WO2021115216A1 - 自行走设备、设备组合及自动售货系统 - Google Patents

自行走设备、设备组合及自动售货系统 Download PDF

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Publication number
WO2021115216A1
WO2021115216A1 PCT/CN2020/134154 CN2020134154W WO2021115216A1 WO 2021115216 A1 WO2021115216 A1 WO 2021115216A1 CN 2020134154 W CN2020134154 W CN 2020134154W WO 2021115216 A1 WO2021115216 A1 WO 2021115216A1
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WO
WIPO (PCT)
Prior art keywords
container
goods
self
baffle
propelled
Prior art date
Application number
PCT/CN2020/134154
Other languages
English (en)
French (fr)
Inventor
周俊杰
Original Assignee
苏州优智达机器人有限公司
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 苏州优智达机器人有限公司 filed Critical 苏州优智达机器人有限公司
Priority to CN202080036892.4A priority Critical patent/CN114885612A/zh
Publication of WO2021115216A1 publication Critical patent/WO2021115216A1/zh

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
    • G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned

Definitions

  • This application relates to the field of containers, in particular to a self-propelled equipment, equipment combination and automatic vending system.
  • the multifunctional containers on the market are used for personal operation. People select items on the spot and then pay. The corresponding items are taken out of the storage rack and transferred to the pick-up port through the transmission component, which is also called the outgoing port.
  • the structure of the transmission component is complicated, which leads to high cost of the container, which is not conducive to the popularization of the container.
  • the pickup of the container is mostly manual pickup, and the user experience is low when the container is located far away.
  • the purpose of this application is to provide a self-propelled device, a combination of devices and an automatic vending system to solve the technical problem of low user experience due to manual retrieval of goods from the container.
  • the present application provides a self-propelled device configured to pick up goods through the shipping port of a container, the self-propelled device is provided with a storage device for accommodating items, and the storage device at least partially passes through the outlet when picking up the goods.
  • the cargo port enters the interior of the container to receive items.
  • the storage device includes a retractable storage device that protrudes from the walking device when taking the goods and enters the interior of the container through the outgoing port. When exiting from the inside of the container and retracting the walking equipment.
  • the storage device is a drawer.
  • the number of the drawers is two or more.
  • each of the drawers enters the interior of the container in sequence, and when the current drawer picks up the goods and retracts the self-propelled device, the next drawer enters the interior of the container again.
  • each of the drawers simultaneously enters the inside of the container, and picks up the goods in order from top to bottom and retracts the self-propelled equipment.
  • the storage device includes a storage cavity, a baffle that can close or open the storage cavity, the baffle is provided on the side of the self-propelled equipment, and the baffle is configured to open when the goods are picked up And enter the interior of the container through the outgoing port, exit from the interior of the container when the pick-up is completed, and close the storage cavity.
  • the baffle when picking up the goods, the baffle receives the goods and guides the goods out of the outgoing port to enter the storage cavity.
  • the baffle is inclined in the open state, and the first power is generated through the inclination of the baffle to guide the article out of the outgoing port to enter the storage cavity.
  • the storage cavity is closed via the baffle to generate a second power to guide the article out of the outgoing port to enter the storage cavity.
  • the number of the receiving cavity and the corresponding baffle plate is two or more.
  • the baffle corresponding to each storage cavity enters the interior of the container in sequence, and when the baffle corresponding to the current storage cavity is retrieved and exits from the interior of the container, the next one The baffle then enters the interior of the container.
  • the baffles corresponding to each of the storage cavities enter the inside of the container at the same time, and pick up the goods in order from top to bottom and exit from the inside of the container.
  • the storage device includes a storage cavity and a baffle that can close or open the storage cavity.
  • the baffle is provided on the top of the self-propelled equipment. When the goods are picked up, the baffle is opened, and the baffle is opened. The self-propelled equipment enters the interior of the container through the outgoing port to accept items through the storage cavity. When the pickup is completed, the self-propelled equipment exits from the inside of the container, and the baffle closes the container. Storage cavity.
  • the present application also provides an equipment combination, including a container and the self-propelled device described in the above technical solution, the container is provided with an outgoing port for the self-propelled device to pick up goods, and the goods are directed toward the outgoing port A mobile pick-up device, the storage device at least partially enters the interior of the container through the outgoing port when picking up the goods to receive items from the pick-up device.
  • the pick-up device is separated from the article before moving to the outgoing port, so that the article can fall freely on the storage device.
  • a detection sensor is further arranged inside the container to detect drawers or baffles entering the inside of the container.
  • the detection sensor is also used to detect the identification information of a drawer or baffle entering the interior of the container relative to other drawers or baffles.
  • the detection sensor is adopted as a distance measuring sensor for detecting the relative position information of the drawer or the baffle entering the container, wherein the relative position information of the drawer or the baffle is obtained from the relative position information of the drawer or the baffle.
  • the identification information of the drawer or the baffle is adopted as a distance measuring sensor for detecting the relative position information of the drawer or the baffle entering the container, wherein the relative position information of the drawer or the baffle is obtained from the relative position information of the drawer or the baffle.
  • the identification information is expressed as the serial number of the drawer or the baffle.
  • the bottom of the container is hollowed out to form the shipping port.
  • the container is provided with a first outbound port for manual pickup, and the pickup device also moves the items in the direction of the first outbound port.
  • the first outgoing port is located below the second outgoing port.
  • the present application also provides an automatic vending system, including a server and the device combination described in the above technical solution, wherein the server is respectively communicatively connected with the container and the self-propelled device.
  • the self-propelled equipment, equipment combination and automatic vending system provided by the present application, wherein the self-propelled equipment is provided with a storage device for accommodating items, and the storage device at least partially enters the interior of the container through the outgoing port of the container to receive the goods when picking up the goods , Which can replace manual pick-up from the container and enhance user experience.
  • Figure 1a is a schematic front view of a multifunctional container according to an embodiment of the application
  • Figure 2 is a schematic front view of a multifunctional container according to another embodiment of the application.
  • 3a-3d are three-dimensional schematic diagrams of a mobile robot for picking up goods according to some embodiments of the application.
  • Fig. 4 is a partial enlarged schematic diagram of E in Fig. 3c;
  • 5-9 are three-dimensional schematic diagrams of mobile robots for picking up goods according to other embodiments of the application.
  • Fig. 10 is a schematic diagram of an automatic vending system according to an embodiment of the application.
  • the embodiment of the utility model proposes a multifunctional container, which includes a container body, in which a plurality of storage racks for storing items are arranged, and the storage rack is provided with a plurality of storage compartments for placing items, and is arranged on a storage rack.
  • the lifting platform On the side of the lifting platform based on the instruction to rise or fall, it is used to accept the selected items from the storage grid and guide them to the second outgoing warehouse. It matches the second outgoing port and passes through the second outgoing warehouse.
  • Cooperating with the mobile robot, or moving the lifting platform to the position of the first shipping warehouse based on the instruction to rise or fall it is matched with the first shipping port, and manual pick-up is realized through it.
  • the multifunctional container can be used for manual pick-up occasions, and can also be used for unmanned pick-up occasions coordinated with mobile robots.
  • the length of the lifting platform covers the cargo lane of each layer of storage racks.
  • the storage compartments are respectively provided with push mechanisms for pushing items out of the storage compartments.
  • the pushing mechanism includes a conveyor belt structure, which is arranged on the top of the storage compartment, on which protrusions are spaced apart. The movement of the conveyor belt structure drives the protrusions to move, and the protrusions push the objects to move to push the predetermined objects to On the platform of the lifting platform on the front side, the platform is provided with a conveyor belt.
  • the lifting platform When the multifunctional container is in the first working mode, the lifting platform is raised or lowered to accept selected items and transfer the accepted items to the second The outgoing warehouse then picks up the goods.
  • the robot is used to pick up the goods at the outgoing warehouse; in the second working mode, the lifting platform rises or drops to accept the selected item and the item that it accepts, the elevator platform drops or rises Dock it to the side of the first shipping warehouse to realize manual pickup.
