CN110422529B

CN110422529B - Method and system for realizing automatic transportation of goods

Info

Publication number: CN110422529B
Application number: CN201910766242.4A
Authority: CN
Inventors: 杨承诚
Original assignee: Shanghai Zhihuilin Medical Technology Co ltd
Current assignee: Shanghai Noah Wood Robot Technology Co ltd
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2021-05-04
Anticipated expiration: 2039-08-19
Also published as: CN110422529A

Abstract

The invention provides a method and a system for realizing automatic cargo transportation, wherein the method comprises the following steps: when at least one article to be transported is placed into the delivery temporary storage cabinet, the delivery temporary storage cabinet sends out a delivery request; taking out at least one article to be transported from a temporary delivery storage cabinet by the robot dispatched according to the delivery request, and transporting and unloading the article to be transported to the corresponding automatic receiving and dispatching platform; and sending a goods taking notice after the goods to be transported are placed on the automatic receiving and dispatching platform. The invention reduces the delivery waiting time and the unloading waiting time, thereby improving the transportation efficiency of goods and saving the labor cost.

Description

Method and system for realizing automatic transportation of goods

Technical Field

The invention relates to the technical field of article conveying, in particular to a method and a system for realizing automatic cargo transportation.

Background

In recent years, with the development of robot technology and the continuous and deep research of artificial intelligence, robots play an increasingly important role in human life and are widely applied in many fields. The robot makes the work and life of people constantly intelligent and automatic.

In a supermarket or a hospital, workers often push articles of a large vehicle to each destination information and carry out manual delivery and loading and manual unloading, and the working intensity of the workers is high. In the prior art, a robot and a goods transportation link are adopted, but in the prior art, when goods are delivered in batches, at least one person is required to sequentially place the goods into a goods storage area of a robot, if all the robots do not load the goods, the robot needs to wait for unloading the goods to destination information and then returns to a delivery place to load the goods again for multiple transportation, so that time of delivery personnel at the delivery place is greatly wasted in waiting, the efficiency is low, and staff is employed for manual transportation, so that the labor cost is higher and higher.

In summary, it is known how to reduce the delivery waiting time and the unloading waiting time under the conditions that the aging is getting more severe and the labor cost is getting higher, so as to improve the transportation efficiency of the goods and save the labor cost, which is a difficult problem to be solved urgently.

Disclosure of Invention

The invention aims to provide a method and a system for realizing automatic transportation of goods, which can reduce the delivery waiting time and the unloading waiting time, thereby improving the transportation efficiency of the goods and saving the labor cost.

The technical scheme provided by the invention is as follows:

the invention provides a method for realizing automatic transportation of goods, which comprises the following steps:

when at least one article to be transported is placed in a delivery buffer, the delivery buffer sends out a delivery request;

taking out at least one to-be-transported item from the temporary delivery storage cabinet by the robot dispatched according to the delivery request, and transporting and unloading the to-be-transported item to a corresponding automatic transceiving platform;

and sending a goods taking notice after the goods to be transported are placed on the automatic receiving and dispatching platform.

The invention also provides a system for realizing automatic transportation of goods, which comprises: the delivery temporary storage cabinets, the robots and the automatic receiving and dispatching platform are arranged in the machine body;

the delivery temporary storage cabinet is used for sending out a delivery request when at least one article to be transported is put into the delivery temporary storage cabinet;

the robot is used for taking out at least one to-be-transported article from the temporary delivery storage cabinet according to the delivery request, and transporting and unloading the to-be-transported article to a corresponding automatic transceiving platform;

the goods taking notification module is used for sending goods taking notification after the goods to be transported are placed on the automatic receiving and sending platform; the goods taking notification module comprises a robot for completing the unloading and/or an automatic receiving and sending platform for completing the receiving of goods.

By the method and the system for realizing automatic transportation of the goods, the delivery waiting time and the unloading waiting time can be reduced, so that the transportation efficiency of the goods is improved, and the labor cost is saved.

Drawings

The above features, technical features, advantages and modes of realisation of a method and system for the automatic transport of goods will be further explained in a well-understood manner with reference to the accompanying drawings, which illustrate preferred embodiments.

FIG. 1 is a flow chart of one embodiment of a method of implementing automatic cargo transportation of the present invention;

FIG. 2 is a flow chart of another embodiment of a method for implementing automatic cargo transportation according to the present invention;

FIG. 3 is a schematic diagram of an example of an implementation of the automatic cargo transportation method of the present invention;

FIG. 4 is a flow chart of another embodiment of a method for implementing automatic cargo transportation according to the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of an automatic cargo transportation system according to the present invention;

fig. 6 is a schematic structural diagram of another embodiment of the system for realizing automatic cargo transportation according to the invention.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

One embodiment of the present invention, as shown in fig. 1, is an implementation method of automatic cargo transportation, including:

s100, when at least one article to be transported is placed into the delivery temporary storage cabinet, the delivery temporary storage cabinet sends out a delivery request;

specifically, delivery area (delivery station) is provided with a plurality of delivery temporary storage cabinet, and every delivery temporary storage cabinet is provided with the first goods position of a plurality of, and every delivery temporary storage cabinet is equipped with signal generator. The consignor obtains the goods demand list of the consignor, puts at least one article to be transported into the temporary storage cabinet for shipment, and once the temporary storage cabinet for shipment determines that at least one article to be transported is put into the temporary storage cabinet for shipment, the temporary storage cabinet for shipment will generate and outwards send out the delivery request. The mode that the delivery scratch board confirms whether at least one article to be transported is put into the delivery scratch board includes but is not limited to two kinds, and one is that the delivery scratch board is equipped with operating panel, and when at least one article to be transported is put into the delivery scratch board, the delivery person can input the operation on the operating panel of delivery scratch board to generate the delivery request and send out the delivery request through signal transmitter. And secondly, each first goods position is provided with a detection sensor, the delivery temporary storage cabinet can automatically detect whether at least one article to be transported is placed at the first goods position of the delivery temporary storage cabinet through the detection sensors, for example, each first goods position is provided with a detection sensor such as a gravity sensor or a pressure sensor, once a measurement value detected by the detection sensors is greater than a corresponding preset value, the at least one article to be transported is placed in the delivery temporary storage cabinet, and the delivery temporary storage cabinet generates a delivery request and sends the delivery request through a signal transmitter.

