WO2020087648A1 - 智能快递箱及其控制方法 - Google Patents

智能快递箱及其控制方法 Download PDF

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Publication number
WO2020087648A1
WO2020087648A1 PCT/CN2018/119091 CN2018119091W WO2020087648A1 WO 2020087648 A1 WO2020087648 A1 WO 2020087648A1 CN 2018119091 W CN2018119091 W CN 2018119091W WO 2020087648 A1 WO2020087648 A1 WO 2020087648A1
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WO
WIPO (PCT)
Prior art keywords
express box
instruction
position information
controller
smart
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PCT/CN2018/119091
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English (en)
French (fr)
Inventor
马海燕
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深圳市丰巢科技有限公司
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Publication of WO2020087648A1 publication Critical patent/WO2020087648A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • the embodiments of the present application relate to logistics technology, for example, to an intelligent express box and a control method thereof.
  • the express box usually includes three sizes of fixed partitions, large, medium and small.
  • the cabinet includes the main cabinet and the auxiliary cabinet. After these express boxes are installed, their positions will be fixed. Because the position of the express box is relatively fixed, and the courier is not allowed to deliver larger and heavier express items, even if a larger compartment is opened to support delivery, it will be very difficult for users to carry by themselves because the express items are heavy, which reduces user experience.
  • the embodiments of the present application provide an intelligent express box and a control method thereof, so as to facilitate users to extract oversized and overweight express items and improve user experience.
  • an embodiment of the present application provides an intelligent express box, including: a positioning communication device, a controller, and a mobile device.
  • the positioning communication device is installed on the box of the smart express box, and is configured to acquire the first position information of the smart express box itself and the second position information of the target terminal in real time after receiving the following instruction.
  • the following instruction includes a pickup following instruction and a return following instruction.
  • the controller is connected to the positioning communication device, and is configured to plan a travel route based on the first position information and the second position information, and generate a movement control instruction according to the travel route.
  • the mobile device is installed at the bottom of the box body, is connected to the controller, and is configured to drive the intelligent express box to move with the target terminal according to the movement control instruction.
  • an embodiment of the present application also provides a method for controlling a smart express box.
  • the method includes: after receiving a follow instruction, acquiring the first position information of the smart express box itself and the second of the target terminal in real time Position information, wherein the following instruction includes a pickup following instruction and a return following instruction; a travel route is planned based on the first location information and the second location information, and a mobile control instruction is generated according to the travel route; and
  • the movement control instruction drives the intelligent express box to follow the target terminal to move until the movement termination condition is met, wherein the movement termination condition includes receiving a pickup confirmation instruction or receiving a successful return instruction.
  • an embodiment of the present application further provides a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are used to execute the control method of the intelligent express box described above.
  • the positioning communication device, the controller, and the mobile device are provided on the smart express box.
  • the positioning communication device is provided on the box of the smart express box. After receiving the follow-up instruction, the first position of the smart express box itself is obtained in real time. Position information and second position information of the target terminal; the controller is connected to the positioning communication device, plans a travel route based on the first position information and the second position information, and generates a movement control instruction according to the travel route.
  • the mobile device is arranged at the bottom of the box body, is connected with the controller, and drives the intelligent express box to move with the target terminal according to the mobile control instructions. When the user picks up the package, it can realize the automatic follow of the intelligent express box, without the need for the user to carry it, which is convenient for the user to extract the oversized and overweight express and improve the user experience.
  • FIG. 1a is a schematic structural diagram of an intelligent express box provided in Embodiment 1 of the present application.
  • FIG. 1b is a schematic structural diagram of an intelligent express box applicable to Embodiment 1 of the present application.
  • FIG. 1c is a schematic diagram of a connection relationship between a positioning communication device and a controller applicable to Embodiment 1 of the present application.
  • FIG. 1d is a schematic diagram of a connection relationship between another positioning communication device and a controller applicable to Embodiment 1 of the present application.
  • FIG. 1e is a schematic diagram of an express box management interface applicable to Embodiment 1 of the present application.
  • FIG. 1f is a schematic diagram of an express box delivery management interface applicable to Embodiment 1 of the present application.
  • FIG. 1g is a schematic diagram of an express management interface applicable to Embodiment 1 of the present application.
  • FIG. 2a is a schematic flowchart of a method for controlling pickup of an intelligent express box according to Embodiment 2 of the present application.
  • FIG. 2b is a schematic diagram of an operation flow of a smart express box applied to the second embodiment of the present application from dropping to use.
  • FIG. 1a is a schematic structural diagram of an intelligent express box provided in Embodiment 1 of the present application. This embodiment is applicable to the case where a user picks up and returns an intelligent express box during express delivery.
  • the intelligent express box 1 provided in this embodiment includes: a positioning communication device 11, a controller 12, and a mobile device 13.
  • the positioning communication device 11 is provided on the box body 14 of the smart express box 1 and is configured to acquire the first position information of the smart express box 1 itself and the second position information of the target terminal in real time after receiving the following instruction.
  • the follow instruction includes a pickup follow instruction and a return follow instruction.
  • the controller 12 is connected to the positioning communication device 11 and is configured to plan a travel route based on the first location information and the second location information, and generate a movement control instruction according to the travel route.
  • the mobile device 13 is disposed at the bottom of the box 14 and connected to the controller 12, and is configured to drive the smart express box 1 to move with the target terminal according to the mobile control instructions.
  • the target terminal may be a mobile terminal carried by the pickup user, including but not limited to a mobile phone, a tablet, and the like.
  • the smart express box 1 can perform real-time self-positioning to obtain its own position information (first position information) and real-time acquisition of the target terminal through the positioning communication device 11 provided on its box body 14 Positioning information (second position information), where the positioning method includes but is not limited to satellite positioning.
  • the controller 12 plans the position corresponding to the first position information of the smart express box 1 to the position corresponding to the second position information of the target terminal according to the first position information and the second position information acquired by the positioning communication device 11 The travel route and generate mobile control instructions to send to the mobile device 13.
  • the mobile device 13 drives the smart express box 1 to move along with the target terminal according to the movement control command generated by the controller 12.