  • the container body is provided with a control component, which is electrically connected to the lifting platform to control the ascent/descend and the rotation of the conveyor belt on the platform.
  • the container body has control components, which are electrically connected to the man-machine interface, so that users can select items and other services on site.
  • the control component is connected to the remote server cloud server and performs information interaction with it.
  • the container has at least two outgoing ports, and at least one outgoing port is used for manual pickup.
  • the multifunctional container has a container body 1 in which a control component is configured, and a man-machine interface 2 is connected to the control component.
  • the container body 1 is also provided with a storage rack 3 for placing items.
  • the storage rack 3 is provided with a number of cargo lanes 15 for placing items.
  • Each cargo lane 15 is provided with a pushing mechanism for pushing items out of the cargo lane.
  • the announcement number CN207895568U please refer to the implementation manner disclosed in the announcement number CN207895568U.
  • the container body 1 is provided with a lifting component that can be raised/lowered, and the shipping warehouse 4 is provided with an outlet communicating with the outside and an entrance for items on the lifting component to enter the shipping warehouse; the length of the lifting component covers each storage shelf 3 cargo lane, so that the items in the cargo lane slide/drop onto the table.
  • the lifting component in this embodiment is at least one lifting component 5 placed at the bottom of the container body 1, and the lifting component 5 is provided with a crawler mechanism 6 driven by a motor driven gear assembly.
  • the crawler mechanism 6 adopts conventional crawler equipment to realize the above-mentioned transmission function. Therefore, the crawler mechanism 6 is not described in detail in this embodiment, and its working principle can be referred to the solution disclosed in the Chinese patent application number 2014106847863.
  • the control component in this embodiment adopts a programmable control component, which is provided with a control system for controlling the automatic operation of the container.
  • the container is provided with a power supply unit connected to an external power source for supplying power to the operation of the container.
  • the above-mentioned human-machine interface is also called the touch screen for on-site personnel to place orders.
  • the above-mentioned touch screen can be used to select items, determine the quantity, and perform mobile payments.
  • the above-mentioned mobile payments generally support mainstream Alipay, WeChat and other scan code payments .
  • an article display area 7 is arranged on one side of the container body 1, and the article display area 7 is an electronic screen or a storage shelf display area.
  • the surface of the item display area 7 can also be provided with a camera 8, a microphone, and a speaker 9.
  • the camera 8 is placed near the man-machine interface 2, so that when an order is placed on the spot, the camera 8 can realize the camera and / Or face payment; preferably, the microphone and speaker 9 can be provided to assist on-site personnel to place an order, which can be processed by voice recognition.
  • the container body 1 is provided with a signal transceiver, which is connected to the cloud database and the control component, so that the container can be connected to the network.
  • the container body 1 is provided with a sensor assembly and/or identification module 10 that guides and/or detects the robot to a predetermined position, which is used in conjunction with the robot to realize the mobile robot picking up goods.
  • a sensor assembly and/or identification module 10 that guides and/or detects the robot to a predetermined position, which is used in conjunction with the robot to realize the mobile robot picking up goods.
  • customers can place orders remotely, such as mobile APP software or computer websites to place an order
  • the corresponding order will be transmitted to the cloud database for processing, and the cloud database will send the instructions to the corresponding container and mobile robot at the same time.
  • the pushing mechanism in the corresponding cargo lane pushes the items to the lifting assembly, and transmits them to the shipping warehouse as the crawler on the lifting assembly rotates.
  • the mobile robot extends its own storage cavity to the shipment in advance. Warehouse 4, so as to realize the transfer of items to the mobile robot.
  • FIG. 2 is a multifunctional container according to another embodiment of the present invention.
  • the difference from the above-mentioned container is that the container has two outgoing ports, and one outgoing port is used for manual pickup.
  • the cargo port and the other outgoing port are coordinated with the mobile robot, so that the multi-functional container can be used for manual pick-up and can also be used with the mobile robot to realize unmanned pick-up. In this way, the position separation between human pick-up and mobile robot pick-up is realized, and the application range of the container is expanded.
  • the multifunctional container 500 includes a container body 501 with control components inside which are not shown in the figure.
  • the container body is provided with at least one storage shelf, and a plurality of storage compartments for storing items are arranged on the container body.
  • the container has a first outgoing port 504, which faces the first outgoing warehouse. Not shown, it is used to manually pick up the predetermined items on site; the second outgoing port 503, which faces the second outgoing warehouse, is not shown, and cooperates with a mobile robot.
  • the second outgoing warehouse is equipped with a guide and /Or the sensor assembly and/or the identification module 506 that detects the robot to the predetermined position.
  • the multifunctional container has a man-machine interface, which is connected to the control component, and the user selects items or inquires about the required items, and settles after selecting the items.
  • the container has more than two outgoing ports, such as one manual on-site pickup port, and multiple outgoing ports that cooperate with robots, so as to improve the operating efficiency of the container.
  • FIG. 3a it is a schematic diagram of the structure of a mobile robot arriving at a container to pick up goods according to an embodiment of the present invention.
  • the mobile robot 200 includes a retractable storage cavity 202.
  • the sensor component and/or identification module 108 that guides and/or detects the robot to a predetermined position interacts with the robot, and the mobile robot 200 reaches the preset position of the container, the storage cavity 202 opens into the shipping warehouse 107 of the container, and takes the predetermined position. article.
  • FIG. 3b it is a schematic diagram of the structure of another embodiment of the present invention when the mobile robot arrives at the container to pick up the goods.
  • the top of the mobile robot 300 includes a baffle 301 which is connected to the body 302 through a connecting device.
  • 302 contains a storage chamber that is not shown in the figure.
  • the baffle 301 is opened when picking up the goods.
  • the mobile robot leaves the container, closes the baffle 301, and transfers the items to the destination.
  • the selected items transferred via the first transfer board and/or the second transfer board are guided to the outgoing warehouse and fall into the storage cavity of the device to be picked up, such as a mobile robot.
  • FIG. 3c it is a schematic diagram of the structure of another embodiment of the present invention when a mobile robot arrives at a container to pick up goods.
  • the mobile robot 800 includes a retractable storage cavity 801.
  • the mobile robot 800 reaches a predetermined location of the container 500, It is equipped with sensor components and/or identification modules that guide and/or detect the robot to a predetermined position to establish a connection, that is, the mobile robot 800 reaches the preset position of the container, and the baffle 802 in the front section of the storage cavity 801 is opened to guide the goods to the storage.
  • the mobile robot 800 takes predetermined items in this way.
  • the baffle 802 also has the function of guiding the article into the storage cavity 801 when the article is taken.
  • the mobile robot 800 includes two layers of storage chambers. Each storage chamber can also be multiple rotatable storage chambers. The front ends of the storage chambers are respectively equipped with openable baffles 801/802.
  • the mobile robot 800 arrives at the predetermined location of the container 500, It is equipped with sensor components and/or identification modules that guide and/or detect the robot to a predetermined position to establish a connection, that is, the mobile robot 800 reaches the preset position of the container, and the baffle 801 or the baffle 802 in the front section of the storage cavity is opened to remove the items.
  • the baffle 801 or the baffle 802 opens the user to take the article or the storage cavity for the article to be extended, and the user takes the predetermined article.
  • a sensor is disposed on the lower side of the second shipping warehouse, and the sensor is electrically connected to the control component, sometimes called the control component.
  • the sensor includes an infrared through-beam grating sensor to detect whether there is something to be picked up in the shipping warehouse. article.
  • the sensor includes an ultrasonic sensor. If the detected item is not picked up correctly, a reminder will be sent to the server or container to which it is connected, such as a buzzer, a voice horn and a reminder device.
  • the sensor is disposed on the top of the second shipping bin, on the side of the conveyor assembly, or other positions of the container, as long as it can recognize that the mobile robot reaches the preset position.
