aspect, the unmanned vehicle pickup method provided by the present disclosure, after receiving the pickup instruction, the unmanned distribution station can first take out the parcels to be picked up from the cargo compartment and place them on the temporary storage platform through the grabbing device, and wait for the unmanned After the car enters the parcel grabbing area of the unmanned distribution station, the grasping device puts the parcels one by one in the unmanned car, which saves the waiting time of the unmanned car and effectively improves the efficiency of unmanned car pickup.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features and advantages of the present disclosure will become more apparent by describing its example embodiments in detail with reference to the accompanying drawings.

Fig. 1 is a perspective view showing an unmanned distribution station according to an exemplary embodiment.

Fig. 2 is a schematic diagram showing an unmanned distribution station with a cabinet door according to an exemplary embodiment.

Fig. 3 is a partial cross-sectional view of an unmanned distribution station according to an exemplary embodiment.

Fig. 4 is a perspective view showing an unmanned distribution station according to an exemplary embodiment.

FIG. 5 is a schematic diagram of removing a cabinet according to FIG. 4.

Fig. 6 is a perspective view showing a movable parcel storage device according to an exemplary embodiment.

Fig. 7 is a perspective view showing two sets of movable parcel storage devices according to an exemplary embodiment.

Fig. 8 is a schematic flowchart of an unmanned vehicle pickup method according to an exemplary embodiment.

Fig. 9 is a schematic flowchart of a pickup operation performed by a grasping device of a pickup method of an unmanned vehicle according to an exemplary embodiment.

Fig. 10 is a schematic flowchart of an unmanned vehicle inventory method according to an exemplary embodiment.

Fig. 11 is a schematic flowchart of a stocking operation performed by a grasping device of a method for stocking an unmanned vehicle according to an exemplary embodiment.

Among them, the reference signs are described as follows:

1. Distribution station; 10. Cabinet; 11. Cabinet door; 12. Parcel delivery window; 13. Human-computer interaction device; 14. Advertising screen; 20. Unmanned vehicle; 21. First identification device; 22. Electricity Control system; 23, second identification device; 30, parcel grabbing area; 31, temporary storage platform; 32, grabbing device; 33, target parcel; 100, movable parcel storage device; 121, first rotation axis; 122 , Second rotating shaft; 130, first linkage component; 131, first sprocket; 132, second sprocket; 133, first chain; 134, through hole; 140, second linkage component; 141, first Three sprockets; 142, fourth sprocket; 143, second chain; 152, hinge plate; 153, cargo compartment; 154, guide wheel; 155, fixed plate; 156, connecting rod; 157, guide plate; 160, drive Device; 161, motor; 162, third chain; 163, fifth sprocket.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments To those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.

Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship between one component and another component of the icon, these terms are used in this specification only for convenience, for example, according to the drawings Direction of the example described. It can be understood that if the device of the icon is turned upside down and turned upside down, the component described above will become the component below. Other relative terms, such as "top" and "bottom", have similar meanings. The terms "a," "an," "the," and "said" are used to indicate the presence of one or more elements / components / etc .; the terms "include" and "having" are used to include open-ended inclusive Means and means that there may be additional elements / components / etc. In addition to the listed elements / components / etc; the terms "first", "second", "third" and "fourth" etc. only Used as a marker, not a limit on the number of its objects.

In the following, some embodiments of the present disclosure will be described in detail with reference to the drawings. In the case of no conflict, the features in the following embodiments can be combined with each other.

FIG. 1 is a perspective view of an unmanned distribution station according to an exemplary embodiment; FIG. 2 is a schematic diagram of an unmanned distribution station with cabinet doors according to an exemplary embodiment; A partial cross-sectional view of an unmanned distribution station shown in an exemplary embodiment; FIG. 4 is a perspective view of an unmanned distribution station shown in accordance with an exemplary embodiment; FIG. 5 is a view of a cabinet removed according to FIG. 4 6 is a perspective view of a movable parcel storage device according to an exemplary embodiment; FIG. 7 is a perspective view of two sets of movable parcel storage device according to an exemplary embodiment. FIG. 8 is a schematic flowchart of a pick-up method of an unmanned vehicle according to an exemplary embodiment; FIG. 9 is a flowchart of a pick-up operation performed by a grasping device of an unmanned vehicle pickup method according to an exemplary embodiment; 10 is a schematic flowchart of an unmanned vehicle inventory method according to an exemplary embodiment; FIG. 11 is a schematic flowchart of an inventory operation of a grab device of an unmanned vehicle inventory method according to an exemplary embodiment .