  • the mobile device 13 may be four sets of universal wheels that can be driven independently, and each set of universal wheels may be configured with three independent small wheels dedicated for climbing stairs.
  • the following speed of the intelligent express box 1 can be set according to actual needs, for example, set to 1m / s.
  • the intelligent express box follows the movement of the target terminal in two cases, one is the pickup and the movement, and the other is the return and the movement. Therefore, no matter the process of picking up the smart express box or returning the smart express box to the cabinet of the express cabinet, the user does not need to personally handle the express and smart express box in the smart express box. As long as the user guides in front of the smart express box, the smart express box can automatically follow the user's movement.
  • the smart courier box can follow the user to move during the pickup process.
  • the user only needs to take out the courier from the smart courier box after reaching the destination, and the user does not need to carry the courier in person during the pickup process, especially For oversized and overweight express delivery, it saves time and effort, facilitates user pickup, and improves user experience.
  • the intelligent express box 1 is further provided with an obstacle detection device 15.
  • the obstacle detection device 15 is provided on the outer surface of the box body 14 facing forward (the outer surface of the smart express box in the forward direction), is connected to the controller 12, and is arranged to detect obstacles in the forward direction and measure the smart express box 1 and The distance between the obstacles, so that the controller 12 adjusts the travel route according to the distance.
  • the route is planned for the first time, it is based on the current position of the target terminal on the preset map (the position corresponding to the second position information of the target terminal) and the current position of the smart express box 1 (the first position information of the smart express box 1 corresponds to Location), and the principle of the shortest distance is used for planning, therefore, there may be some obstacles on the initially planned travel route. Obstacle detection is provided on the outer surface of the box 14 of the smart express box 1 facing forward
  • the device 15 can detect and avoid obstacles on the traveling route in time, find and detect the distance between the smart express box 1 and the obstacle in front in time, and send the distance to the controller 12, when the controller 12 detects the distance When it is less than the preset distance threshold, the current travel route is adjusted in time. For example, the obstacle can be avoided by controlling the lateral movement of the intelligent express box 1, and the travel route can be adjusted.
  • the obstacle detection device 15 may be an ultrasonic sensor.
  • the positioning communication device 11 may include: a Bluetooth module 111 and a positioning module 112.
  • the Bluetooth module 111 is connected to the controller 12 and is set to match the connection with the Bluetooth module of the target terminal when receiving the pickup follow instruction, and obtain the second position information of the target terminal in real time through the Bluetooth signal, or set to return after receiving When following the instruction, the second location information of the connected target terminal is acquired in real time through a Bluetooth signal.
  • the positioning module 112 is connected to the controller 12 and is configured to obtain the first position information of the smart express box 1 in real time.
  • the user when the user obtains the pickup notice or the pickup code of the smart express box, the user can pick up the code by scanning the code or entering the pickup code on the main cabinet of the express cabinet.
  • the main cabinet will send a pick-up follow instruction to the smart express box.
  • the controller 12 of the smart express box When receiving the pick-up follow instruction, the controller 12 of the smart express box will turn on the Bluetooth module 111 to pair with the Bluetooth module of the user's mobile phone.
  • the mobile phone and the smart express box realize the signal connection.
  • the smart express box obtains the location information of the user's mobile phone in real time through the Bluetooth signal, that is, the second location information.
  • the smart express box will receive the return following instruction sent by the user's mobile phone, and obtain the location information of the user's mobile phone through the Bluetooth signal, that is, the second location information.
  • the positioning module 112 included in the positioning communication device 11 may use GPS (Global Positioning System, Global Positioning System) positioning, Beidou positioning, or a combination of the two, which is not limited herein.
  • GPS Global Positioning System, Global Positioning System
  • Beidou positioning or a combination of the two, which is not limited herein.
  • the positioning communication device 11 further includes a remote communication module 113, wherein the remote communication module 113 is connected to the controller 12, and is set to determine that the position corresponding to the first position information is preset in the controller 12 When it is outside the delivery range, the first location information is sent to the remote monitoring terminal.
  • the remote communication module 113 is connected to the controller 12, and is set to determine that the position corresponding to the first position information is preset in the controller 12 When it is outside the delivery range, the first location information is sent to the remote monitoring terminal.
  • a camera 16 is also provided on the outer surface of the box 14.
  • the camera 16 is connected to the controller 12, and is configured to collect environmental images according to an image acquisition instruction sent by the controller 12.
  • the controller 12 is further configured to generate an image collection instruction when receiving the remote monitoring instruction sent by the remote monitoring terminal, and send the collected environment image to the remote monitoring terminal.
  • the remote communication module and camera 16 can send the current location information of the smart express box to the remote monitoring terminal through the remote communication module in time when the controller determines that the smart express box exceeds the preset delivery range during the follow-up process, so as to inform the customer service personnel of the warning Manual intervention, while collecting corresponding environmental images through the camera, to facilitate customer service personnel to understand the current location of the smart express box, so as to quickly lock the smart express box to prevent loss.
  • the remote communication module may be a GPRS (General Packet Radio Service) module, which is connected to the remote monitoring terminal through a wireless network.
  • GPRS General Packet Radio Service
  • the remote monitoring terminal is mainly operated by customer service personnel, set up for express box management, express box delivery management, express delivery management, deposits and fees, early warning management, remote monitoring, delivery staff management, user management, and password modification.
  • the express box management interface can be shown in Figure 1e, where express box management is mainly set to add, modify, and deactivate the express box, view the express box type, code, follow speed, detailed parameters , Delivery status, delivery code, administrator, and delivery date.
  • the express box delivery management interface can be as shown in Figure 1f, which can be set to drop the express box and evacuate the express box to the cabinet address. You can query the express box code, type, cabinet code, administrative area, delivery Detailed address, delivery person, express box status, delivery date, etc.
  • the express management interface can be set as shown in Figure 1g, which can be set to view and track the status of the express package, query the waybill number, recipient, recipient address, express status, courier mobile number, courier company, courier Box code, express box status, real-time geographic location of express box, pickup time, return time, deposit and overtime charging situation, etc.