  • the lower side of the second shipping warehouse is equipped with a sensing component and/or an identification module, which can actively guide and/or detect components, or can be a passive component recognized and/or detected by a mobile robot.
  • the sensor component and/or the identification module are electronic components, image marks, and special structures that are easy to be identified.
  • the mobile robot is equipped with corresponding components that interact with the device. The robot can use lasers, magnetic sensors, One of infrared, vision, and sound waves or combination with the sensor components and/or identification modules carried on the container guide and/or detect its movement to a predetermined position.
  • the control component receives and responds to the opening of the container.
  • the second outgoing port after obtaining the opening information of the outgoing port, the mobile robot controls the retractable storage cavity on it to extend into the second outgoing warehouse.
  • the embodiment of the present invention also proposes a mobile robot, which is used to take an item from a container and deliver the item to a predetermined location.
  • the robot is equipped with at least one retractable storage cavity for picking up items, please refer to FIGS. 3a to 3d.
  • the robot is equipped with a detection module to detect whether the article is placed in the storage cavity.
  • the detection module mounted on the robot is also used to detect whether the cabinet door of the outgoing port is open.
  • the detection module includes an ultrasonic sensor, a CCD image recognition module, and a grating ruler sensor.
  • the container of the above embodiment has a container body, and has a control component, also called a control component, which is electrically connected to the human-machine interface.
  • the container connects to the remote server through wired or wireless means for information exchange.
  • the control component of the container operates based on the server's instructions or a predetermined control program to distribute items and so on.
  • the push mechanism In the design of the push mechanism, it is arranged on the top of the storage compartment, and there are protrusions spaced on it.
  • the movement of the conveyor belt structure drives the movement of the protrusions, and then the protrusions push the objects to move to transfer the predetermined objects to the first outlet.
  • the container has a man-machine interface, which is connected to the control component, through which the user selects items or queries the required items, settles the selected items, etc.
  • the first pick-up For pick-up at the cargo port, if the user has used APP and other remotely ordered items, the user can choose to pick up the goods through the first pick-up port or the second pick-up port.
  • the second pick-up port When the second pick-up port is selected, it will be based on the mobile The robot comes to pick up the item and transfer it to the destination.
  • the user when the user has used APP and other remotely ordered items and chooses to pick up the goods through the first pick-up port, when the user arrives at the container, the user can confirm on-site through the order number or the preset confirmation information and pick it up through the first pick-up port. goods.
  • a cabinet door is arranged on one side, and the first pick-up port is arranged on it, which is connected to the first pick-up warehouse, through which the manual on-site picking of predetermined items is realized, and the second pick-up port is Connected to the second pick-up warehouse, which cooperates with the mobile robot to realize that the mobile robot picks up predetermined items and delivers them to the destination.
  • the first pick-up port In the design of the first pick-up port, one side of it is arranged in the middle or lower part of the cabinet door.
  • one side of it is arranged on the side or end of the cabinet door.
  • a hollow design can be adopted below it, and the mobile robot is located below the second shipping warehouse when it is matched with the mobile robot.
  • the lower side of the second shipping warehouse is hollowed out.
  • a bottom plate, or a bottom plate and a side plate are arranged inside, and a sensing component and/or identification module such as a sensor is installed on the bottom plate or in the area.
  • the hollow space is used to accommodate the mobile robot to be picked up.
  • the container body there is at least one layer of storage racks for storing items inside.
  • the storage racks are provided with a number of storage compartments for placing items.
  • the storage compartments are respectively provided with pushing mechanisms for pushing the items out of the storage compartments.
  • the pushing mechanism is arranged on the front side of the storage rack, so that the items pushed out from the storage compartment are transferred to the conveying assembly.
  • the mobile robot In the design of the mobile robot, it contains a plurality of storage cavities for picking up items, also called storage boxes. When it reaches the preset position of the container, the storage cavity extends into the outgoing warehouse to pick up the goods, and the storage cavity is recovered after the picking is completed. Next, the mobile robot transfers the items to the destination.
  • the storage cavity can be designed to be retractable, and it is based on the travel switch to determine whether the storage cavity is extended to the correct position or recovered to the correct position.
  • the receiving cavity is arranged on the top of the main body of the machine, and a baffle is covered on it, and the baffle is connected to the main body through a connecting device.
  • its front end includes an openable and rotatable cabinet door, which opens when picking up the goods to allow a predetermined item to enter the storage cavity.
  • the cabinet door When picking up the goods, the cabinet door is opened, the user takes out the predetermined item or the storage cavity extends, and the user takes out the predetermined item.
  • a self-propelled device is also provided.
  • the self-propelled device may be the mobile robot submitted in the above-mentioned embodiment, or it may be called For delivery robots or delivery robots, etc.
  • Self-propelled equipment is usually equipped with a walking device at the bottom, and can plan a moving path through its own navigation system to reach the destination.
  • the self-propelled device usually also communicates with the server to receive instructions from the server to perform the tasks of picking up and delivering goods.
  • the self-propelled equipment is configured to pick up the goods through the outgoing port 503 of the container, and the self-propelled equipment is provided with a storage device 210 for accommodating the article 60.
  • the storage device 210 at least partially enters the interior of the container through the outgoing port 503 to receive the goods 60 when picking up the goods.
  • a part of the storage device 210 may enter the interior of the container through the outgoing port 503 to receive the goods.
  • the article 60 (shown in FIGS. 3a-3d, and FIGS. 5-9) may also be the entire storage device 210 that enters the interior of the container through the outgoing port 503 to receive the article 60 (not shown in the figure).
  • the self-propelled equipment in the embodiment of the application is provided with a storage device for accommodating items.
  • the storage device When picking up the goods, the storage device at least partially enters the interior of the container through the outgoing port of the container to receive the goods, which can replace manual picking up from the container and enhance User experience.
  • the storage device of the self-propelled equipment since the storage device of the self-propelled equipment enters the container to receive the goods, it can prevent the goods in the container from being taken away by the passing pedestrians or unintentional personnel during the pickup process, ensuring that the self-propelled equipment can be picked up successfully and avoiding the damage of the goods. loss.
  • the storage device 210 includes a retractable storage device 201, which extends from the walking device 200 and enters the interior of the container 100 through the outgoing port 503 when picking up the goods.
  • the storage device 201 withdraws from the inside of the container 100 and retracts the walking device 200.
  • the storage device 201 may be a drawer 201, or other forms of storage cabinets, wherein a driving device such as a motor or a push rod can provide a driving force to drive the storage device 201 to extend or retract.
  • the number of drawers 201 may be two or more than two. In this way, different drawers 201 can receive items 60 belonging to different orders, so that the self-propelled device can perform the delivery tasks of multiple orders at one time, thereby improving work efficiency.
  • each drawer 201 when picking up the goods, each drawer 201 enters the interior of the container 100 in sequence, and when the current drawer 201 has been picked up and retracted into the self-propelled device 200, the next drawer 201 Then enter the interior of the container 100.
  • each drawer 201 when picking up goods, each drawer 201 enters the interior of the container 100 at the same time, and each drawer 201 that enters the interior of the container 100 can pick up and retract the goods in order from top to bottom. Take the device 100.
  • the storage device 210 includes a storage cavity 801, a baffle 802 that can close or open the storage cavity 801, the baffle 802 is provided on the side of the self-propelled device 800, and the baffle 802 is configured as When picking up the goods, it opens and enters the interior of the container 500 through the outgoing port 503, and exits from the interior of the container 500 and closes the storage cavity 801 when the pick-up is completed.
  • a driving force for driving the baffle 802 to open or close can be provided by a driving device such as a motor or a push rod.
  • the baffle 802 when picking up the goods, receives the article 60 and guides the article 60 to the outgoing port 503 of the outgoing cabinet 500 to enter the self-propelled device 800 storage cavity 801. It can be seen that the baffle 802 not only plays the role of opening or closing the storage cavity 801, but also plays the role of receiving the items 60 during the pick-up process and guiding the items 60 to the outgoing port 503 of the outgoing cabinet 500 to enter the self-propelled equipment The role of 800 storage cavity 801, thereby simplifying the design structure and improving the efficiency of picking up goods
  • the baffle 802 is inclined when in the open state, and the first power F1 is generated to guide the article 60 out of the outgoing port 503 to enter the storage cavity 801 through the inclination of the baffle 802. .