S200, taking out at least one article to be transported from a temporary delivery storage cabinet by the robot dispatched according to the delivery request, and transporting and unloading the article to be transported to a corresponding automatic receiving and dispatching platform;

specifically, a plurality of automatic receiving and dispatching platforms are arranged in a receiving area (receiving station), and each automatic receiving and dispatching platform comprises a plurality of second cargo spaces. After the dispatched robot moves to the position of the delivery temporary storage cabinet with the delivery requirement, the dispatched robot is in butt joint with the delivery temporary storage cabinet with the delivery requirement so as to take out at least one to-be-transported article stored in the delivery temporary storage cabinet, then the dispatched robot transports each to-be-transported article taken out to the corresponding automatic transceiving platform, and unloads the to-be-transported article to the corresponding automatic transceiving platform.

S300, sending a goods taking notice after the goods to be transported are placed on the automatic receiving and dispatching platform.

Specifically, the dispatched robot unloads each article to be transported to the corresponding automatic receiving and dispatching platform and then sends out a goods taking notice so as to inform a goods taking person to go to the position of the automatic receiving and dispatching platform in time to take goods. The goods taking notification mode comprises any one or more modes of characters, pictures, vibration, light and sound.

The method is suitable for application scenes of logistics transportation requirements of hospitals, supermarkets, bookstores, express delivery and the like, once the bulk delivery requirements of the goods are met, delivery personnel can only concentrate on distributing the goods according to the goods requirement orders when receiving goods requirement orders of pickup personnel, and therefore at least one delivery personnel is not needed to sequentially place the goods into the goods storage area of the robot during delivery, delivery waiting time of the delivery personnel is reduced, besides the corresponding staff execution required by the distribution flow and the pickup flow, personnel participation is not needed in the rest delivery flow, goods transportation flow and unloading flow, delivery efficiency and overall goods transportation efficiency are improved, manpower and material resources are saved, and labor cost is greatly reduced.

In an embodiment of the present invention, a method for implementing automatic cargo transportation includes:

s101, when at least one article to be transported is placed into a temporary delivery storage cabinet, scanning a physical label on the article to be transported by the temporary delivery storage cabinet, and identifying the physical label to obtain destination information and a cargo type corresponding to the article to be transported;

s102, the delivery temporary storage cabinet analyzes and generates a corresponding delivery request according to the destination information and the cargo type;

Specifically, the delivery temporary storage cabinet is provided with a label scanning device. The physical label arranged on the article to be transported comprises any one or more of a bar code, a two-dimensional code and an RFID chip. When the physical tag is a barcode, the tag scanning device may be a barcode scanning device (typically a laser scanner). When the physical tag is a two-dimensional code, the tag scanning device may be an advanced barcode scanning device or a camera. When the physical tag is an RFID chip, the tag scanning device may be a radio frequency reader. The delivery temporary storage cabinet scans physical labels on the articles to be transported through a label scanner of the delivery temporary storage cabinet, and identifies the physical labels to obtain destination information and the types of the goods corresponding to the articles to be transported. And then the delivery temporary storage cabinet analyzes the transportation requirements of the to-be-transported articles placed by the delivery temporary storage cabinet according to the destination information and the type of the goods, so that a corresponding delivery request is generated according to the transportation requirements.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. Through this embodiment, the cabinet is kept in delivery can be according to the destination information, the goods type carries out the transportation demand that the analysis obtained self, thereby generate the shipment request that corresponds according to the transportation demand, thus, the dispatch is gone to the cabinet position department of keeping in delivery, the robot that takes out corresponding waiting to transport article and carry out the transportation can accord with the transportation demand of the waiting to transport article of placing in the cabinet is kept in delivery, and thus, reduce the improper robot of allotment and go to the probability of getting goods and freight, directly reduce the latency of the suitable robot of allotment again, greatly reduced allots the probability that the suitable robot carries out freight again, and then promote the efficiency that the allotment robot got goods and freight, greatly increased holistic freight efficiency.

One embodiment of the present invention, as shown in fig. 2, is an implementation method of automatic cargo transportation, including:

s1021, judging whether closed transportation is needed or not according to the goods types by the temporary delivery storage cabinet, and obtaining a corresponding analysis result; and/or the presence of a gas in the gas,

s1022 the delivery temporary storage cabinet judges whether the position corresponding to the destination information needs the access authority and the access authority type, and obtains a corresponding analysis result;

s1023 the delivery temporary storage cabinet generates a corresponding delivery request according to the analysis result.

Specifically, the destination information may be different because the cargo types of different articles to be transported may be different, while the articles to be transported of different cargo types may have different transportation requirements, and the articles to be transported of different destinations may also have different transportation requirements.

If the delivery temporary storage cabinet obtains the goods to be transported according to the analysis of the goods type, the goods to be transported have the requirement of safe transportation such as damage or damage avoidance, for example, high-value consumables, high-price imported medicines or high-value commodities. If the temporary delivery storage cabinet obtains the to-be-transported goods according to the analysis of the goods types, the management requirements of traceability management are met. No matter be safe transportation demand or be convenient for transportation management demand all can belong to the demand that the article to be transported has closed transportation, as long as the shipment temporary storage cabinet confirms that the article to be transported needs closed transportation according to the goods type, then the shipment temporary storage cabinet can generate the first request of sending including the transportation demand of closed transportation and the article to be transported corresponding goods type. Otherwise, the delivery buffer generates a second delivery request.