  • the remote monitoring terminal can also include other functions, such as: setting deposits and overtime fees: you can set the deposit amount for mobile express boxes, set the return time and overtime fees, etc .; early warning management: can automatically trigger early warning notification when the express box exceeds the delivery range, The customer service can call for remote processing of monitoring.
  • the mobile express box deposit can be deducted or the user is added to the blacklist;
  • remote monitoring the real-time geographic location of the express box can be viewed and tracked , Remotely monitor the return and use status of the express box;
  • pitcher management can maintain the account information of the pitcher, open and deactivate;
  • user management can query the user's basic information, black or white operation of the user's equipment, if the user is When pulling black, the courier cannot select the mobile express box when delivering; modify the password: you can modify the password for the customer service personnel to log in to the operating system.
  • the smart express box 1 is further provided with an alarm device 17, wherein: the alarm device 17 is connected to the controller 12, and is set to determine the position corresponding to the first position information and the second position information on the controller 12 When the distance between them exceeds the preset distance threshold, or when it is determined that the position corresponding to the first position information is outside the preset delivery range, a voice alarm prompt is given.
  • the alarm device 17 has a voice sounder.
  • a voice alarm prompt may be provided through the alarm device 17 to cause the user Attention.
  • a voice alarm can also be made through the alarm device 17 to remind the user that the delivery range is currently exceeded.
  • the box door 18 of the smart express box 1 is disposed upward, and the outer surface of the box door 18 is provided with a foldable armrest 19.
  • the foldable armrest 19 when the user needs to use it, the foldable armrest 19 can stand upright on the box door 18 for the user to carry. When the user does not need to use it, the foldable armrest 19 lies on the outer surface of the box door 18 to save the space occupied by the smart express box 1 and is convenient for transportation and delivery.
  • the box door 18 may be equipped with an electric control lock, and is movably connected to the box body 14 through the electric control lock.
  • the box 14 is also provided with a rechargeable battery and a charging socket.
  • the rechargeable battery is connected to the charging socket, and is configured to charge the intelligent express box 1 through the charging socket.
  • the charging socket matches the corresponding charging pile port provided beside the express cabinet cabinet, and when the charging socket is connected to the charging pile port, the intelligent express box 1 can be charged.
  • a locking structure is provided between the charging socket and the charging pile, and the intelligent express box 1 will automatically lock when connected to the charging pile port.
  • a positioning communication device is installed on the box body of the smart express box, and is configured to acquire the first position information of the smart express box itself and the second position information of the target terminal in real time after receiving the following instruction.
  • the controller is connected to the positioning communication device, and is configured to plan a travel route based on the first location information and the second location information, and generate a movement control instruction according to the travel route.
  • the mobile device is installed at the bottom of the box and connected to the controller. It is set to drive the smart express box to follow the target terminal to move according to the mobile control instructions. When the user picks up, the smart express box can be automatically followed without the need for the user to carry it. It is convenient for users to extract oversized and overweight express items, which improves user experience.
  • FIG. 2a is a schematic flowchart of a method for controlling pickup of an intelligent express box according to Embodiment 2 of the present application. This method can be applied to the case where the pickup of the smart express box is controlled. The method can be applied to the smart express box described in the above embodiment, and is executed by the corresponding function module in the smart express box. The method includes S210-S230.
  • the first position information of the smart express box itself and the second position information of the target terminal are acquired in real time, wherein the follow instruction includes a pickup follow instruction and a return follow instruction.
  • the target terminal may be a mobile terminal carried by the pickup user, including but not limited to a mobile phone, a tablet, and the like.
  • the methods for acquiring the first location information and the second location information include but are not limited to GPS positioning, Beidou positioning, etc. or a combination thereof, which is not limited herein.
  • the user when the user obtains the pickup notice or the pickup code of the smart express box, the user can pick up the code by scanning the code or entering the pickup code on the main cabinet of the express cabinet.
  • the main cabinet will send the pick-up follow instruction to the smart express box.
  • the smart express box When receiving the pick-up follow instruction, the smart express box will obtain its own position information, namely the first position information, through its own positioning module; at the same time, the smart express box turns on Bluetooth
  • the module is paired with the Bluetooth module of the user's mobile phone, and is connected to the user's mobile phone when the pairing is successful, so that the smart express box can obtain the location information of the user's mobile phone in real time through the Bluetooth signal, that is, the second location information.
  • the smart courier box when the smart courier box follows the user to reach the destination, the user takes out the courier in the box and triggers the return button on the mobile phone, thereby generating a return following instruction, the smart courier box obtains the second location information of the user's mobile phone through the Bluetooth signal, and Obtaining its own location information through its own positioning module will not be repeated here.
  • a travel route is planned according to the first location information and the second location information, and a movement control instruction is generated according to the travel route.
  • the smart express box may plan a travel route from the position corresponding to the first position information to the position corresponding to the second position information obtained from the target terminal according to the first position information obtained by the own positioning module.
  • route planning it can be based on the current position of the target terminal on the preset map (the position corresponding to the second position information of the target terminal) and the current position of the smart express box (the position corresponding to the first position information of the smart express box) ), And plan using the principle of the shortest distance.
  • corresponding movement control instructions are generated to control the intelligent express box to move along the route.
  • the method further includes: if an obstacle is detected in the direction of travel, based on the real-time acquired smart express The distance between the first position information of the box and the obstacle adjusts the travel route to avoid the obstacle.
  • the smart express box determines that there is an obstacle in the forward direction, the distance between the current position of the smart express box, that is, the position corresponding to the first position information acquired in real time, and the obstacle in front When it is less than the preset distance threshold, the current travel route is adjusted in time, the obstacle is avoided through lateral movement, etc., and the travel route is adjusted.
  • the obstacle detection device for detecting obstacles may be an ultrasonic sensor.
  • the smart express box is driven to follow the target terminal to move according to the movement control instruction until the movement termination condition is met, where the movement termination condition includes receiving a pickup confirmation instruction or receiving a successful return instruction.
  • the pickup confirmation instruction may be generated by the user triggering a preset pickup confirmation button on the target terminal or the smart express box when the express is delivered to the destination;
  • the successful return instruction may be in the smart express box Successfully returned to the cabinet, generated by the user triggering the preset return button on the cabinet or the target terminal.