  • the first power F1 is composed of the component force of the gravity G of the object 60, and another component f of the gravity G provides the power for pressing the object 60 against the baffle 802. This not only ensures that the article 60 can have enough power to be guided out of the delivery port 503 to enter the storage cavity 801, but also reduces the impact on the storage cavity 801 compared with the article 60 directly falling into the storage cavity 801, thereby avoiding frequent occurrences of the storage cavity 801. Damaged by the impact, the service life of the self-propelled device 800, especially the storage cavity 801, is increased.
  • the storage cavity 801 is closed by the baffle 802 to generate the second power F2 that guides the article 60 out of the delivery port 503 to enter the storage cavity 801.
  • the baffle 802 moves in the X direction to close the storage cavity 801, wherein the movement of the baffle 802 in the X direction generates the second power F2 that guides the article 60 out of the outgoing port 503 to enter the storage cavity 801.
  • the operation of the baffle 802 to close the storage cavity 801 can be used to provide further power to guide the article 60 out of the outgoing port 503 to enter the storage cavity 801, which can prevent the article 60 from staying in the baffle 802 due to insufficient first power F1. To improve the efficiency of picking up goods.
  • the number of the receiving cavity 801 and the corresponding baffle plate 802 may be two or more. In this way, different storage cavities 801 can be used to receive items 60 belonging to different orders, so that the self-propelled device can perform the delivery tasks of multiple orders at one time, thereby improving work efficiency.
  • the baffle 802 corresponding to each storage cavity 801 sequentially enters the interior of the container, and the baffle 802 corresponding to the current storage cavity 801 is completed and the goods are taken from the container When the inside of the container exits, the next baffle 802 then enters the inside of the container.
  • the baffle 802 corresponding to each storage cavity 801 enters the inside of the container at the same time, and picks up the goods in order from top to bottom and exits from the inside of the container.
  • the storage device 210 includes a storage cavity 303, and a baffle 301 that can close or open the storage cavity.
  • the baffle 301 is provided on the top of the self-propelled device 300. 301 is opened, the self-propelled device 300 enters the interior of the container 400 through the delivery port 503 to receive the goods 60 through the storage cavity 303.
  • the self-propelled device 300 exits from the interior of the container 400, and the baffle 301 closes the storage cavity 303 .
  • the driving force for driving the baffle 301 to open or close the storage cavity 303 can be provided by a driving device such as a motor or a push rod.
  • an embodiment of the present application also provides an equipment combination, which includes a container and the self-propelled equipment in the above-mentioned embodiment.
  • the container 500 is provided with an outgoing port 503 for picking up goods from the mobile device, a pickup device 510 that moves the article 60 in the direction of the outgoing port 503, and the storage device 210 of the self-propelled device 800 is in When picking up the goods, at least partially enter the interior of the container 500 through the outgoing port 503 to receive the goods 60 from the picking device 510.
  • the pickup device 510 may be configured to be separated from the article 60 before moving to the outgoing port 503, so that the article 60 can land on the storage device 210 freely.
  • a detection sensor 610 is also provided inside the container 500 for detecting the baffle 802 entering the inside of the container 500.
  • the detection sensor 610 is used to detect which of the plurality of baffles 802 of the self-propelled equipment 800 the baffle 802 inside the container 500 is.
  • the detection sensor 610 may be implemented by a laser ranging sensor or an infrared sensor. When the corresponding baffle 802 enters the interior of the container 500, the detection sensor 610 is triggered to generate a corresponding signal.
  • a detection sensor 610 is further provided inside the container 100 for detecting the drawer 201 entering the inside of the container 100.
  • the detection sensor 610 is used to detect which of the drawers 201 of the self-propelled equipment 200 the drawer 201 inside the container 500 is.
  • the detection sensor 610 may be implemented by a laser ranging sensor or an infrared sensor. When the corresponding drawer 201 enters the interior of the container 100, the detection sensor 610 is triggered to generate a corresponding signal.
  • the detection sensor 610 is also used to detect the identification information of the drawer 201 or the baffle 802 entering the inside of the container relative to other drawers 201 or the baffle 802.
  • the detection sensor 610 may be adopted as a distance measuring sensor for detecting the relative position information of the drawer 201 or the baffle 802 entering the interior of the container, wherein the relative position information of the drawer 201 or the baffle 802 is obtained from the relative position information of the drawer 201 or the baffle 802.
  • the identification information of the drawer 201 or the baffle 802. may be expressed as the serial number of the drawer 201 or the baffle 802.
  • the bottom of the container is hollowed out to form a shipping port 503.
  • an embodiment of the present application also provides an equipment combination, including a container and a self-propelled device, and the container is provided with a first outbound port for manual pickup 504.
  • the self-propelled device is provided with accommodating items 60 of the storage device 210, the storage device 210 at least partially enters the interior of the container through the second outgoing port 503 when picking up the goods, so as to receive the goods 60 from the picking device 510.
  • the first outgoing port 504 is located below the second outgoing port 503. In this way, when an accident occurs when the self-propelled device receives the article 60, and the article 60 cannot be received, the unreceived article 60 naturally falls toward the first outgoing port 504 located below the second outgoing port 503, and therefore does not During the meeting, the second outgoing port 503 was blocked by the article 60. The articles 60 that have fallen to the first outgoing port 504 can be taken manually, and the normal operation of the container will not be affected.
  • an embodiment of the present application also provides an automatic vending system.
  • the automatic vending system includes a server 700 and the device combination in any of the above embodiments, wherein the server 700 is in communication connection with the container 500 and the self-propelled device 800, respectively.
  • the directions or positional relationships indicated by the terms “upper”, “lower”, “inner”, “middle”, etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present utility model and its embodiments, and are not used to limit that the indicated device, element, or component must have a specific orientation, or be constructed and operated in a specific orientation.