In this manual, the inventory operation refers to storing the packages to be stored in the unmanned vehicle into an unmanned distribution station, and the picking operation refers to placing the packages to be retrieved in the unmanned vehicle into an unmanned vehicle.

Please refer to FIGS. 1 to 4 at the same time. An unmanned distribution station provided by the present disclosure includes a cabinet 10 and a movable parcel storage device 100 disposed in the cabinet 10.

It should be understood that the above-mentioned movable parcel storage device 100 may be rotated horizontally, that is, the rotation axis is perpendicular to the horizontal plane, or it may be rotated vertically, that is, the rotation axis is parallel to the horizontal plane.

As shown in FIG. 3, the movable parcel storage device 100 further includes a plurality of cargo compartments 153 for storing parcels. The cargo compartments 153 can move with the movement of the movable parcel storage device 100.

As shown in FIG. 2, the cabinet 10 is further provided with cabinet doors 11 for the unmanned vehicle 20 to enter and exit. In this embodiment, the number of cabinet doors 11 is not specifically limited. In order to facilitate the entry and exit of the unmanned vehicle 20, a cabinet door 11 may be provided on each side of the cabinet 10.

As shown in FIG. 3, a parcel grasping area 30 is also provided in the cabinet 10, and a grasping device 32 is provided in the parcel grasping area 30 for transferring the target parcel 33 between the cargo compartment 153 and the unmanned vehicle 20 .

The grasping device 32 may be at least one manipulator or stacking robot, or other devices capable of grasping. In order to facilitate the following description, a robot hand is used as an example for schematic description. The manipulator is installed on the cabinet 10 and placed in the parcel grasping area 30. The manipulator can slide along the traveling direction of the unmanned vehicle 20, so that the manipulator can pick up the packages in all the cargo compartments 153 in the package picking area 30. The gripping end of the manipulator may include an actuator such as a gripper.

Further, a temporary storage platform 31 is also provided in the package grabbing area 30 for temporarily storing the captured target parcel 33.

When carrying out the inventory operation, after the unmanned distribution station 1 receives the inventory instruction of the central control system, the grasping device 32 may first take out the packages to be stored in the unmanned vehicle 20 into the temporary storage platform 31, and then place the packages to be stored An empty cargo compartment is placed from the temporary storage platform 31. After the packages in the unmanned vehicle 20 are completely taken out, the next action can be performed without waiting for whether the grasping device 32 has completely put the packages to be stored into the empty cargo compartment.

It takes a certain time for the grabbing device 32 to store the parcel to be stored in the empty cargo compartment, and the movable parcel storage device 100 also moves the empty cargo compartment to the parcel grabbing area 30 for a certain time. The design of the temporary storage platform 31 improves the inventory efficiency, reduces the waiting time of the unmanned vehicle 20, and improves the utilization efficiency of the unmanned vehicle 20.

When picking up the goods, after receiving the pick-up instruction from the central control system, the unmanned distribution station 1 can first take out the packages to be picked up into the temporary storage platform 31 through the grabbing device 32 without waiting for the unmanned vehicle 20 to drive The loading operation is performed after entering the parcel grabbing area 30, which greatly improves the efficiency of picking up the unmanned vehicle 20.

Of course, it should be understood that the access to the packages between the unmanned vehicle 20 and the temporary storage platform 31 can be completed by one robot, and the access to the packages between the temporary storage platform 31 and the cargo compartment 153 can be performed by another robot. Two robots can be operated at the same time, which improves the overall work efficiency of storage and retrieval of goods.

As shown in FIG. 3, during the process of stocking or picking up, the first identification device 21 can scan the parcel code on the parcel. At the same time, the second end of the grasping device 32 is provided with a second identification device 23, which can identify the cargo code or parcel code of the cargo box 153 in which the package is stored. The central processing system binds the parcel code and the identification code.

The identification device may use a camera to collect images of the package or the shelf, such as a two-dimensional code or barcode, and perform corresponding processing and analysis on the two-dimensional code or barcode to determine the logistics information of the package and the location information of the shelf. At the same time, the corresponding relationship between the parcel and the shelf where the parcel is stored is bound by the collected two-dimensional code or barcode. Of course, the identification device may also be a device such as a code scanner.