  • the following movement of the smart express box includes two cases, one is to pick up and follow the movement, and the other is to return to follow the movement. Therefore, whether the smart express box is used for the pickup process, or the smart express box is returned to In the process of the cabinet of the express cabinet, there is no need for the user to carry it in person, only the user guides in the front, and the intelligent courier box automatically follows at the same time.
  • the smart express box can follow the user to move.
  • the user only needs to take out the express from the smart express box after arriving at the house.
  • the entire pickup process does not require the user to carry it personally, especially for the oversized and overweight express, which saves time and Effortless, it is convenient for users to pick up and improve user experience.
  • the method further includes: when it is determined that the pickup follow instruction is received, start timing until the successful return instruction is received and end the timing; if the timing duration exceeds the preset duration threshold, then according to the timing duration and the preset duration threshold The difference determines the corresponding deduction amount.
  • the preset duration threshold can be set according to actual conditions, for example, 30 minutes.
  • the timing can be started when the pickup following instruction is received, until the successful return instruction is received, and the timing is ended.
  • the total time duration or the time duration of each segment exceeds the preset time threshold, the corresponding deduction amount is calculated to improve the efficiency of the smart express box. For example, if the overtime unit price is set to 10 yuan / hour, then each When it exceeds one hour, the deduction amount will increase by 10 yuan accordingly.
  • the first position information of the smart express box and the second position information of the target terminal are acquired in real time, and the travel route is planned according to the first position information and the second position information , According to the travel route to generate mobile control instructions.
  • the smart express box is driven to follow the target terminal to move until the corresponding termination condition is met, and the automatic follow of the smart express box is realized, without the need for the user to carry it, which is convenient for the user to extract the oversized and overweight express items and improve the user.
  • the mobile control instruction the smart express box is driven to follow the target terminal to move until the corresponding termination condition is met, and the automatic follow of the smart express box is realized, without the need for the user to carry it, which is convenient for the user to extract the oversized and overweight express items and improve the user.
  • the method further includes: when it is determined that the position corresponding to the first position information is outside the preset delivery range, sending the first position information to the remote monitoring terminal; if a remote The remote monitoring instruction sent by the monitoring terminal generates an image collection instruction, and sends the environmental image collected according to the image collection instruction to the remote monitoring terminal.