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Abstract

一种自行走设备（200），其配置成通过货柜（100）的出货口（503）取货，自行走设备（200）设置有容纳物品（60）的收纳装置（210），收纳装置（210）在取货时至少部分通过出货口（503）进入货柜（100）的内部以接收物品（60）；还提供一种包括货柜（100）和自行走设备（200）的设备组合；还提供一种包括服务器（700）和自行走设备（200）组合的自动售货系统。提供的自行走设备（200）、设备组合及自动售货系统，可实现智能移动机器人（300）从货柜（100）取货并送至目的地。

Description

自行走设备、设备组合及自动售货系统
相关申请的交叉引用
本申请要求在2019年12月10日提交中国专利局、申请号为201922200411.6、申请名称为“一种多功能货柜”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及货柜领域，具体地涉及一种自行走设备、设备组合及自动售货系统。
背景技术
目前，随着无人售货的普及，多功能货柜的应用越来越广，在地铁站、商场、办公楼内随处可见，并形成了巨大的商机。相应地，对于多功能货柜的研究也不断扩展，多功能货柜的种类也不尽相同。
目前市面上的多功能货柜都是针对个人操作使用的，人们在现场选择物品、然后付款，相应的物品从储存架上取出，经过传输组件传输至取货口也称出货口。目前传输组件的结构复杂，导致货柜成本高，不利于货柜的推广普及。另外，该货柜的取货大都借助人工取货，货柜设置位置较远时用户体验低。
发明内容
为克服上述缺点，本申请的目的在于提供一种自行走设备、设备组合及自动售货系统，以解决通过人工方式从货柜取货使得用户体验性低的技术问题。
为此，本申请提供一种自行走设备，配置成通过货柜的出货口取货，所述自行走设备设置有容纳物品的收纳装置，所述收纳装置在取货时至少部分通过所述出货口进入所述货柜的内部以接收物品。
可选地，所述收纳装置包括可伸缩的储物装置，所述储物装置在取货时从所述行走设备伸出并通过所述出货口进入所述货柜的内部，在取货完成时从所述货柜的内部退出并缩回所述行走设备。
可选地，所述储物装置为抽屉。
可选地，所述抽屉的数量为两个或者两个以上。
可选地，取货时，各个所述抽屉依序进入所述货柜的内部，并且在当前抽屉取货完成并缩回所述自行走设备时，下一个抽屉再进入所述货柜的内部。
可选地，取货时，各个所述抽屉同时进入所述货柜的内部，并且按照从上至下顺序依次取货并缩回所述自行走设备。
可选地，所述收纳装置包括收纳腔、可封闭或者打开所述收纳腔的挡板，所述挡板设于所述自行走设备侧部，并且所述挡板配置成在取货时打开并通过所述出货口进入所述货柜的内部，在取货完成时从所述货柜的内部退出并封闭所述收纳腔。
可选地，取货时，所述挡板承接物品并将物品引导出所述出货口以进入所述收纳腔。
可选地，所述挡板在打开状态时倾斜，经由所述挡板倾斜而产生将物品引导出所述出货口以进入所述收纳腔的第一动力。
可选地，经由所述挡板封闭所述收纳腔而产生将物品引导出所述出货口以进入所述收纳腔的第二动力。
可选地，所述收纳腔及其对应的挡板的数量为两个或者两个以上。
可选地，取货时，各个所述收纳腔对应的挡板依序进入所述货柜的内部，并且在当前收纳腔对应的挡板取货完成而从所述货柜的内部退出时，下一个挡板再进入所述货柜的内部。
可选地，取货时，各个所述收纳腔对应的挡板同时进入所述货柜的内部，并且按照从上至下顺序依次取货并从所述货柜的内部退出。
可选地，所述收纳装置包括收纳腔、可封闭或者打开所述收纳腔的挡板，所述挡板设于所述自行走设备的顶部，取货时，所述挡板打开，所述自行走设备通过所述出货口进入所述货柜的内部以通过所述收纳腔来承接物品，取货完成时，所述自行走设备从所述货柜的内部退出，所述挡板封闭所述收纳腔。
本申请还提供一种设备组合，包括货柜和上述技术方案中所述的自行走设备，所述货柜设置供所述自行走设备取货的出货口、将物品向所述出货口的方向移动的取货装置，所述收纳装置在取货时至少部分通过所述出货口进入所述货柜的内部以从所述取货装置接收物品。
可选地，所述取货装置在移动至所述出货口之前与物品脱离，以使物品自由降落于所述收纳装置。
可选地，所述货柜的内部还设置检测传感器，用于检测进入所述货柜的内部的抽屉或者挡板。
可选地，所述检测传感器还用于检测进入所述货柜的内部的抽屉或者挡板相对其他抽屉或者挡板的识别信息。
可选地，所述检测传感器采用为测距传感器，用于检测进入所述货柜的内部的抽屉或者挡板的相对位置信息，其中，经由所述抽屉或者挡板的相对位置信息获得其相对其他抽屉或者挡板的识别信息。
可选地，所述识别信息表示为抽屉或者挡板的编号。
可选地，所述货柜的底部镂空而形成所述出货口。
可选地，所述货柜设置供人工取货的第一出货口，所述取货装置还将物品向所述第一出货口的方向移动。
可选地，所述第一出货口位于所述第二出货口的下方。
本申请还提供一种自动售货系统，包括服务器和上述技术方案中所述的设备组合，其中，所述服务器分别与所述货柜和所述自行走设备通信连接。
本申请提供的自行走设备、设备组合及自动售货系统，其中，自行走设备设置有容纳物品的收纳装置，收纳装置在取货时至少部分通过货柜的出货口进入货柜的内部以接收物品，从而可以替代人工从货柜取货，增强用户体验性。
附图说明
图1、图1a为本申请实施例的多功能货柜的主视示意图；
图2为本申请另一实施例的多功能货柜的主视示意图；
图3a-图3d为本申请一些实施例的用以取货的移动机器人的立体示意图；
图4为图3c中E局部放大示意图；
图5-图9为本申请另一些实施例的用以取货的移动机器人的立体示意图；
图10为本申请实施例的自动售货系统的示意图。
具体实施方式
以下结合具体实施例对上述方案做进一步说明。应理解，这些实施例是用于说明本实用新型而不限于限制本实用新型的范围。实施例中采用的实施条件可以如具体厂家的条件做进一步调整，未注明的实施条件通常为常规实验中的条件。
本实用新型实施方式提出一种多功能货柜，包括货柜本体，其内设置有复数个搁置物品的储存架，该储存架上设置有若干个用以放置物品的存储格，及设置于储存架一侧的基于指令上升或下降的升降台，其用以承接从存储格中选定的物品并将其引导至第二出货仓，其匹配有第二出货口，通过该第二出货仓与移动机器人配合，或基于指令上升或下降的将升降台移动至第一出货仓的位置，其匹配有第一出货口，通过其实现人工取货。这样该多功能货柜可用于人工取货的场合，也可用于与移动机器人配合的无人取货场合。该升降台的长度覆盖每层储存架的货道，较佳的，存储格内分别设置有将物品从存储格内推出的推送机构。较佳的，该推送机构包含传送带结构，其配置于存储格的顶部，其上间隔的配置有凸起，该传送带结构移动带动凸起移动，进而凸起推动物品移动以将预定的物品推至其前侧的升降台的平台上，该平台上设置有输送带，该多功能货柜处于第一工作模式时，升降台上升或下降以承接选定的物品并将其承接的物品传输至第二出货仓进而取货如，通过机器人在出货仓处取货；处于第二工作模式时，升降台上升或下降以承接选定的物品并将其承接的物品后，该升降台下降或上升将其停靠至第一出货仓侧进而实现人工取货。该货柜本体内具有控制组件，其电性连接升降台控制其上升/下降、平台上输送带的转动。该货柜本体内具有控制组件，电性连接至人机界面，这样用户可现场选定物品等业务。该控制组件连接至远端服务器云端服务器并与其进行信息交互。该货柜至少两个出货口，其中至少一个出货口用以人工取货。