If the delivery temporary storage cabinet judges that the to-be-transported article is transported to the position corresponding to the destination information through the robot according to the destination information, the robot needs to cross floors or cross areas, even areas with access control, and the like, which have access rights. Areas with access rights include areas that are authenticated or allowed to be accessed. When the delivery temporary storage cabinet judges that access authority (or access authority) is needed for reaching the position corresponding to the destination information and the authority type of the needed access authority, the delivery temporary storage cabinet generates a third delivery request comprising transportation requirements needing certain access authority and destination information. Otherwise, the delivery buffer generates a second delivery request. For example, the first robot is opened to get in and out of the elevator, so that the first robot takes the elevator to go upstairs and downstairs for transportation and the second robot gets in and out of the access control area, but the second robot does not open the first and second authorities, the delivery temporary storage cabinet needs to be analyzed according to destination information, a robot with the first and second authorities can arrive at the position of the delivery temporary storage cabinet for loading, and when the information of the destination is moved to correspond to the automatic receiving and sending platform for unloading to realize transportation requirements, a third dispatch request comprising the first authority, the second authority and the destination information is generated and sent, so that the robot capable of receiving the third dispatch request is dispatched to transport the goods.

If the delivery temporary storage cabinet judges that the transportation requirements of closed transportation are needed and the transportation requirements of certain access authorities are needed according to the destination information and the type of goods, the delivery temporary storage cabinet can generate a fourth delivery request comprising certain access authority requirements, closed transportation requirements and destination information. Otherwise, the delivery buffer generates a second delivery request.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. Through this embodiment, the cabinet is kept in storage in delivery further obtains the transportation demand that corresponds according to destination information analysis, the transportation demand includes business turn over authority demand and business turn over authority type, closed transportation demand, transportation demand according to the difference generates the delivery request of different grade type, then the cabinet is kept in storage in delivery sends the delivery request of different grade type, therefore, can be more accurate, select the suitable robot of dispatch to go to the cabinet is kept in storage in delivery and get goods and freight reliably, because the suitable robot of more accurate allotment gets goods and freight, directly reduce the latency of the suitable robot of reschedule, greatly promote the efficiency that the allotment robot got goods and freight, and greatly improved holistic freight efficiency.

s210, the robot dispatched according to the delivery request moves to a delivery temporary storage cabinet sending the delivery request;

s220, taking out at least one article to be transported from a delivery temporary storage cabinet which sends a delivery request by the robot, and putting the article into a storage area of the robot;

specifically, the goods storage area of the robot comprises an unclosed robot goods space and a closed robot goods space, and for the unclosed goods space, a cabinet door is possibly arranged on the edge of the goods space, and an electronic lock is arranged at the cabinet door. After the robot moves and arrives at the position of a delivery temporary storage cabinet with delivery requirements, the robot has two modes of taking out the to-be-transported articles from the delivery temporary storage cabinet and putting the to-be-transported articles into a storage area of the robot for loading (namely loading) the to-be-transported articles.

Firstly, the robot takes out the article that wait to transport voluntarily and loads, and the robot probably is provided with the manipulator promptly, and then the robot can take out at least one article that wait to transport from the cabinet of keeping in the consignment through the manipulator to place in the storage area of robot. And secondly, the robot passively takes out the articles to be transported for loading, namely a conveying device is arranged at the goods position of the delivery temporary storage cabinet. If the goods position of the robot is the non-closed goods position, then until the robot is in butt joint with the temporary delivery storage cabinet, the conveying device at the goods position of the temporary delivery storage cabinet drives the goods to be transported to move towards the non-closed goods position of the butt joint robot, so that the goods to be transported are placed into the non-closed goods position of the robot. If the robot goods position is closed goods position, then delivery scratch board and the mutual verification of robot opposite side identity match back, the electronic lock is automatic to be opened and open the cabinet door to accomplish the butt joint of robot and delivery scratch board, then, the conveyer of delivery scratch board goods position department drives the closed goods position removal of article orientation butt joint robot of waiting to transport, thereby makes the article of waiting to transport put into to the closed goods position department of robot.

S230, the robot acquires destination information corresponding to the article to be transported;

s240, the robot conveys the to-be-transported articles to the automatic receiving and dispatching platform corresponding to the destination information of the to-be-transported articles, and unloads at least one to-be-transported article from the goods storage area to the automatic receiving and dispatching platform;

specifically, the robot acquires destination information corresponding to an article to be transported taken out by the robot, and after the robot moves to reach the position behind an automatic receiving and dispatching platform corresponding to the destination information, the robot takes goods by referring to the process of butting the delivery temporary storage cabinet and the robot, and the robot and the automatic receiving and dispatching platform are butted to automatically unload the goods to the automatic receiving and dispatching platform.

Firstly, the robot takes out the goods to be transported actively for unloading (i.e. unloading), i.e. the robot may be provided with a manipulator, and then the robot can take out at least one goods to be transported from the goods storage area of the robot through the manipulator and place the goods to be transported on the automatic receiving and dispatching platform. And secondly, the robot takes out the articles to be transported passively to unload, namely, the automatic receiving and dispatching platform is also provided with a plurality of layers of goods positions, and the goods positions of the automatic receiving and dispatching platform are provided with a conveying device. If the goods position of the robot is the non-closed goods position, then the conveying device at the goods position of the automatic receiving and dispatching platform moves towards the non-closed goods position of the butt-joint robot until the robot is in butt joint with the automatic receiving and dispatching platform, so that the goods to be transported can be taken away from the non-closed goods position of the robot, and the goods to be transported are automatically unloaded to the automatic receiving and dispatching platform. If the robot goods position is closed goods position, then automatic receiving and dispatching platform verifies the other side identity with the robot each other and matches the back, and the electronic lock is automatic to be opened and opens the cabinet door to accomplish the butt joint of robot and automatic receiving and dispatching platform, then, the conveyer of automatic receiving and dispatching platform goods position department moves towards the closed goods position of butt joint robot, just so can take away the article of waiting to transport from the closed goods position department of robot, the completion is waited to transport article automatic uninstallation to automatic receiving and dispatching platform.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. Through this embodiment, except that join in marriage the goods flow and get the staff that the goods flow needs to correspond and carry out, replace the staff by the robot and go up goods, transport and unload, liberated staff's the work of the tired mechanical type, reduce staff's work load, the maximize improves labor efficiency. And the robot work is except charging or when the trouble, need very long rest time (including lunch break, eat, go to and fro work and leave as the staff), therefore, the robot is for the staff, the time of working by mistake is shorter, furthermore, whole journey is kept in the cabinet by the delivery and is carried out the delivery, the robot is got the goods, freight and discharge, and cooperate a small amount of manual works to allocate the goods and get the goods, make to allocate the goods, get the goods, the transportation (including delivery, get the goods, freight and discharge) parallel work, mutual noninterference, just so can promote the whole conveying efficiency of goods greatly, manpower and materials are saved, greatly reduced cost of labor.