  • Sending the first location information and environment image to the remote monitoring terminal can send the current location information of the smart express box to the remote monitoring terminal in time when it is determined that the smart express box exceeds the preset delivery range during the follow-up process, so as to inform the customer service personnel of the warning Manual intervention, at the same time, collect the corresponding environmental images through the camera set on the smart express box, so that the customer service personnel can understand the environmental information of the current location of the smart express box, so as to quickly lock the smart express box and prevent loss.
  • the method further includes: if it is determined that the distance between the positions corresponding to the first position information and the second position information exceeds a preset distance threshold, or it is determined that the position corresponding to the first position information is at Outside the preset delivery range, a voice alarm prompt will be given.
  • the alarm device can be used Voice alarm prompt to attract users' attention.
  • a voice alarm can also be made through an alarm device to remind the user that the delivery range is currently exceeded.
  • Figure 2b shows a schematic diagram of the operation flow of the smart express box from delivery to use.
  • the baggage administrator will put and activate the smart courier box; the courier will deliver the courier, including logging in the cabinet and dispatching, entering the recipient's mobile phone, selecting the courier box, and closing the door after delivery.
  • the cabinet will issue the door opening instruction and move the express box to open the door.
  • the user picks up the pickup by inputting the pickup code or scanning the code.
  • the system prompts the user to turn on Bluetooth, and the user triggers to start the pick-up following mode of the smart express box.
  • the cabinet machine After the user opens the pick-up follow mode of the smart express box, the cabinet machine issues a pick-up follow command, and the smart express box automatically unlocks according to the pick-up follow command and starts the follow mode.
  • the confirmation pickup is triggered, the smart express box opens the door, the user closes the door after taking out the express, and triggers the return follow mode of opening the smart express box, and the cabinet machine issues a return follow command.
  • the smart express box returns to the cabinet, it is automatically reset and locked, thus completing the entire process from delivery to use.
  • Embodiments of the present application also provide a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are used to execute the control method of the intelligent express box described above.

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Abstract

一种智能快递箱（1）及其控制方法。智能快递箱（1）包括：定位通讯装置（11）、控制器（12）以及移动装置（13），定位通讯装置（11）设置于智能快递箱（1）的箱体（14）上，设置为在接收到跟随指令后，实时获取智能快递箱（1）自身的第一位置信息以及目标终端的第二位置信息，跟随指令包括取件跟随指令和归还跟随指令；控制器（12）与定位通讯装置（11）相连，设置为根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令；移动装置（13）设置于箱体（14）底部，与控制器（12）相连，设置为根据移动控制指令驱动智能快递箱（1）跟随目标终端进行移动。

Description

智能快递箱及其控制方法
本申请要求在2018年10月29日提交中国专利局、申请号为201811266718.X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申请中。
技术领域
本申请实施例涉及物流技术，例如涉及智能快递箱及其控制方法。
背景技术
随着物流技术的不断发展，人们的生产生活得到了很大的便利。为了在用户不方便取件时快递员能够及时投递相应的快件，以便用户在有空时再收取快件，很多小区、单位等都安装了位置固定的快递箱。
快递箱通常包括大、中、小三种尺寸固定的隔口，柜机包括主柜和副柜，这些快递箱被安装之后，其位置就会固定下来。由于快递箱位置相对固定，且不支持快递员投放较大较重的快件，即使开放出较大的隔口支持投放，也会因为快件较重，使得用户自提搬运存在很大困难，降低了用户体验。