接下来请参考图1、图1a来详细描述本申请实施方式的一种多功能货柜，该多功能货柜，具有货柜本体1，其内配置有控制组件，人机界面2其与控制组件相连，货柜本体1内还设置有放置物品的储存架3，储存架3上设置有若干个放置物品的货道15，每个货道15上均设置有将物品从货道内推出的推送机构上述推送机构为属于现有技术，可参考公告号为CN207895568U中揭示的实施方式。货柜本体1内设置有可上升/下降的升降组件，出货仓4， 其设置有与外部连通的出口、供升降组件上物品进入出货仓内的入口；升降组件的长度覆盖每层储存架3的货道，以使货道内的物品滑动至/掉落至台板上。本实施例中的所述升降组件为至少1个放置在货柜本体1底部的升降组件5，该升降组件5上设置有由电机带动齿轮组件传动的履带机构6。该履带机构6采用常规的履带设备，以实现上述传输功能。故在本实施例中不在对履带机构6进行详细描述，其工作原理可参考申请号为2014106847863的中国专利中揭示的方案。在实际使用中可根据储存架3的宽度来选择履带机构的数量。本实施例中的控制组件采用可编程控制组件，其内设置有控制系统，用于控制货柜的自动运行。该货柜设有与外部电源相连的电源单元，用于给货柜的运行供电。上述人机界面也称触摸显示屏供现场人员下单使用，上述触摸显示屏上可进行物品的选择、数量的确定，并进行移动支付，上述移动支付一般支持主流的支付宝、微信等扫码支付。本实施例中所述货柜本体1的一侧面配置有物品展示区7，该物品展示区7为电子屏或储存架显示区。在一实施方式中，物品展示区7的面还可设置有摄像头8、麦克风和扬声器9，较佳的，摄像头8放置在人机界面2附近，这样现场下单时，摄像头8可实现摄像和/或人脸支付；较佳的，该设置麦克风和扬声器9可辅助现场人员下单可采用语音识别的方式处理。在一实施方式中，货柜本体1内设置有信号收发器，其与云端数据库、控制组件相连，这样货柜可连接网络。在一实施方式中，货柜本体1设置有引导和/或检测机器人至预定位置的传感组件和/或标识模块10，其用以与机器人配合使用，实现移动机器人取货。这样客户可以远程下单，如手机APP软件或电脑网站进行下单，相应订单会传输至云端数据库处理，云端数据库将指令同时发送给相应的货柜及移动机器人。当得到机器人来取货时，相应货道内的推送机构将物品推送至升降组件上，并随着升降组件上的履带转动传输至出货仓4移动机器人预先将其自身的收纳腔伸至出货仓4，从而实现物品转移至移动机器人上。
作为上述实施方式的变形，如图2所示为本实用新型另一实施方式的多功能货柜，与上述货柜的区别在于，该货柜2个出货口，其中一个出货口用以实现人工取货口，另一个出货口与移动机器人配合，这样该多功能货柜实现人工取货也可用于与移动机器人配合，实现无人取货。这样实现人取货与移动机器人取货的位置分离，拓展了货柜的应用范围。该多功能货柜500，包括货柜本体501，其内部具有控制组件图未示，该货柜本体内设置有至少一层储存架，其上设置有若干个用以存储物品的存储格，所述存储格内设置有将物品从存储格内推出的推送机构，及设置于储存架一侧的基于指令上升或下降的升降台，该货柜具有第一出货口504,其对着第一出货仓图未示，通过其实现人工现场拿取预定的物品；第二出货口503，其对着第二出货仓图未示，其与移动机器人配合，该第二出货仓侧配置有引导和/或检测机器人至预定位置的传感组件和/或标识模块506，取货时，移动机器人的收纳腔通过第二出货口503靠近第二出货仓下方，接收预定的物品。该多功能货柜，具有人机界面，其连接至控制组件，通过其用户选定物品或查询所需物品、选定物品后结算等。在其他的实施方式中，该货柜2个以上出货口如一个人工现场取货口，多个与机器人配合的出货口，这样提高货柜的运行效率。
如图3a所示，为本实用新型一实施方式的移动机器人到达货柜处进行取货的结构示意，移动机器人200，其包 含可伸缩收纳腔202，移动机器人200到达货柜100处时，通过其搭载引导和/或检测机器人至预定位置的传感组件和/或标识模块108于机器人交互，及移动机器人200到达货柜的预设位置，收纳腔202打开进入货柜的出货仓107，拿取预定的物品。
如图3b所示，为本实用新型另一实施方式的移动机器人到达货柜处进行取货的结构示意，移动机器人300的顶部包含挡板301，该挡板301通过连接装置连接至本体302，本体302内包含收纳腔图未示，取货时打开该挡板301，移动机器人到达货柜400的预设位置时这时移动机器人搭载的引导和/或检测机器人至预定位置的传感组件和/或标识模块408建立连接，收纳腔对着货柜的出货仓，物品被推入收纳腔内，取好物品后，移动机器人离开货柜，关闭挡板301，将物品传输至目的地。该实施方式中，经第一传输板和/或第二传输板传输的选定的物品导引至出货仓口落入待拿取装置如，移动机器人的收纳腔内。
如图3c所示，为本实用新型另一实施方式的移动机器人到达货柜处进行取货的结构示意，移动机器人800的其包含可伸缩收纳腔801，移动机器人800到达货柜500的预定处时，其搭载引导和/或检测机器人至预定位置的传感组件和/或标识模块建立连接，即移动机器人800到达货柜的预设位置，收纳腔801前段的挡板802打开，以将物品引导至收纳腔801内，这样移动机器人800拿取预定的物品。取物品时挡板802兼具引导物品进入收纳腔801的功能。
作为图3c实施方式的变形如图3d所示，其与图3c的方式区别在于其包含多层收纳腔。移动机器人800的其包含2层收纳腔，每层收纳腔也可以为多个可旋转的收纳腔，其前端分别配置可打开的挡板801/802，移动机器人800到达货柜500的预定处时，其搭载引导和/或检测机器人至预定位置的传感组件和/或标识模块建立连接，即移动机器人800到达货柜的预设位置，收纳腔前段的挡板801或挡板802打开，以将物品引导至收纳腔内，这样移动机器人800拿取预定的物品。移动机器人到达目的地后，该挡板801或挡板802打开用户拿取物品或该容纳物品的收纳腔伸出，用户拿取预定的物品。
在一实施方式中，第二出货仓的下侧配置传感器，其电性连接控制组件有时也称控制组件，该传感器包含红外对射光栅传感器，用以检测出货仓中是否有待拿取的物品。在其它的实施方式中，该传感器包含超声波传感器。若检出物品未正确拿取时发出提示向其连接的服务器或货柜搭载的提示装置如，蜂鸣器，语音喇叭进行提示。在其它的实施方式中，传感器配置于第二出货仓的顶部，传送组件侧，或货柜的其它位置只要能识别移动机器人到达预设位置即可。
在一实施方式中，第二出货仓的下部侧配置传感组件和/或标识模块，其可主动引导和/或检测组件、也可为被移动机器人识别和/或检测的被动组件，用以判断移动机器人是否到达预定的位置。较佳的，该传感组件和/或标识模块为电子元器件、图像标识、容易被识别的特殊结构形态，移动机器人上配置有和该装置交互的相应组件，机器人可以通过激光、磁传感器、红外线、视觉、声波其中一种或组合与货柜搭载的传感组件和/或标识模块，引导和/ 或检测其移动至预定位置，移动机器人到达预定的位置后，控制组件接收并响应打开货柜的第二出货口，移动机器人获取出货口打开信息后，控制其上的可伸缩收纳腔的伸入第二出货仓内。
本实用新型实施方式还提出一种移动机器人，其用于从货柜中拿取物品并将该物品送至预定的地点。该机器人，其搭载至少一个用以拿取物品的可伸缩的收纳腔请参照图3a至图3d。较佳的，机器人搭载检测模块，用以检测物品是否放入收纳腔。在一实施方式中，机器人搭载的检测模块还用以检测出货口的柜门是否打开。检测模块包含超声波传感器，CCD图像识别模块，光栅尺传感器。
上述实施方式的货柜，其具有货柜本体，其具有控制组件也称控制组件，该控制组件电性连接至人机界面。货柜通过有线或无线的方式连接远端服务器，进行信息交互。货柜的控制组件基于服务器的指令或预定的控制程序动作，进行分发物品等。
在推送机构的设计中，其配置于存储格的顶部，其上间隔的配置有凸起，该传送带结构移动带动凸起移动，进而该凸起推动物品移动以将预定的物品传输至第一出货仓或第二出货仓。
在货柜的设计中，其具有人机界面，该人机界面连接至控制组件，通过其用户选定物品或查询所需物品、选定物品后结算等，用户选定物品后，通过第一取货口取货，用户用过APP等远程预定物品的，用户可选择通过该第一取货口取货或通过第二取货口取货，选择第二取货口取货时，则依据移动机器人来拿取物品并传输至目的地。较佳的，用户用过APP等远程预定物品的且选择通过该第一取货口取货时，用户至货柜时可通过订单号或预设的确认信息现场确认后通过第一取货口取货。
在货柜的设计中，其一侧配置有柜门，其上配置有第一取货口、其连通第一取货仓，通过其实现人工现场拿取预定的物品，第二取货口，其连通第二取货仓，其与移动机器人配合实现移动机器人拿取预定的物品并送至目的地。