Further, a parcel delivery window 12 is provided on the cabinet 10, and the orthographic projection of the parcel delivery window 12 is located within the movement trajectory of the cargo compartment 153, so that when the movable parcel storage device 100 is controlled to transmit the cargo compartment 153 to After the parcel delivery window 12, the user can send and receive parcels through the parcel delivery window 12.

Further, as shown in FIG. 3, the parcel delivery window 12 is connected to the cargo compartment 153, so that the user can directly place the target parcel 33 into the cargo compartment 153 through the parcel delivery window 12 outside the unmanned distribution station 1, or place the destination The parcel 33 is taken out directly from the cargo compartment 153.

Further, the cabinet 10 is provided with a human-computer interaction device 13 for receiving the request information of the user and outputting corresponding feedback information to the user according to the request information. The user can perform operations for accessing the package through the human-computer interaction device 13, such as entering a pick-up code, scanning a two-dimensional code, or face recognition.

Of course, the packages in the unmanned distribution station 1 may also be products for sale. Correspondingly, the human-computer interaction device 13 may include a card swipe slot, a coin slot, a change counter or a receipt print slot.

Further, an advertising screen 14 may be provided on the cabinet 10 for displaying advertisements.

Further, an electric control system 22 may be provided in the cabinet 10. For example, the electric control system 22 may include a charger, an electric control box, and an air conditioner.

It should be understood that the above-mentioned central control system is used to send the unloading or stocking instructions of the unmanned vehicle 20, and at the same time implement functions such as control, data analysis and storage of the corresponding devices of the unmanned distribution station 1.

For example, the central control system may include a control module, a parcel information analysis module, an information synchronization push module, a data storage module, and a network communication module.

Further, referring to FIG. 3 to FIG. 6 at the same time, the movable parcel storage device 100 includes two rotating shafts horizontally disposed on the upper and lower portions of the cabinet 10, respectively, and a rectangular plane composed of the two rotating shafts is perpendicular to the horizontal plane; and A group of symmetrically arranged linkage components, each linkage component is linked between two rotating shafts; multiple cargo compartments 153 are installed on the two sets of linkage components, and can be rotated around the two as the two sets of linkage components rotate. The rotation axis rotates cyclically.

In order to facilitate the following description, the two rotation shafts are specifically defined as a first rotation shaft 121 and a second rotation shaft 122, respectively. The first rotation shaft 121 and the second rotation shaft 122 are horizontally disposed on the upper and lower portions of the bracket 110, respectively. A rectangular plane composed of the first rotation shaft 121 and the second rotation shaft 122 is perpendicular to a horizontal plane.

In order to facilitate the following description, two sets of linkage components are specifically defined as a first linkage component 130 and a second linkage component 140, respectively. The first linkage assembly 130 and the second linkage assembly 140 are linked between two rotating shafts. Specifically, the first linkage component 130 may be connected to one end of the two rotation shafts, and the second linkage component 140 may be connected to the other end of the two rotation shafts. The linkage assembly is used to transmit the power of the first rotating shaft 121 to the second rotating shaft 122 or to transmit the power of the second rotating shaft 122 to the first rotating shaft 121.

Further, each linkage assembly may include two sprocket wheels and a chain sleeved on the two sprocket wheels. The first linkage assembly 130 includes a first sprocket 131 and a second sprocket 132, and a first chain 133 sleeved on the sprocket. The second linkage assembly 140 includes a third sprocket 141 and a fourth sprocket 142, and a second chain 143 sleeved on the sprocket. The first sprocket 131 and the second sprocket 132 are fixedly connected to one end of the first and second

rotating shafts

121 and 122, respectively, and the third and

fourth sprocket

141 and 142 are fixedly connected to the first and second

rotating shafts

121 and 121, respectively. The other end of the second rotation shaft 122.

For example, when the first rotating shaft 121 is a driving shaft, the driving force is transmitted from the first sprocket 131 and the third sprocket 141 to the second sprocket 132 and the first sprocket 132 and the second sprocket 143, respectively. Four sprocket wheels 142.

Of course, those of ordinary skill in the art should understand that the above-mentioned linkage components are not limited to sprocket and chain, and can also adopt the linkage mode of transmission rollers and conveyor belts, etc., which can drive multiple hanging baskets 150 along a predetermined Track movement is sufficient.