发明内容
本申请实施例提供一种智能快递箱及其控制方法，以方便用户提取超大超重的快件，提高用户体验。
第一方面，本申请实施例提供了一种智能快递箱，包括：定位通讯装置、控制器以及移动装置。
所述定位通讯装置设置于所述智能快递箱的箱体上，设置为在接收到跟随指令后，实时获取所述智能快递箱自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令。
所述控制器与所述定位通讯装置相连，设置为根据所述第一位置信息和所 述第二位置信息规划行进路线，并按照所述行进路线生成移动控制指令。
所述移动装置设置于所述箱体底部，与所述控制器相连，设置为根据所述移动控制指令驱动所述智能快递箱跟随所述目标终端进行移动。
第二方面，本申请实施例还提供了一种智能快递箱的控制方法，该方法包括：在接收到跟随指令后，实时获取所述智能快递箱自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令；根据所述第一位置信息和所述第二位置信息规划行进路线，并按照所述行进路线生成移动控制指令；以及根据所述移动控制指令驱动所述智能快递箱跟随所述目标终端进行移动，直至满足移动终止条件，其中，所述移动终止条件包括接收到取件确认指令或者接收到成功归还指令。
第三方面，本申请实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行上述智能快递箱的控制方法。
本申请实施例通过在智能快递箱上设置定位通讯装置、控制器以及移动装置，定位通讯装置设置于智能快递箱的箱体上，在接收到跟随指令后，实时获取智能快递箱自身的第一位置信息以及目标终端的第二位置信息；控制器与定位通讯装置相连，根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令。移动装置设置于箱体底部，与控制器相连，根据移动控制指令驱动智能快递箱跟随目标终端进行移动。在用户取件时，可实现智能快递箱的自动跟随，无需用户自提搬运，方便了用户提取超大超重的快件，提高了用户体验。
附图说明
图1a是本申请实施例一提供的一种智能快递箱的结构示意图。
图1b是本申请实施例一适用的一种智能快递箱的结构示意图。
图1c是本申请实施例一适用的一种定位通讯装置与控制器之间的连接关系示意图。
图1d是本申请实施例一适用的另一种定位通讯装置与控制器之间的连接关 系示意图。
图1e是本申请实施例一适用的一种快件箱管理界面示意图。
图1f是本申请实施例一适用的一种快件箱投放管理界面示意图。
图1g是本申请实施例一适用的一种快件管理界面示意图。
图2a是本申请实施例二提供的一种智能快递箱的取件控制方法的流程示意图。
图2b是本申请实施例二适用的一种智能快递箱从投放到使用的操作流程示意图。
具体实施方式
下面结合附图和实施例对本申请作相关说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
实施例一
图1a为本申请实施例一提供的一种智能快递箱的结构示意图。本实施例可适用于快递配送过程中用户取件和归还智能快递箱的情况，本实施例提供的智能快递箱1包括：定位通讯装置11、控制器12以及移动装置13。
定位通讯装置11设置于智能快递箱1的箱体14上，设置为在接收到跟随指令后，实时获取智能快递箱1自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令。
控制器12与定位通讯装置11相连，设置为根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令。
移动装置13设置于箱体14底部，与控制器12相连，设置为根据移动控制指令驱动智能快递箱1跟随目标终端进行移动。
本实施例中，目标终端可以是取件用户所携带的可移动终端，包括但不限于手机、平板等。示例性的，用户在取件过程中，智能快递箱1可通过其箱体14上设置的定位通讯装置11，进行实时自身定位获取自身的位置信息(第一位 置信息)和实时获取目标终端的定位信息(第二位置信息)，其中，定位方式包括但不限于卫星定位等。控制器12根据定位通讯装置11获取的第一位置信息和第二位置信息，规划由智能快递箱1的第一位置信息所对应的位置，到目标终端的第二位置信息所对应的位置之间的行进路线，并生成移动控制指令发送给移动装置13。移动装置13根据控制器12生成的移动控制指令驱动智能快递箱1跟随目标终端进行移动。其中，移动装置13可以是四组可独立驱动的万向轮，每组万向轮中可配置有爬楼梯专用的三个独立小轮子。智能快递箱1的跟随速度可根据实际需求进行设置，例如设置为1m/s。
此处智能快递箱跟随目标终端的移动包括两种情况，一种是取件跟随移动，一种是归还跟随移动。因此，无论是利用智能快递箱进行取件的过程中，还是将智能快递箱归还至快递柜的柜机处的过程中，都无需用户亲自对智能快递箱中的快递和智能快递箱进行搬运，只需用户在智能快递箱的前方进行引导，智能快递箱便可自动跟随用户移动。
由于传统的快递箱位置相对固定，无法移动，用户在取件时，不得不自提搬运快递。而本实施例中，智能快递箱在取件过程中可跟随用户进行移动，用户只需到达目的地后从智能快递箱中将快递取出，而在取件过程中无需用户亲自搬运快递，特别是对于超大超重的快递，既省时又省力，方便了用户取件，提高了用户体验。
可选的，如图1b所示，智能快递箱1还设置有障碍检测装置15。该障碍检测装置15设置于箱体14朝前的外表面(智能快递箱前进方向的外表面)上，与控制器12相连，设置为检测前进方向上的障碍物，并测量智能快递箱1与障碍物之间的距离，以使控制器12根据距离对行进路线进行调整。
由于行进路线进行初次规划时，是基于预设地图上目标终端的当前位置(目标终端的第二位置信息对应的位置)以及智能快递箱1的当前位置(智能快递箱1的第一位置信息对应的位置)，并采用路程最短的原则进行规划的，因此，在初次规划的行进路线上，有可能会存在一些障碍物，在智能快递箱1的箱体14朝前的外表面上设置障碍检测装置15可以及时检测并避开行进路线上的障碍 物，及时发现并检测智能快递箱1与前方障碍物之间的距离，并将该距离发送给控制器12，当控制器12检测到该距离小于预设距离阈值时，及时调整当前的行进路线。例如可通过控制智能快递箱1横向移动等方式避开该障碍物，调整行进路线。其中，障碍检测装置15可以是超声波传感器。
可选的，如图1c所示，定位通讯装置11可以包括：蓝牙模块111和定位模块112。蓝牙模块111与控制器12相连，设置为在接收到取件跟随指令时，与目标终端的蓝牙模块匹配连接，并通过蓝牙信号实时获取目标终端的第二位置信息，或者设置为在接收到归还跟随指令时，通过蓝牙信号实时获取连接的目标终端的所述第二位置信息。定位模块112与控制器12相连，设置为实时获取智能快递箱1的第一位置信息。
示例性的，当用户获取到取件通知或智能快递箱的取件码时，可在快递柜的主柜机上通过扫码或输入取件码等方式进行取件。主柜机会向智能快递箱发送取件跟随指令，智能快递箱的控制器12在接收到取件跟随指令时会开启蓝牙模块111，与用户手机的蓝牙模块进行配对。在配对成功时手机和智能快递箱实现信号连接，智能快递箱通过蓝牙信号实时获取用户手机的位置信息，也即第二位置信息。另外，在用户取出快递后，若用户触发手机上的归还按键，则智能快递箱会接收到用户手机发送的归还跟随指令，并通过蓝牙信号获取用户手机的位置信息，也即第二位置信息。
其中，定位通讯装置11中包括的定位模块112，可以采用GPS(Global Positioning System，全球定位系统)定位，也可以采用北斗定位，或者二者的结合，在此不作限定。
如图1d所示，可选的，定位通讯装置11还包括远程通信模块113，其中：远程通信模块113与控制器12相连，设置为在控制器12确定第一位置信息对应的位置在预设配送范围之外时，将第一位置信息发送至远程监控端。
如图1b所示，箱体14的外表面还设置有摄像头16，摄像头16与控制器12相连，设置为根据控制器12发送的图像采集指令，采集环境图像。控制器12还设置为在接收到远程监控端发送的远程监控指令时，生成图像采集指令， 并将采集的环境图像发送至远程监控端。