在第一取货口的设计中，其配置有一侧配置于柜门的中部或中下部。
在第二取货口的设计中，其配置有一侧配置于柜门的侧部或端部。
在第二出货仓的设计中，其下方可采用镂空设计，与移动机器人配合时该移动机器人位于第二出货仓的下方。
在货柜本体的设计中，第二出货仓的下侧镂空，较佳的，进配置有底板、或底板与侧板，该底板上或该区域安装有传感组件和/或标识模块如传感器，该镂空的空间用以容纳待取货的移动机器人。
在货柜本体的设计中，其内部具有至少一层搁置物品的储存架，该储存架上设置有若干个放置物品的存储格，存储格内分别设置有将物品从存储格内推出的推送机构，该推送机构配置于储存架的前侧，这样从存储格被推出的物品传输至传送组件。
在移动机器人的设计中，其包含复数个用以取物品的收纳腔也称收纳盒，其到底货柜预设的位置时，收纳腔伸入出货仓取货，取货完成后回收收纳腔，接下来移动机器人将物品传输至目的地。
在移动机器人的设计中，其收纳腔可设计成可伸缩的，其基于行程开关判断收纳腔是否伸到正确的位置或回收至正确的位置。或收纳腔配置在机器本体的顶部，其上覆盖挡板，该挡板通过连接装置连接至本体。
在移动机器人的设计中，其前端包含有可打开可旋转的柜门，取货时该柜门打开以一到预定的物品进入收纳腔内。取货时该柜门打开，用户取出预定的物品或该收纳腔伸出，用户取出预定的物品。
如图3a-图3d、图5-图9所示，在本申请的一个实施例中，还提供一种自行走设备，该自行走设备可以是上述实施例中提交的移动机器人，也可以称为配送机器人或者送货机器人等。自行走设备通常底部配置行走装置，可以通过自身的导航系统来规划移动路径以前往目的地。自行走设备通常还与服务器通信连接，以接收服务器指令执行取货和送货的任务。在本申请的实施例中，自行走设备配置成通过货柜的出货口503取货，自行走设备设置有容纳物品60的收纳装置210。其中，收纳装置210在取货时至少部分通过出货口503进入货柜的内部以接收物品60，换言之，在取货时，可以是收纳装置210的一部分通过出货口503进入货柜的内部以接收物品60(如图3a-图3d、图5-图9所示)，也可以是整个收纳装置210的通过出货口503进入货柜的内部以接收物品60(图中未示出)。
本申请实施例中的自行走设备，设置容纳物品的收纳装置，在取货时，收纳装置至少部分通过货柜的出货口进入货柜的内部以接收物品，从而可以替代人工从货柜取货，增强用户体验性。其中，由于自行走设备的收纳装置进入货柜内部接收物品，这样可以避免取货过程中货柜中的物品被路过行人或者非善意人员拿走，保证自行走设备取货能够顺利完成，并且避免物品的损失。
如图3a所示，在一个示例中，收纳装置210包括可伸缩的储物装置201，储物装置201在取货时从行走设备200伸出并通过出货口503进入货柜100的内部。在取货完成时，储物装置201从货柜100的内部退出并缩回行走设备200。储物装置201可以为抽屉201，也可以是其他形式的收纳柜，其中，可以通过电机或者推杆等驱动装置提供驱动储物装置201伸出或者缩回的驱动力。
如图7-图9所示，作为优选的实施方式，抽屉201的数量可以为两个或者两个以上。这样，不同的抽屉201可以接收属于不同订单的物品60，从而可以使自行走设备一次性执行多个订单的配送任务，提高工作效率。
如图8和图9所示，在一个示例中，取货时，各个抽屉201依序进入货柜100的内部，并且在当前抽屉201取货完成并缩回自行走设备200时，下一个抽屉201再进入货柜100的内部。
如图7所示，在另一个示例中，取货时，各个抽屉201同时进入货柜100的内部，并且进入货柜100的内部的各个抽屉201可以按照从上至下顺序依次取货并缩回自行走设备100。
如图3c所示，在一个示例中，收纳装置210包括收纳腔801、可封闭或者打开收纳腔801的挡板802，挡板802设于自行走设备800的侧部，并且挡板802配置成在取货时打开并通过出货口503进入货柜500的内部，在取货完成时从货柜500的内部退出并封闭收纳腔801。其中，可以通过电机或者推杆等驱动装置提供驱动挡板802打开或者封闭的驱动力。
如图3c所示，取货时，挡板802承接物品60并将物品60引导出货柜500的出货口503以进入自行走设备800收纳腔801。由此可见，挡板802不仅起到打开或者封闭收纳腔801的作用，其本身在取货过程中还起到承接物品60并将物品60引导出货柜500的出货口503以进入自行走设备800收纳腔801的作用，从而简化设计结构，并且提升取货效率
如图3c和图4所示，作为优选的实施方式，挡板802在打开状态时倾斜，经由挡板802倾斜而产生将物品60引导出出货口503以进入收纳腔801的第一动力F1。其中，第一动力F1由物品60重力G的分力，重力G的另一分力f提供将物品60向挡板802压迫的动力。这样不仅保证物品60能够具有足够的动力被引导出出货口503以进入收纳腔801，而且与物品60直接降落收纳腔801相比，减缓对收纳腔801的冲击，从而避免收纳腔801因频繁受到冲击而损坏，提高自行走设备800，尤其是收纳腔801的使用寿命。
如图4所示，经由挡板802封闭收纳腔801而产生将物品60引导出出货口503以进入收纳腔801的第二动力F2。具体地，挡板802沿X方向运动以封闭收纳腔801过程中，其中，经由挡板802沿X方向运动产生将物品60引导出出货口503以进入收纳腔801的第二动力F2。这样，可以利用挡板802封闭收纳腔801的操作以提供将物品60引导出出货口503以进入收纳腔801的进一步动力，能够避免因第一动力F1不足而使物品60滞留在挡板802上，提高取货效率。
如图3d、图5和图6所示，作为优先的实施方式，收纳腔801及其对应的挡板802的数量可以为两个或者两个以上。这样，可以不同的收纳腔801来接收属于不同订单的物品60，从而可以使自行走设备一次性执行多个订单的配送任务，提高工作效率。
图5和图6所示，在一个示例中，取货时，各个收纳腔801对应的挡板802依序进入货柜的内部，并且在当前收纳腔801对应的挡板802取货完成而从货柜的内部退出时，下一个挡板802再进入货柜的内部。
如图3d，在另一个示例中，取货时，各个收纳腔801对应的挡板802同时进入货柜的内部，并且按照从上至下顺序依次取货并从货柜的内部退出。
如图3d所示，在一个示例中，收纳装置210包括收纳腔303、可封闭或者打开收纳腔的挡板301，其中，挡板301设于自行走设备300的顶部，取货时，挡板301打开，自行走设备300通过出货口503进入货柜400的内部以通过收纳腔303来承接物品60，取货完成时，自行走设备300从货柜400的内部退出，挡板301封闭收纳腔303。其中，可以通过电机或者推杆等驱动装置提供驱动挡板301打开或者封闭收纳腔303的驱动力。
如图3a-图3d、图5-图9所示，本申请实施例还提供一种设备组合，其包括货柜和上述实施例中的自行走设备。具体，可参考图3c所示，货柜500设置供自行走设备取货的出货口503、将物品60向出货口503的方向移动的取货装置510，自行走设备800的收纳装置210在取货时至少部分通过出货口503进入货柜500的内部以从取货装置510接收物品60。
其中，取货装置510可以配置成在移动至出货口503之前与物品60脱离，以使物品60自由降落于收纳装置210。
如图3d所示，货柜500的内部还设置检测传感器610，用于检测进入货柜500的内部的挡板802。具体地，检测传感器610用于检测货柜500的内部的挡板802是自行走设备800的多个挡板802中的哪一个。检测传感器610可以通过激光测距传感器或者红外传感器实现，当相应的挡板802进入货柜500的内部时触发检测传感器610产生对应的信号。
如图7所示，货柜100的内部还设置检测传感器610，用于检测进入货柜100的内部的抽屉201。具体地，检测传感器610用于检测货柜500的内部的抽屉201是自行走设备200的多个抽屉201中的哪一个。检测传感器610可以通过激光测距传感器或者红外传感器实现，当相应的抽屉201进入货柜100的内部时触发检测传感器610产生对应的信号。