Further, the movable parcel storage device 100 further includes a plurality of horizontally-connected connecting rods 156, and two ends of the multiple connecting rods 156 are respectively connected to each of the chains of each linked component. As an example, a chain attachment plate (not shown) may be provided on the first chain 133 and the second chain 143, and a plurality of connecting rods 156 may be screwed to the chain attachment plate by screws. Of course, the connecting rod 156 may also be connected to the chain by other fixed connection methods, such as welding, riveting, and the like.

At the same time, the distances between the plurality of connecting rods 156 may be equal, or the shelves can store goods of different heights, and the distances between the connecting rods 156 may also be set to be different. Accordingly, the heights of the plurality of cargo compartments 153 are also set to be unequal.

Further, the plurality of cargo compartments 153 can be hinged on the plurality of connecting rods 156 through the hinge plate 152.

Further, as shown in FIGS. 3 and 6, the projections of the plurality of connecting rods 156 on the top surfaces of the plurality of cargo compartments 153 are centered. Accordingly, the projection of the hinge point of the hinge plate 152 and the connecting rod 156 on the top surface of each cargo compartment 153 is also centered. In other words, the directions of the centers of gravity of the plurality of cargo compartments 153 located between the first sprocket 131 and the second sprocket 132 substantially coincide with the first chain 133 or the second chain 143. In such a structural design, since the centers of gravity of the multiple cargo compartments 153 coincide with the first chain 133 or the second chain 143, the gravity direction of the cargo compartment 153 coincides with the direction of the driving force of the chain during the ascent or descent of the cargo compartment 153. At 180 degrees, the direction of the force driving the cargo compartment 153 is vertical, so that the cargo compartment 153 is more stable during the movement, reduces the left-to-right shaking of the cargo compartment 153, and prevents the cargo in the cargo compartment 153 from accidentally falling. Happened.

Further, a guide wheel 154 is provided on the cargo compartment 153. At the same time, a guide plate 157 is provided at a position where the first chain 133 and the second chain 143 have full or partial travel and are adjacent to the guide wheel 154. The guide plate 157 may be fixedly connected to the bracket 110, and the guide wheel 154 may be along the guide plate 157 scrolling. The design of the guide wheel 154 and the guide plate 157 makes the rotating trajectory of the hanging rack 150 more accurate and stable during the working process of the rotating rack of the present disclosure.

Further, as shown in FIG. 5, the rotating shelf provided by the present disclosure further includes a driving device 160. The driving device 160 may be disposed near the first rotating shaft 121 to provide power to the first rotating shaft 121, and may also be provided at the first The vicinity of the two rotation shafts 122 is used to provide power to the second rotation shaft 122.

Meanwhile, the driving device 160 may be electrically driven, for example, by the motor 161, or may be manual. For example, when the driving device 160 is electrically driven, the driving device 160 includes a motor 161, a third chain 162, and a fifth sprocket 163. The motor 161 transmits power to the fifth sprocket 163 through the third chain 162, and the fifth sprocket 163 is fixedly connected to the first rotating shaft 121.

Further, as shown in FIG. 7, the movable parcel storage device 100 may be operated in parallel and independently. In this embodiment, two sets of the movable parcel storage device 100 are arranged in the cabinet 10 side by side. In this way, it is possible to support two users to send and receive packages at the same time, and at the same time, it can accommodate more unmanned vehicles 20 for inventory or pickup operations, which further improves the work efficiency of the entire unmanned distribution station 1.

In the process of using the unmanned distribution station of the present disclosure, the unmanned vehicle performs an inventory operation or a pickup operation.

When carrying out the inventory operation, the unmanned vehicle drives in the package from the cabinet door of the unmanned delivery station until it reaches the parcel grabbing area. The grabbing device takes out the parcel to be stored from the unmanned vehicle and puts it in the temporary storage platform first. Then put it in the empty compartment of the mobile parcel storage device. If there is an empty cargo compartment in the current parcel grabbing area, the parcel to be stored is stored in the empty cargo compartment. If there is no empty cargo compartment in the current parcel grabbing area, the movable parcel storage device will be closest to the parcel grabbing area. The empty cargo compartment is driven to the parcel grabbing area.