According to the invention, the robot actively or passively takes and loads the to-be-transported articles from the temporary delivery storage cabinet, and actively or passively unloads the to-be-transported articles loaded in the storage area to the automatic receiving and sending platform, so that at least one delivery person is not required to sequentially place the articles in the storage area of the robot during bulk delivery, and the delivery waiting time of the delivery person is reduced. In addition, when unloading in batches, the robot is not required to wait for the goods taking personnel to arrive and finish the goods taking and then leave to execute other conveying tasks, the waiting time of waiting for the goods taking personnel to take the goods is greatly reduced, the goods conveying time is further shortened, the goods conveying efficiency and the robot conveying efficiency are greatly improved, the whole goods batch conveying efficiency is greatly increased, the goods taking personnel are not required to participate in loading the goods to be conveyed, and the goods taking personnel are not required to participate in unloading the goods to be conveyed, so that the manpower and material resources are greatly saved, the high labor cost is reduced, and the experience of a user (including hospitals, bookstores, supermarkets and the like) is improved.

The step of S230, the robot acquiring destination information corresponding to the article to be transported specifically comprises the following steps:

s231, scanning the physical label on the article to be transported by the robot, and identifying the physical label to obtain destination information corresponding to the article to be transported; and/or the presence of a gas in the gas,

s232, the robot analyzes the freight scheduling instruction to obtain destination information corresponding to the goods to be transported; the shipment scheduling instructions are generated for the server from a shipment request that includes destination information.

Specifically, if the robot is not provided with the label scanning device, only one way of acquiring the destination information corresponding to the article to be transported is provided for the robot, that is, after the server acquires the delivery request including the destination information, the server analyzes the delivery request including the destination information and monitors the state of each robot in real time to generate a delivery scheduling instruction, sends the delivery scheduling instruction to the corresponding robot, and after receiving the delivery scheduling instruction, the robot analyzes the delivery scheduling instruction to obtain the destination information corresponding to the article to be transported.

If the robot is provided with the label scanning device, the robot acquires the destination information corresponding to the article to be transported in three ways, one way is to acquire the destination information when the label scanning device is not arranged on the robot. And the other method is that the robot arrives at the position of the temporary delivery storage cabinet, and after the to-be-transported object is taken out from the temporary delivery storage cabinet, the physical label on the to-be-transported object is scanned by a label scanning device arranged on the robot, and the physical label is identified to obtain the destination information corresponding to the to-be-transported object. The last method is that the destination information x1 corresponding to the article to be transported is obtained according to scanning and identification of a label scanning device arranged on the robot, the destination information x2 corresponding to the article to be transported is obtained through analysis according to a transportation scheduling instruction, and then the robot compares and verifies the destination information x1 and the destination information x2, so that whether the article to be transported taken out from a delivery temporary storage cabinet by the robot is correct or not can be verified, the article taking accuracy is improved, the probability that the robot takes out the correct article to be transported again is greatly reduced, the taking-out time of the article to be transported is shortened, the delivery efficiency is improved, and the overall bulk transportation efficiency of goods is improved.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. Through this embodiment, the robot independently acquires the destination information, does not need artifical input destination information, promotes freight's intellectuality and automation, further reduces personnel's work load, has promoted freight efficiency greatly.

s010, sorting according to the goods demand list, setting the goods of the physical label comprising destination information, and putting at least one sorted and set physical label into a corresponding delivery temporary storage cabinet; the goods to be transported are sorted and provided with physical labels; and/or the presence of a gas in the gas,

s020 according to the goods demand list, sorting the goods into empty boxes, setting physical labels including destination information, and putting at least one container which is finished in goods distribution and is provided with the physical labels into a corresponding delivery temporary storage cabinet; the goods to be transported are containers with finished goods allocation and provided with physical labels;

specifically, the order is placed by the delivery person according to the self cargo demand and the cargo transportation demand (including but not limited to the packing demand and the destination information) to generate a cargo demand list, and then the delivery person or the delivery robot sorts the cargo according to the cargo demand list. If all the required goods on the goods demand list do not need to be boxed, the goods are sorted out, a physical label comprising corresponding destination information is arranged on each goods, and then at least one goods which is sorted and provided with the physical label is placed into a corresponding delivery temporary storage cabinet. If all the required goods on the goods demand list need to be boxed, the goods are sorted out and put into an empty box, the goods of any number and the same destination put into the empty box are automatically selected according to the demand and the size of the goods, the goods distribution is completed, physical labels corresponding to the destinations of the goods are arranged on the goods boxes after the goods distribution is completed, and then the goods distribution is completed, and at least one goods box with the physical labels is placed into a corresponding delivery temporary storage cabinet. Certainly, if the partial vanning that needs the goods on the goods demand manifest, the part need not vanning, then put into the shipment after the goods that will need the vanning is vanned and is set up the physical label including destination information and keep in the cabinet, and the goods that need not vanning sets up and puts into the shipment after the physical label including destination information and keeps in the cabinet equally.