在其他的实施方式中，检测传感器610还用于检测进入货柜的内部的抽屉201或者挡板802相对其他抽屉201或者挡板802的识别信息。具体而言，检测传感器610可以采用为测距传感器，用于检测进入货柜的内部的抽屉201或者挡板802的相对位置信息，其中，经由抽屉201或者挡板802的相对位置信息获得其相对其他抽屉201或者挡板802的识别信息。其中，识别信息可以表示为抽屉201或者挡板802的编号。
在一个实施例中，如图3d所示，货柜的底部镂空而形成出货口503。
如图2，并结合图3a-图3d、图5-图9所示，本申请实施例还提供一种设备组合，包括货柜和自行走设备，货柜设置供人工取货的第一出货口504、提供自行走设备取货的第二出货口503，以及将物品60向第一出货口504或者第二出货口503的方向移动的取货装置510；自行走设备设置有容纳物品60的收纳装置210，收纳装置210在取货时至少部分通过第二出货口503进入货柜的内部，以从取货装置510接收物品60。
作为优选的实施方式，第一出货口504位于第二出货口503的下方。这样，当自行走设备接收物品60出现意外，导致没能接收到物品60时，没被接收的物品60自然向位于第二出货口503的下方的第一出货口504方向下落，因而不会时第二出货口503出现被物品60阻塞的情况。下落至第一出货口504的物品60可以通过人工方式拿取，不会影响货柜正常工作。
如图10所示，本申请实施例还提供一种自动售货系统。该自动售货系统包括服务器700和上述任一实施例中的设备组合，其中，服务器700分别与货柜500和自行走设备800通信连接。
在本实用新型中，术语“上”、“下”、“内”、“中”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本实用新型及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。
上述实施例只为说明本实用新型的技术构思及特点，其目的在于让熟悉此项技术的人是能够了解本实用新型的内容并据以实施，并不能以此限制本实用新型的保护范围。凡如本实用新型精神实质所做的等效变换或修饰，都应 涵盖在本实用新型的保护范围之内。

Claims (24)

  1. 一种自行走设备，配置成通过货柜的出货口(503)取货，其特征在于：
    所述自行走设备设置有容纳物品(60)的收纳装置(210)，所述收纳装置(210)在取货时至少部分通过所述出货口(503)进入所述货柜的内部以接收物品(60)。
  2. 根据权利要求1所述的自行走设备，其特征在于：所述收纳装置(210)包括可伸缩的储物装置(201)，所述储物装置(201)在取货时从所述行走设备伸出并通过所述出货口(503)进入所述货柜的内部，在取货完成时从所述货柜的内部退出并缩回所述行走设备。
  3. 根据权利要求2所述的自行走设备，其特征在于：所述储物装置(201)为抽屉(201)。
  4. 根据权利要求3所述的自行走设备，其特征在于：所述抽屉(201)的数量为两个或者两个以上。
  5. 根据权利要求4所述的自行走设备，其特征在于：取货时，各个所述抽屉(201)依序进入所述货柜的内部，并且在当前抽屉(201)取货完成并缩回所述自行走设备时，下一个抽屉(201)再进入所述货柜的内部。
  6. 根据权利要求4所述的自行走设备，其特征在于：取货时，各个所述抽屉(201)同时进入所述货柜的内部，并且按照从上至下顺序依次取货并缩回所述自行走设备。
  7. 根据权利要求1所述的自行走设备，其特征在于：所述收纳装置(210)包括收纳腔(801)、可封闭或者打开所述收纳腔(801)的挡板(802)，所述挡板(802)设于所述自行走设备侧部，并且所述挡板(802)配置成在取货时打开并通过所述出货口(503)进入所述货柜的内部，在取货完成时从所述货柜的内部退出并封闭所述收纳腔。
  8. 根据权利要求7所述的自行走设备，其特征在于：取货时，所述挡板(802)承接物品(60)并将物品(60)引导出所述出货口(503)以进入所述收纳腔(801)。
  9. 根据权利要求8所述的自行走设备，其特征在于：所述挡板(802)在打开状态时倾斜，经由所述挡板(802)倾斜而产生将物品(60)引导出所述出货口(503)以进入所述收纳腔(801)的第一动力(F1)。
  10. 根据权利要求9所述的自行走设备，其特征在于：经由所述挡板(802)封闭所述收纳腔(801)而产生将物品(60)引导出所述出货口(503)以进入所述收纳腔(801)的第二动力(F2)。
  11. 根据权利要求7所述的自行走设备，其特征在于：所述收纳腔(801)及其对应的挡板(802)的数量为两个或者两个以上。
  12. 根据权利要求11所述的自行走设备，其特征在于：取货时，各个所述收纳腔(801)对应的挡板(802)依序进入所述货柜的内部，并且在当前收纳腔(801)对应的挡板(802)取货完成而从所述货柜的内部退出时，下一个挡板(802)再进入所述货柜的内部。
  13. 根据权利要求12所述的自行走设备，其特征在于：取货时，各个所述收纳腔(801)对应的挡板(802)同时进入所述货柜的内部，并且按照从上至下顺序依次取货并从所述货柜的内部退出。
  14. 根据权利要求1所述的自行走设备，其特征在于：所述收纳装置(210)包括收纳腔(303)、可封闭或者打开所述收纳腔的挡板(301)，所述挡板(301)设于所述自行走设备的顶部，取货时，所述挡板(301)打开，所述自行走设备通过所述出货口(503)进入所述货柜的内部以通过所述收纳腔(303)来承接物品(60)，取货完成时，所述自行走设备从所述货柜的内部退出，所述挡板(301)封闭所述收纳腔。
  15. 一种设备组合，其特征在于：包括货柜和权利要求1-14任一项所述的自行走设备，所述货柜设置供所述自行走设备取货的第二出货口(503)、将物品(60)向所述出货口(503)的方向移动的取货装置(510)，所述收纳装置(210)在取货时至少部分通过所述出货口(503)进入所述货柜的内部以从所述取货装置(510)接收物品(60)。
  16. 根据权利要求15所述的设备组合，其特征在于：所述取货装置(510)在移动至所述出货口(503)之前与物品(60)脱离，以使物品(60)自由降落于所述收纳装置(210)。
  17. 根据权利要求15所述的设备组合，其特征在于：所述货柜的内部还设置检测传感器(610)，用于检测进入所述货柜的内部的抽屉(201)或者挡板(802)。
  18. 根据权利要求17所述的设备组合，其特征在于：所述检测传感器(610)还用于检测进入所述货柜的内部的抽屉(201)或者挡板(802)相对其他抽屉(201)或者挡板(802)的识别信息。
  19. 根据权利要求18所述的设备组合，其特征在于：所述检测传感器(610)采用为测距传感器，用于检测进入所述货柜的内部的抽屉(201)或者挡板(802)的相对位置信息，其中，经由所述抽屉(201)或者挡板(802)的相对位置信息获得其相对其他抽屉(201)或者挡板(802)的识别信息。
  20. 根据权利要求19所述的设备组合，其特征在于：所述识别信息表示为抽屉(201)或者挡板(802)的编号。
  21. 根据权利要求15所述的设备组合，其特征在于：所述货柜的底部镂空而形成所述出货口(503)。
  22. 根据权利要求15所述的设备组合，其特征在于：所述货柜还设置供人工取货的第一出货口(504)，所述取货装置(510)还将物品(60)向所述第一出货口(504)的方向移动。
  23. 根据权利要求22所述的设备组合，其特征在于：所述第一出货口(504)位于所述第二出货口(503)的下方。
  24. 一种自动售货系统，其特征在于：包括服务器和权利要求15中所述的设备组合，其中，所述服务器分别与所述货柜和所述自行走设备通信连接。
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