设置远程通信模块和摄像头16可以在控制器确定智能快递箱在跟随过程中超过预设配送范围时，及时通过远程通信模块发送当前智能快递箱的位置信息给远程监控端，以便预警通知客服人员进行人工干预，同时通过摄像头采集相应的环境图像，方便客服人员了解智能快递箱当前所处的方位，从而快速锁定智能快递箱，防止丢失。本实施例中，远程通信模块可以是GPRS(General Packet Radio Service，通用分组无线业务)模块，通过无线网络与远程监控端相连。
其中，远程监控端主要由客服人员进行操作，设置为进行快件箱管理、快件箱投放管理、快件管理、押金及费用、预警管理、远程监控、投放员管理、用户管理以及修改密码等。
示例性的，在远程监控端中，快件箱管理界面可如图1e所示，其中，快件箱管理主要设置为添加、修改和停用快递箱，查看快件箱类型、编码、跟随速度、详细参数、投放状态、投放码、管理员以及出厂日期等。
在远程监控端中，快件箱投放管理界面可如图1f所示，可设置为投放快件箱和撤出快件箱到柜机地址，可查询快件箱编码、类型、柜机编码、行政区域、投递详细地址、投递员、快件箱状态、投放日期等。
在远程监控端中，快件管理界面可如图1g所示，可设置为查看和跟踪快递包状态，查询运单号、收件人、收件地址、快件状态、投递员手机号码、投递员公司、快件箱编码、快件箱状态、快件箱实时地理位置、取件时间、归还时间、押金以及超时收费情况等。
远程监控端还可以包括其他功能，例如：设置押金和超时费用：可设置移动快件箱使用押金金额、设置归还时效以及超时费用等；预警管理：可在快递箱超出配送范围时自动触发预警通知，客服可调取监控远程处理，如果客服通过监控认为快递箱超出配送范围的情况是用户原因造成，可扣除移动快件箱押金或将用户加入黑名单；远程监控：可查看和跟踪快件箱实时地理位置，远程监控快件箱归还和使用状态；投放员管理：可维护投放员账户信息，开通以及停用；用户管理：可查询用户基础信息，给将用户设备拉黑或拉白操作，如果 该用户被拉黑则快递员投递时无法选择移动快件箱；修改密码：可修改客服人员登录运营系统的密码。
如图1b所示，可选的，智能快递箱1还设置有报警装置17，其中：报警装置17与控制器12相连，设置为在控制器12确定第一位置信息和第二位置信息对应位置之间的距离超过预设距离阈值，或者确定第一位置信息对应的位置在预设配送范围之外时，进行语音报警提示。
报警装置17中带有语音发声器。示例性的，当智能快递箱1与目标终端之间的距离超过预设距离阈值，为了防止蓝牙信号不佳，影响对目标终端位置的获取，可通过报警装置17进行语音报警提示，以引起用户的注意。另外，当智能快递箱1当前所处的位置已超过预设配送范围时，也可通过报警装置17进行语音报警，以提示用户当前已超出配送范围。
如图1b所示，可选的，智能快递箱1的箱门18朝上设置，箱门18的外表面设置有可折叠扶手19。
本实施例中，在用户需要使用时，可折叠扶手19可竖直立在箱门18上，以便用户手提。当用户不需要使用时，可折叠扶手19平躺在箱门18的外表面上，以节约智能快递箱1所需占用的空间，便于运输和投放。箱门18可配置有电控锁，与箱体14之间通过电控锁活动连接。
可选的，箱体14上还设置有可充电电池和充电插口。
可充电电池与充电插口相连，设置为通过该充电插口为该智能快递箱1进行充电操作。充电插口与设置在快递柜柜机旁相应的充电桩口相匹配，在该充电插口与充电桩口连接时，可对智能快递箱1进行充电。充电插口与充电桩之间设置有锁定结构，当智能快递箱1连接充电桩口后会自动上锁。
本实施例的技术方案，在智能快递箱上设置定位通讯装置、控制器以及移动装置。定位通讯装置设置于智能快递箱的箱体上，设置为在接收到跟随指令后，实时获取智能快递箱自身的第一位置信息以及目标终端的第二位置信息。控制器与定位通讯装置相连，设置为根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令。移动装置设置于箱体底部，与控 制器相连，设置为根据移动控制指令驱动智能快递箱跟随目标终端进行移动，在用户取件时，可实现智能快递箱的自动跟随，无需用户自提搬运，方便了用户提取超大超重的快件，提高了用户体验。
实施例二
图2a为本申请实施例二提供的一种智能快递箱的取件控制方法的流程示意图。该方法可适用于对智能快递箱的取件进行控制的情况，该方法可应用于上述实施例所述的智能快递箱中，由智能快递箱中相应的功能模块来执行。该方法包括S210-S230。
在S210中，在接收到跟随指令后，实时获取智能快递箱自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令。
本实施例中，目标终端可以是取件用户所携带的可移动终端，包括但不限于手机、平板等。获取第一位置信息和第二位置信息的方式包括但不限于GPS定位、北斗定位等或其结合，在此不作限定。
示例性的，当用户获取到取件通知或智能快递箱的取件码时，可在快递柜的主柜机上通过扫码或输入取件码等方式进行取件。主柜机会向智能快递箱发送取件跟随指令，智能快递箱在接收到取件跟随指令时会通过自身的定位模块获取自身的位置信息，也即第一位置信息；同时，智能快递箱开启蓝牙模块，与用户手机的蓝牙模块进行配对，在配对成功时与用户手机相连接，以使智能快递箱通过蓝牙信号实时获取用户手机的位置信息，也即第二位置信息。另外，当智能快递箱跟随用户到达目的地后，用户取出箱内的快递，并触发手机上的归还按键，从而生成归还跟随指令，智能快递箱通过蓝牙信号获取用户手机的第二位置信息，同时通过自身的定位模块获取自身的位置信息，在此不再赘述。
在S220中，根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令。
示例性的，智能快递箱可根据自身定位模块获取的第一位置信息，规划由第一位置信息所对应的位置到从目标终端获取的第二位置信息所对应的位置之 间的行进路线。在进行路线规划的过程中，可基于预设地图上目标终端的当前位置(目标终端的第二位置信息对应的位置)以及智能快递箱的当前位置(智能快递箱的第一位置信息对应的位置)，并采用路程最短的原则进行规划。最后，按照规划的路线生成相应的移动控制指令，以控制智能快递箱按照该行进路线进行移动。
可选的，根据第一位置信息和第二位置信息规划行进路线，并按照行进路线生成移动控制指令之后，该方法还包括：如果检测到前进方向上存在障碍物，则根据实时获取的智能快递箱的第一位置信息与障碍物之间的距离，对行进路线进行调整，以避开障碍物。
由于在初次规划的行进路线上，有可能会存在一些障碍物，因此，可通过检测前进方向上是否存在障碍物，如果检测到前进方向上存在障碍物，及时避开行进路线上的障碍物。示例性的，如果智能快递箱确定检测到前进方向上存在障碍物，则可在智能快递箱的当前位置，也即实时获取的第一位置信息所对应的位置，与前方障碍物之间的距离小于预设距离阈值时，及时调整当前的行进路线，通过横向移动等方式避开该障碍物，调整行进路线。其中，用于检测障碍物的障碍检测装置可以是超声波传感器。
在S230中，根据移动控制指令驱动智能快递箱跟随目标终端进行移动，直至满足移动终止条件，其中，移动终止条件包括接收到取件确认指令或者接收到成功归还指令。
本实施例中，取件确认指令可以是在快件送达目的地时，由用户在目标终端上或智能快递箱上触发预设取件确认按键所生成的；成功归还指令可以是在智能快递箱成功归还至柜机处，由用户在柜机上或目标终端上触发预设归还按键所生成的。
此处智能快递箱的跟随移动包括两种情况，一种是取件跟随移动，一种是归还跟随移动，因此，无论是利用智能快递箱进行取件的过程中，还是将智能快递箱归还至快递柜的柜机处的过程中，都无需用户亲自进行搬运，只需用户在前进行引导，同时智能快递箱在后进行自动跟随即可。
由于传统的快递箱位置相对固定，无法移动，用户在取件时不得不自提搬运。而本实施例中，智能快递箱可跟随用户进行移动，用户只需到家后从智能快递箱中将快递取出，整个取件过程无需用户亲自搬运，特别是对于超大超重的快递，既省时又省力，方便了用户取件，提高了用户体验。
可选的，该方法还包括：在确定接收到取件跟随指令时，开启计时，直至接收到成功归还指令，结束计时；如果计时时长超过预设时长阈值，则根据计时时长与预设时长阈值的差值确定相应的扣费金额。