The article to be transported may be provided with a physical label including identity information and destination information, or may be provided with a fixed physical label a including identity information and a non-fixed physical label B including destination information. Preferably, for recyclable and reusable transported articles such as containers and non-consumable articles (such as instruments like scalpels in hospitals, and supermarket articles for which supermarkets such as shelves in supermarkets do not sell themselves), in order to shorten the time for replacing the physical label and save the cost of the physical label, a fixed physical label for indicating identity information and a non-fixed physical label including destination information can be arranged on the recyclable article. No matter what kind and number of physical labels are arranged on the goods to be transported, a transportation process of the goods to be transported from the delivery to the removal can only include unique destination information, for example, a certain goods a can be recycled for multiple use, the goods a are respectively needed by the consignees at the destinations S1 and S2, the goods a is provided with the physical label Q1 comprising the destination S1 to obtain the goods a ', the goods a ' to be transported is put into the delivery buffer, and the goods a ' are taken out from the delivery buffer by the robot and transported to the destination S1, and in the whole process, the destination information is identified or analyzed to be the destination S1. After the article a 'to be transported is returned to the warehouse, the shipper updates the destination information in the object label on the article a' to the destination S2, that is, changes the destination S1 to the destination S2, and continues the shipping transportation in the manner described above.

s110, each robot receives a delivery request, judges whether to receive single delivery according to the delivery request and a first working state of the robot, and feeds back a corresponding delivery response result to a delivery temporary storage cabinet corresponding to the delivery request; and/or the presence of a gas in the gas,

particularly, the delivery temporary storage cabinet, the robot and the server can be communicated with each other in a wireless mode. When at least one item to be transported is placed in the delivery buffer, the delivery buffer can generate a delivery request and send the delivery request to the server and/or each robot. After the delivery scratch board sends out a delivery request, the server and all the robots can receive the delivery request. The first working state comprises the identification information of the robot and state information, wherein the state information comprises but is not limited to the residual capacity of the robot, a task list and a fault detection report of whether the robot is in a fault state or not.

Each robot all can carry out radio communication with delivery temporary storage cabinet for after the robot received the delivery request that delivery temporary storage cabinet sent, the robot is according to delivery request and delivery request receiving moment self corresponding first operating condition, independently judges whether can receive the order fortune, if can satisfy delivery request then the feedback confirm the freight response result to delivery temporary storage cabinet, if not satisfy delivery request then the feedback refuses the freight response result to delivery temporary storage cabinet. The robot active form-grabbing cargo transportation mode can reduce the vacancy rate of the robot and relieve the load pressure of the server.

S120, the server receives the delivery request, acquires a first working state corresponding to each robot, and generates and sends a delivery scheduling instruction to the corresponding robot according to the delivery request and the first working state;

specifically, the server and each robot can carry out wireless communication, so that the server monitors a first working state of each robot in real time, after the server receives a delivery request sent by a delivery temporary storage cabinet, the server receives the first working state corresponding to the robot at the moment according to the delivery request and the delivery request, the robot is scheduled to select a proper target robot and generate a delivery scheduling instruction, the delivery scheduling instruction comprises spatial position information of the delivery temporary storage cabinet with the delivery requirement, and then the server sends the delivery scheduling instruction to the corresponding robot. The first operational state is at the time of receipt of the shipping request.

specifically, the manner of moving the robot to the delivery buffer cabinet includes, but is not limited to, two, one is that the robot can autonomously navigate and move to the location of the delivery buffer cabinet with the delivery requirement according to the spatial location information in the delivery scheduling instruction. And secondly, the delivery scheduling instruction comprises a delivery planning route of the robot generated by the server, and the delivery planning route of the robot is generated by global planning according to the position of the robot and the position of the delivery temporary storage cabinet with delivery requirements, so that the robot moves to the position of the delivery temporary storage cabinet with delivery requirements according to the delivery planning route.

Similarly, the manner of moving the robot to the automatic transceiving platform includes, but is not limited to, two manners, one is that if the delivery request does not include destination information, the robot may scan and identify destination information according to its own label scanning device, and perform autonomous navigation according to the destination information to move to the position of the automatic transceiving platform corresponding to the destination information. And if the delivery request comprises destination information, the delivery scheduling instruction comprises a delivery planning route of the robot generated by the server, and the delivery planning route of the robot is generated by global planning according to the position of the robot after the goods to be transported are taken out from the delivery temporary storage cabinet and the position of the automatic transceiving platform corresponding to the destination information, so that the robot moves to the position of the automatic transceiving platform corresponding to the destination information according to the delivery planning route.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. By the embodiment, no matter whether the dispatching is performed by autonomous order grabbing or passive dispatching, after the dispatched robot moves to the position of the delivery temporary storage cabinet with the delivery requirement, the robot is in butt joint with the delivery temporary storage cabinet with the delivery requirement so as to take out at least one article to be transported stored in the delivery temporary storage cabinet, then the dispatched robot transports each article to be transported taken out to the corresponding automatic transceiving platform, and unloads the article to be transported to the corresponding automatic transceiving platform.

The server plans and monitors in advance, so that the server can conveniently and effectively schedule the robot to carry out the object conveying task, the optimal distribution and the automatic management of the object conveying task are realized, and the labor, material resources and time cost of a user are saved. The robot is moved by self-navigation, the corresponding planning route (including the picking planning route and the delivery planning route of the robot) is generated without uniform allocation of the server, the server only carries out the selection scheduling of the robot, the pressure of the server can be reduced, the autonomous navigation and movement of the robot enable the robot to have the sensing, decision-making and action capabilities, so as to realize the safety of the robot going to the delivery temporary storage cabinet or the position of the automatic receiving and dispatching platform, the environmental information around the robot is identified through the infrared sensor, the laser radar, the camera and the like to avoid obstacles, the autonomy and the site adaptability of the operation of the robot are improved in the operation process, the collision and the congestion phenomena which are easy to occur when a plurality of robots are synchronously operated can be effectively avoided, therefore, the operation stability and reliability of the multiple robots in synchronous operation are greatly improved, and the method has high practical value and market popularization value. In addition, the robot is prevented from traveling according to a traveling route planned by the server in advance, once the robot encounters an obstacle, the robot cannot effectively avoid the obstacle, the robot can automatically sense the effective obstacle avoiding effect of the unknown environment in advance through autonomous navigation of the robot, the intelligent autonomous moving effect is obvious, and the environment adaptability is strong.