When picking up the goods, if the cargo box where the package to be picked is located in the package grabbing area, the grabbing device directly removes the package to be picked up on the temporary storage platform and then into the unmanned vehicle. On the contrary, the movable parcel storage device drives the parcel to be picked to move to the parcel grasping area, and the grasping device continues to take goods.

By adopting the aforementioned unmanned distribution station, the present disclosure also provides a method for picking up goods from an unmanned vehicle, including:

S110: The central control system issues a pickup instruction;

S120: the unmanned vehicle receives the pickup instruction, where the pickup instruction includes a parcel code and a cargo code bound to the parcel code;

Specifically, each cargo cell in the unmanned distribution station has a unique cargo cell code. The central control system binds the parcel code of the package stored in the cargo cell to the cargo cell code. When the unmanned vehicle picks up the cargo Based on the parcel code, get the cargo code bound to it, and then get the cargo position with the cargo code.

S130: Determine whether the cargo cell in which the cargo cell code is located is in a parcel grabbing area;

Specifically, a plurality of identification devices provided on the inner wall of the cabinet can scan the cargo code on the cargo compartment, and then obtain the position information of each cargo compartment through the analysis function of the central control system.

S140: If the determination result is yes, the grasping device performs a pickup operation;

S150: If the structure is determined to be negative, the movable parcel storage device drives the cargo compartment in which the cargo compartment code is located to move along the predetermined trajectory to the parcel grabbing area, and then executes step S140.

Further, the pickup operation in step S140 further includes:

S410: The grasping device takes out the package to be retrieved from the cargo compartment and puts it into a temporary storage platform;

S420: The second identification device obtains a parcel code of the parcel to be retrieved;

Specifically, the second identification device may be disposed on the grasping end of the grasping device, and of course, it may also be disposed in the cabinet.

S430: The grasping device stores the package to be retrieved on the temporary storage platform into the unmanned vehicle.

After the unmanned delivery station receives the pickup instruction from the central control system, it can first take out the parcels to be picked up into the temporary storage platform through the grabbing device, instead of waiting for the unmanned vehicle to enter the parcel grabbing area before performing the grabbing action. This greatly improves the efficiency of unmanned vehicles.

Using the aforementioned unmanned distribution station, the present disclosure also provides a method for inventorying unmanned vehicles, including:

S210: The central control system issues an inventory instruction;

S220: the unmanned vehicle receives the inventory instruction;

S230: The central control system determines an empty cargo cell closest to the parcel grabbing area;

Specifically, the position information of each cargo cell in the cabinet is obtained through the identification device, and at the same time, it is determined whether each cargo cell has stored a package, and then the central control system analyzes and obtains the empty cargo cell closest to the parcel grabbing area.

S240: determine whether the position of the empty cargo compartment is within the range of the parcel grabbing area;

S250: If the judgment result is yes, the grabbing device performs a stock operation;

S260: If the determination result is no, the movable parcel storage device drives the empty cargo compartment to move along the predetermined trajectory to the parcel grabbing area, and executes the step of S250.

Further, the inventory action of S250 further includes:

S510: The grasping device puts the package to be stored in the unmanned vehicle into a temporary storage platform;

S520: The first identification device obtains a package code of the package to be stored;

S530: the grabbing device stores the to-be-saved packages on the temporary storage platform into the empty cargo compartment;

S540: The second identification device obtains a cargo code of the empty cargo cell;

S550: The central control system binds the parcel code and the cargo code.

Specifically, the parcel code and the cargo code are obtained through the identification device, and the two are bound through a central control system, so that when the unmanned vehicle picks up the goods, it can quickly find the cargo box where the package is located.

It should be understood that the present disclosure does not limit its application to the detailed structure and arrangement of the components proposed in this specification. The disclosure is capable of other embodiments and of being practiced and carried out in various ways. The aforementioned variations and modifications fall within the scope of the present disclosure. It should be understood that the disclosure disclosed and defined by this specification extends to all alternative combinations of two or more separate features mentioned or apparent in the text and / or drawings. All of these different combinations constitute various alternative aspects of the present disclosure. The embodiments described in this specification illustrate the best modes known for implementing the disclosure and will enable others skilled in the art to utilize the disclosure.