其中，预设时长阈值可根据实际情况进行设置，例如设置为30分钟。示例性的，可在接收到取件跟随指令时开启计时，直至接收到成功归还指令，结束计时。也可以采用分段计时，例如，在接收到取件跟随指令时开启第一计时，直至接收到取件确认指令，结束第一计时；与此同时，开启第二计时，直至接收到归还跟随指令，结束第二计时；同时，开启第三计时，直至接收到成功归还指令，结束第三计时。当计时总时长或每个分段计时的时长超过预设时长阈值时，则计算相应的扣费金额，以提高智能快递箱的使用效率，例如，若超时单价设置为10元/小时，则每当超过一个小时，扣费金额相应增加10元。
本实施例的技术方案，通过在接收到跟随指令后，实时获取智能快递箱自身的第一位置信息以及目标终端的第二位置信息，并根据该第一位置信息和第二位置信息规划行进路线，按照该行进路线生成移动控制指令。根据该移动控制指令驱动智能快递箱跟随目标终端进行移动，直至满足相应的移动终止条件，实现了智能快递箱的自动跟随，无需用户自提搬运，方便了用户提取超大超重的快件，提高了用户体验。
在上述实施例的基础上，可选的，该方法还包括：在确定第一位置信息对应的位置在预设配送范围之外时，将第一位置信息发送至远程监控端；如果接收到远程监控端发送的远程监控指令，则生成图像采集指令，并将根据图像采集指令采集的环境图像发送至远程监控端。
将第一位置信息以及环境图像发送给远程监控端可以在确定智能快递箱在跟随过程中超过预设配送范围时，及时发送智能快递箱的当前位置信息给远程 监控端，以便预警通知客服人员进行人工干预，同时通过智能快递箱上设置的摄像头采集相应的环境图像，方便客服人员了解智能快递箱当前所处的位置的环境信息，从而快速锁定智能快递箱，防止丢失。
在上述实施例的基础上，可选的，该方法还包括：如果确定第一位置信息和第二位置信息对应位置之间的距离超过预设距离阈值，或者确定第一位置信息对应的位置在预设配送范围之外，则进行语音报警提示。
示例性的，当智能快递箱与目标终端之间的距离超过预设距离阈值，为了防止智能快递箱与目标终端之间的通信信号不佳，影响对目标终端位置的获取，可通过报警装置进行语音报警提示，以引起用户的注意。另外，当智能快递箱当前所处的位置已超过预设配送范围时，也可通过报警装置进行语音报警，以提示用户当前已超过配送范围。
在上述实施例的基础上，举一个实际例子，以进行说明和扩展。图2b所示为智能快递箱从投放到使用的操作流程示意图。箱包管理员将智能快递箱投放并激活；快递员进行快件投递，包括登录柜机并派件、输入收件人手机、选择快递箱、在投递后关门等操作。柜机根据快递员选择的智能快递箱下发开门指令，移动快递箱打开箱门。用户在收到取件通知后，通过输入取件码或扫码取件的方式取件。系统提示用户打开蓝牙，由用户触发开启智能快递箱的取件跟随模式。在用户开启智能快递箱的取件跟随模式后，柜机下发取件跟随指令，智能快递箱根据该取件跟随指令自动开锁，并开启跟随模式。用户到达目的地时触发确认取件，智能快递箱开启箱门，用户在取出快递后关上箱门，并触发开启智能快递箱的归还跟随模式，柜机下发归还跟随指令。当智能快递箱回到柜机处时自动复位并上锁，从而完成从投放到使用的全部过程。
本申请实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行上述智能快递箱的控制方法。

Claims (13)

  1. 一种智能快递箱，包括：定位通讯装置、控制器以及移动装置，其中：
    所述定位通讯装置设置于所述智能快递箱的箱体上，设置为在接收到跟随指令后，实时获取所述智能快递箱自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令；
    所述控制器与所述定位通讯装置相连，设置为根据所述第一位置信息和所述第二位置信息规划行进路线，并按照所述行进路线生成移动控制指令；以及
    所述移动装置设置于所述箱体底部，与所述控制器相连，设置为根据所述移动控制指令驱动所述智能快递箱跟随所述目标终端进行移动。
  2. 根据权利要求1所述的智能快递箱，其中，所述定位通讯装置包括：蓝牙模块和定位模块，
    所述蓝牙模块与所述控制器相连，设置为在接收到取件跟随指令时，与所述目标终端的蓝牙模块匹配连接，并通过蓝牙信号实时获取所述第二位置信息，或者在接收到归还跟随指令时，通过蓝牙信号实时获取连接的目标终端的所述第二位置信息；以及
    所述定位模块与所述控制器相连，设置为实时获取所述第一位置信息。
  3. 根据权利要求2所述的智能快递箱，其中，所述定位通讯装置还包括远程通信模块，所述远程通信模块与所述控制器相连，设置为在所述控制器确定所述第一位置信息对应的位置在预设配送范围之外时，将所述第一位置信息发送至远程监控端；
    所述智能快递箱还包括：摄像头，所述摄像头设置在所述箱体的外表面并与所述控制器相连，设置为根据所述控制器发送的图像采集指令，采集环境图像；以及
    所述控制器设置为在接收到所述远程监控端发送的远程监控指令时，生成图像采集指令，并将采集的所述环境图像发送至所述远程监控端。
  4. 根据权利要求1-3任一项所述的智能快递箱，还包括障碍检测装置，
    所述障碍检测装置设置于所述智能快递箱的外表面上，与所述控制器相连，设置为检测障碍物，并测量与所述障碍物之间的距离，以使所述控制器根据所 述距离对所述行进路线进行调整。
  5. 根据权利要求4所述的智能快递箱，还包括报警装置，
    所述报警装置与所述控制器相连，设置为在所述控制器确定所述第一位置信息对应的位置和所述第二位置信息对应位置之间的距离超过预设距离阈值，或者确定所述第一位置信息对应的位置在预设配送范围之外时，进行语音报警提示。
  6. 根据权利要求1-5任一项所述的智能快递箱，其中，所述智能快递箱的箱门朝上设置，所述箱门的外表面设置有可折叠扶手。
  7. 根据权利要求1-6任一项所述的智能快递箱，其中，所述箱体上还设置有可充电电池和充电插口。
  8. 一种智能快递箱的控制方法，应用于如权利要求1-7任一项所述的智能快递箱中，包括：
    在接收到跟随指令后，实时获取所述智能快递箱自身的第一位置信息以及目标终端的第二位置信息，其中，所述跟随指令包括取件跟随指令和归还跟随指令；
    根据所述第一位置信息和所述第二位置信息规划行进路线，并按照所述行进路线生成移动控制指令；以及
    根据所述移动控制指令驱动所述智能快递箱跟随所述目标终端进行移动，直至满足移动终止条件，其中，所述移动终止条件包括接收到取件确认指令或者接收到成功归还指令。
  9. 根据权利要求8所述的方法，还包括：
    在确定所述第一位置信息对应的位置在预设配送范围之外时，将所述第一位置信息发送至远程监控端；以及
    如果接收到所述远程监控端发送的远程监控指令，则生成图像采集指令，并将根据所述图像采集指令采集的环境图像发送至所述远程监控端。
  10. 根据权利要求9所述的方法，还包括：
    如果确定所述第一位置信息对应的位置和所述第二位置信息对应位置之间 的距离超过预设距离阈值，或者确定所述第一位置信息对应的位置在预设配送范围之外，则进行语音报警提示。
  11. 根据权利要求8-10任一项所述的方法，还包括：
    在接收到所述取件跟随指令时，开启计时，直至接收到所述成功归还指令，结束计时；以及
    如果所述计时时长超过预设时长阈值，则根据所述计时时长与所述预设时长阈值的差值确定扣费金额。
  12. 根据权利要求8-11任一项所述的方法，根据所述第一位置信息和所述第二位置信息规划行进路线，并按照所述行进路线生成移动控制指令之后，还包括：
    如果检测到前进方向上存在障碍物，则根据所述第一位置信息与所述障碍物之间的距离，对所述行进路线进行调整，以避开所述障碍物。
  13. 一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令用于执行权利要求8-12任一项所述的智能快递箱的控制方法。
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