s001, placing at least one article to be transported into a first conveying device, and placing at least one article to be transported into a corresponding delivery temporary storage cabinet through the first conveying device;

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. In particular, the first conveyor may be a conveyor belt that can interface with the storage area of the robot, the first conveyor may also be a device with a lifting device, and the first conveyor may also be a device with a robot arm. The goods are sorted according to the goods demand list by a delivery person or a delivery robot, the obtained goods to be transported comprise goods with set physical labels and a container with set physical labels after goods distribution is completed, then the goods to be transported are placed into an inlet area of a first conveying device by the delivery person or the delivery robot, the first conveying device is in butt joint with a delivery temporary storage cabinet, and at least one goods to be transported in the inlet area is transported to the corresponding delivery temporary storage cabinet through the first conveying device. Illustratively, as shown in fig. 3, the delivery person places the items to be transported on a conveyor belt, which places the items to be transported on the delivery buffer 1. Preferably, the delivery area (delivery station) can be provided with several first conveyors 5 and several delivery buffer cabinets 1. For example, the delivery station area may be provided with several conveyor belts.

One embodiment of the present invention, as shown in fig. 4, is an implementation method of automatic cargo transportation, including:

s020 according to the goods demand list, sorting the goods into empty boxes, setting physical labels including destination information, and putting at least one container which is finished in goods distribution and is provided with the physical labels into a corresponding delivery temporary storage cabinet 1; the goods to be transported are containers with finished goods allocation and provided with physical labels;

s100, when at least one article to be transported is placed into the temporary delivery storage cabinet 1, the temporary delivery storage cabinet 1 sends out a delivery request;

s200, taking out at least one article to be transported from the temporary delivery storage cabinet 1 by the robot 2 dispatched according to the delivery request, and transporting and unloading the article to be transported to the corresponding automatic transceiving platform 3;

s300, when the article to be transported is placed on the automatic receiving and dispatching platform 3, sending a goods taking notice;

s410, each robot 2 receives an empty box recovery request sent by the automatic transceiving platform 3 when at least one empty box is put in, judges whether to accept and recover the empty box according to the empty box recovery request and a second working state of the robot, and feeds back a corresponding empty box recovery response result to the automatic transceiving platform 3 corresponding to the delivery request and then sends the empty box to the empty box recovery; and/or the presence of a gas in the gas,

specifically, the empty box recovery request includes the position information corresponding to the automatic transceiving platform 3 that initiated the empty box recovery request. Each robot 2 and the automated transceiver platform 3 are capable of wireless communication interaction. When at least one empty box is put into the automated transceiving platform 3, the automated transceiving platform 3 can generate an empty box recovery request and issue an empty box recovery request to each robot 2. The second working state includes identification information of the robot 2 and state information including, but not limited to, a remaining power of the robot 2, a task list, and a fault detection report of whether the robot 2 is in a fault state.

Specifically, the robot 2 dispatched to deliver the goods unloads the goods to be transported to the corresponding automatic receiving and dispatching platform 3 and then leaves the goods, and once the goods to be delivered are placed on the automatic receiving and dispatching platform 3, a goods taking notice is sent out, so that a goods taking person is notified to go to the position of the automatic receiving and dispatching platform 3 in time to take the goods. The goods taking notification mode comprises any one or more modes of characters, pictures, vibration, light and sound. The mode that automatic receiving and dispatching platform 3 confirms whether have at least one empty case to be put into self includes but is not limited to two kinds, and first automatic receiving and dispatching platform 3 is equipped with operating panel and signal transmitter, when getting cargo personnel to take away the packing box of joining in marriage goods completion and having set up physical label to when taking out the goods in the packing box and putting into automatic receiving and dispatching platform 3 with the empty case, get cargo personnel and can input the operation on automatic receiving and dispatching platform 3's operating panel, thereby generate empty case and retrieve the request and send the empty case through signal transmitter and retrieve the request. And secondly, a detection sensor is arranged at each second cargo space, the automatic transceiving platform 3 can automatically detect whether at least one empty box is placed at the second cargo space of the automatic transceiving platform through the detection sensor, for example, a detection sensor such as a gravity sensor or a pressure sensor and a label scanning device are arranged at each second cargo space, once a measurement value detected by the detection sensor is greater than a first preset value (generally 0) and less than or equal to a second preset value (generally a weight value of the empty box measured manually or when the empty box leaves a factory), and a scanning result of the label scanner only includes a physical label of the cargo box and does not include the physical label of the cargo, it indicates that the empty box is placed in the automatic transceiving platform 3, and at this time, the automatic transceiving platform 3 generates an empty box recycling request and sends the empty box recycling request through a signal transmitter.

After each robot 2 receives the empty box recovery request sent by the automatic transceiving platform 3, the robot 2 autonomously judges whether the empty box can be collected or not according to the empty box recovery request and a second working state corresponding to the empty box recovery request receiving time, if the empty box recovery request can be met, the response result of the empty box is fed back and determined to be recovered to the automatic transceiving platform 3, and if the empty box recovery request cannot be met, the response result of the empty box is fed back and refused to be recovered to the automatic transceiving platform 3. This manner in which the robot 2 actively performs the order-grabbing and the empty boxes are collected can reduce the vacancy rate of the robot 2 and relieve the load pressure of the server 4.