Claims

An unmanned distribution station, comprising a cabinet body and a movable package storage device disposed in the cabinet body, the movable package storage device includes a plurality of cargo compartments for storing packages;

The cabinet is also provided with a cabinet door for unmanned vehicles to enter and exit;

A parcel grabbing area is also provided in the cabinet, and a grabbing device is provided in the parcel grabbing area for transferring a target parcel between the cargo compartment and the unmanned vehicle;

Wherein, when the grasping device operates, the movable parcel storage device drives an empty cargo compartment or a cargo compartment in which the target parcel is located to move to the parcel grasping area along a predetermined trajectory.
The unmanned distribution station according to claim 1, wherein a temporary storage platform is further provided in the parcel grabbing area for temporarily storing the captured parcels.
The unmanned distribution station according to claim 1, wherein a parcel pick-up window is further provided on the cabinet, and an orthographic projection of the parcel pick-up window is located within a movement track range of the cargo compartment.
The unmanned delivery station according to claim 3, wherein the parcel delivery window is connected to the cargo compartment, so that a user can directly transfer the target through the parcel delivery window outside the unmanned delivery station. A package is placed in the empty cargo compartment, or the target package is directly taken out.
The unmanned distribution station according to claim 1, wherein a human-machine interaction device is provided on the cabinet to receive user's request information and output corresponding feedback information to the user according to the request information.
The unmanned distribution station of claim 1, wherein the target package includes merchandise for sale.
The unmanned distribution station according to any one of claims 1-6, wherein the movable parcel storage device comprises two rotation shafts horizontally disposed at the upper and lower portions of the cabinet, respectively, and the two rotation shafts The formed rectangular plane is perpendicular to the horizontal plane; and two sets of symmetrically arranged linkage components, each said linkage component is linked between two said rotation shafts;

A plurality of the cargo compartments are installed on two sets of the linkage components, and can rotate cyclically around the two rotation axes with the rotation of the two sets of linkage components.
The unmanned distribution station according to claim 7, wherein each of the linkage components includes two sprockets and a chain sleeved on the two sprockets, and the two sprockets are respectively mounted on two One end of the rotation shaft;

The movable parcel storage device further includes a plurality of horizontally arranged connecting rods, and two ends of the plurality of connecting rods are respectively connected to each of the chains of each of the linkage components;

A plurality of the cargo grids are hinged on a plurality of the connecting rods.
The unmanned distribution station according to claim 8, wherein the projection of the connecting rod on the top surface of the cargo cell is centered.
The unmanned distribution station according to claim 7, wherein a guide wheel is provided on the cargo compartment, and a guide plate is provided adjacent to the guide wheel, and the guide wheel can roll along the guide plate.
The unmanned distribution station according to claim 7, wherein the movable parcel storage device may be a plurality of parallel and independent work.
A method for picking up an unmanned vehicle using the unmanned distribution station according to any one of claims 1-11, comprising:

The central control system issues a pickup instruction;

The unmanned vehicle receives the pickup instruction, the pickup instruction includes a parcel code and a cargo code bound to the parcel code;

Judging whether the cargo compartment in which the cargo compartment code is located is in a parcel grabbing area, and if so, the grabbing device performs a pickup operation;

If not, the movable parcel storage device drives the cargo compartment where the cargo compartment code is located to move along the predetermined trajectory to the parcel grabbing area.
The unmanned vehicle pickup method according to claim 12, wherein the pickup operation comprises:

The grasping device takes out the parcel to be retrieved from the cargo compartment and puts it into a temporary storage platform;

The second identification device obtains a parcel code of the parcel to be retrieved;

The grabbing device stores the package to be picked up on the temporary storage platform into the unmanned vehicle.
An unmanned vehicle inventory method using the unmanned distribution station according to any one of claims 1-11, comprising:

Central control system issues inventory instructions;

Unmanned vehicle receiving said inventory instruction;

The central control system determines an empty cargo cell closest to the parcel grabbing area;

Determine whether the position of the empty cargo compartment is within the range of the parcel grabbing area, and if so, perform an inventory operation;

If not, the movable parcel storage device drives the empty cargo compartment to move to the parcel grabbing area along a predetermined trajectory.
The unmanned vehicle inventory method according to claim 14, wherein the inventory action comprises:

The grasping device puts the package to be stored in the unmanned vehicle into a temporary storage platform;

The first identification device obtains a parcel code of the parcel to be stored;

The grasping device deposits the package to be stored on the temporary storage platform into the empty cargo compartment;

The second identification device acquires a cargo code of the empty cargo box;

The central control system binds the parcel code and the cargo code.