S420, the server 4 judges whether to trigger an empty box recovery process, when the empty box recovery process is triggered, a second working state corresponding to each robot 2 is obtained, and a recovery empty box scheduling instruction is generated and sent to the corresponding robot 2 to go to the recovery empty box according to the empty box recovery request and the second working state;

specifically, the server 4 and each robot 2 can perform wireless communication, so that the server 4 monitors the second working state of each robot 2 in real time, after the server 4 receives an empty box recovery request sent by the automatic transceiving platform 3, the server 4 receives the second working state corresponding to the robot 2 at the moment according to the empty box recovery request and the empty box recovery request, the robot 2 schedules and selects a suitable target robot 2 and generates a recovered empty box scheduling instruction, the recovered empty box scheduling instruction comprises spatial position information of the automatic transceiving platform 3 with the empty box recovery request, and then the server 4 sends the recovered empty box scheduling instruction to the corresponding robot 2. The conditions for triggering the empty box recovery process comprise: the server 4 determines the arrival of the timed recovery time and the server 4 receives any one or more of the empty box recovery instructions. The empty box recycling instruction received by the server 4 is generated by the empty box taking personnel who take the goods in the container away, and after the empty box with the goods taken away is placed on the automatic receiving and dispatching platform 3, the goods taking personnel input by using the user terminal.

S500, the robot 2 sent to recover the empty boxes moves to an automatic receiving and dispatching platform 3 where at least one empty box is placed;

specifically, the manner in which the robot 2 dispatched to retrieve the empty box moves to the automatic transceiving platform 3 in the above manner includes, but is not limited to, two manners, and firstly, the robot 2 can perform autonomous navigation according to the position information corresponding to the automatic transceiving platform 3 which sends out the empty box retrieval request and move to the position of the automatic transceiving platform 3 which needs to retrieve the empty box. And secondly, the empty box recovery scheduling instruction comprises an empty box recovery planning route of the robot 2 generated by the server 4, and the empty box recovery planning route is generated by global planning according to the current position of the robot 2 and the position information corresponding to the automatic receiving and sending platform 3 which sends an empty box recovery request, so that the robot 2 moves to the position of the automatic receiving and sending platform 3 which needs to recover the empty box according to the empty box recovery planning route.

S600, the robot 2 takes out at least one empty box from the automatic transceiving platform 3, and conveys and unloads the empty box to a corresponding empty box storage cabinet 7;

specifically, the manner of moving the robot 2 to the empty box storage cabinets 7 through the above manner includes, but is not limited to, three, one is that the robot 2 stores spatial positions corresponding to all the empty box storage cabinets 7, and after the robot 2 takes out at least one empty box from the automatic transceiving platform 3, the spatial position corresponding to one empty box storage cabinet 7 is arbitrarily selected, and the robot performs autonomous navigation to move to the corresponding empty box storage cabinet 7 according to the position of the robot and the spatial position corresponding to the selected empty box storage cabinet 7 at the current moment. The other type is that the robot 2 stores the space positions corresponding to all the empty box storage cabinets 7, after the robot 2 takes out at least one empty box from the automatic transceiving platform 3, the robot obtains the appropriate target empty box storage cabinets 7 matched with the specifications and the number of the currently taken out empty boxes from the server 4, and the robot performs autonomous navigation and moves to the corresponding empty box storage cabinets 7 according to the position of the robot and the space positions corresponding to the target empty box storage cabinets 7 at the current moment. The other is that the server 4 takes out the empty box specification and the number of at least one empty box from the automatic transceiving platform 3 according to the using state of all the empty box storage cabinets 7, and the robot 2 takes out the at least one empty box from the automatic transceiving platform 3 and then performs global planning on the position where the at least one empty box is located, so as to generate an empty box recycling planning route, and therefore the robot 2 moves to the appropriate empty box storage cabinet 7 according to the empty box recycling planning route.

Preferably use back dual mode to transport and uninstall the empty case to the empty case cabinet 7 that corresponds, because back dual mode can be accurate, the robot 2 of high-efficient selection and tak eoff away the empty case carries out the butt joint uninstallation empty case, need go to different empty case cabinets 7 many times and carry out the probability of uninstalling the empty case when reducing robot 2 and carrying more number of empty cases, the empty case uninstallation latency that has significantly reduced, the empty case recovery efficiency has greatly been improved, the latency that needs the empty case to join in marriage goods when reducing the delivery personnel bulk shipment, thereby make holistic goods bulk transport efficiency greatly increased.

S700, when an empty box taking request of a shipper is obtained, the empty box storage cabinet 7 is communicated with the second conveying device 6, and the corresponding empty box is transported to the shipper through the second conveying device 6, so that the shipper can allocate the empty boxes and set physical labels.

In particular, the second conveyor 6 may be a conveyor belt which can be docked to a third cargo space of the empty storage bin 7, the second conveyor 6 may also be a device with a lifting device, and the second conveyor 6 may also be a device with a robot. The delivery area (delivery station) is provided with a plurality of empty storage cabinets 7, and each empty storage cabinet 7 comprises a plurality of third cargo spaces. The shipper receives the goods demand list, and the shipper can input the demand through a mobile terminal (including but not limited to a mobile phone and a computer) used by the shipper, so that the mobile terminal generates an empty box getting request and sends the empty box getting request to the empty box storage cabinet 7. Of course, the shipper may also directly input the shipper's empty box pick-up request on the operation panel of the empty box storage 7. When the empty box receiving request of the shipper is acquired, the empty box storage cabinet 7 is communicated with the second conveying device 6, the corresponding empty box is conveyed to the shipper through the second conveying device 6, the empty box can be conveyed to the position of the shipper, the empty box can also be delivered to the shipper, and the shipper can allocate the empty box and set a physical label according to the goods demand list.

The same portions of this embodiment as those of the above embodiment are referred to the above embodiment, and are not described in detail here. Through this embodiment, the flow is retrieved to the empty case is gone on by robot 2 completely, replaces the staff by robot 2 to carry out the empty case and retrieves, reduces staff's work load, and the maximize improves artifical efficiency. In addition, the robot 2 does not need a long rest time (including lunch break, dining, going to and from work and leaving a vacation) as a worker does except for charging or a trouble when working, and therefore, the robot 2 has a shorter time for work error than a worker. In addition, the empty boxes are stored in the empty box storage cabinet 7, so that the robot 2 does not need to leave after a shipper unloads all the empty boxes loaded by the robot 2, as in the prior art, and the empty box unloading waiting time of the robot 2 is greatly reduced. Carry out the empty case by empty case cabinet 7 at last and store, second conveyer 6 carries out the empty case and submits, robot 2 in this embodiment only needs to carry out the dress empty case in the empty case recovery flow, fortune empty case and unload the empty case, make the distribution of goods, get the goods, the transportation (including the delivery, go up the goods, freight and discharge) and the empty case is retrieved (including the dress empty case, transport the empty case and unload the empty case) and is worked in parallel, mutual noninterference, just so can promote the whole conveying efficiency of goods greatly, manpower and materials are saved, greatly reduced cost of labor.

Based on the above embodiment, when at least one article to be transported is placed into the delivery buffer 1 in S300, the step of sending a delivery request by the delivery buffer 1 specifically includes:

s310, after the goods or the containers to be transported are placed on the automatic receiving and dispatching platform 3, the automatic receiving and dispatching platform 3 sends out goods taking notice; and/or the presence of a gas in the gas,

s320, after the goods or the containers to be transported are placed on the automatic receiving and dispatching platform 3, the robot 2 sends out goods taking notice; and/or the presence of a gas in the gas,

s330 after the goods or containers to be transported are placed on the automatic transceiving platform 3, the robot 2 or the automatic transceiving platform 3 feeds back a successful unloading result to the server 4, and the server 4 controls the user terminal to send a goods taking notification after receiving the successful unloading result.

Specifically, the user terminal includes a mobile phone used by the goods taker, or a computer or a broadcasting device in an area where the goods taker is located. After the dispatched robot 2 unloads each container to the corresponding automatic receiving and dispatching platform 3, the equipment with the informing function sends out a goods taking notice so as to inform a goods taking person to go to the position of the automatic receiving and dispatching platform 3 in time to take goods. Three types of modes of sending the goods taking notice to remind the goods taking personnel to take goods in time exist, the first mode is that after the container is placed at any one second goods position of the automatic receiving and dispatching platform 3, the automatic receiving and dispatching platform 3 sends the first goods taking notice to remind the goods taking personnel to take goods from the corresponding automatic receiving and dispatching platform 3 in time. The second mode is that after the container is placed at any second cargo position of the automatic receiving and dispatching platform 3, the robot 2 sends a second cargo taking notice to remind the cargo taking personnel to timely forward to the corresponding automatic receiving and dispatching platform 3 to take the cargo. The third mode is that after the container is placed at any one second cargo position of the automatic receiving and dispatching platform 3, the robot 2 or the automatic receiving and dispatching platform 3 feeds back a successful unloading result to the server 4, the server 4 generates and sends a control instruction to a user terminal used by a goods taking person corresponding to the container after receiving the successful unloading result, and the user terminal sends a third goods taking notice according to the control instruction to remind the goods taking person to timely get goods to the corresponding automatic receiving and dispatching platform 3. The notification mode comprises any one or more modes of characters, pictures, vibration, light and sound.

Through this embodiment, get the goods through multiple, many-sided notice of getting the goods and remind the personnel of getting the goods to get the goods, conveniently get the goods personnel and go to automatic receiving and dispatching platform 3 fast, in time and locate to go into and get the goods. In this embodiment, the robot 2 sends a goods taking notice, and unloads the goods to be transported to the automatic receiving and dispatching platform 3, and then goes to other places to continue transporting the goods to be transported, so that the person taking the goods can be reminded to take the goods. To wait to transport goods uninstallation to automatic receiving and dispatching platform 3, send the notice of getting goods in the local all the time by automatic receiving and dispatching platform 3 and remind and get goods, just stop sending the notice of getting goods until getting goods personnel, not only reduce and get goods personnel and miss or forget the probability of getting goods, promote the experience of getting goods personnel, still need not take the person of getting goods and wait to get goods back robot 2 can go on to other places and carry the goods of waiting to transport greatly like prior art, the conveying efficiency of robot 2 has been promoted greatly, and then promote holistic freight transport efficiency. In addition, when waiting to transport article or packing box and place in automatic receiving and dispatching platform 3 back, robot 2 or automatic receiving and dispatching platform 3 feedback unloading success result to server 4, server 4 receives control user terminal after the successful result of unloading and sends and get the goods notice, can realize that remote notice gets the purpose that the personnel go to automatic receiving and dispatching platform 3 and get the goods, reduces and gets the probability that the personnel missed get or forget and get the goods, promotes and gets the goods experience of goods personnel.

An example is illustrated below, as shown in FIG. 3, comprising the steps of:

s1, bulk delivery: after the goods distribution is finished by the goods distributor (i.e. the delivery person in the invention) in front of the workbench, information such as the destination of the container is bound on the container (a bar code is printed or written into an RFID chip), the goods are placed into the conveyor belt, and the goods distributor continues to distribute the goods without paying attention to transportation.

S2, placing in a temporary delivery storage cabinet 1: the conveyor belts place the containers in turn into the delivery buffer 1, and the delivery buffer 1 receives the containers, identifies the containers and their destinations, and sends a delivery request to the scheduling system (i.e., the server 4 of the present invention) and then dispatches the robot 2 to pick up the containers.

And S3, the robot 2 takes the goods, the robot 2 takes the containers before coming to the delivery temporary storage cabinet 1, and the robot 2 can take a plurality of containers at a time and convey the containers to the goods storage area of the robot 2. The destination of the container can be read both at the pick-up opening of the delivery buffer 1 and in the storage area of the robot 2.

And S4, the robot 2 transports, and the robot 2 takes the elevator to reach the receiving stations corresponding to different floors to meet most indoor and outdoor transportation tasks.

And S5, unloading the container on the automatic receiving and dispatching platform 3 when the robot 2 arrives at the automatic receiving and dispatching platform 3 at the goods receiving station, and informing a person to take the goods by any one or more modes of the automatic receiving and dispatching platform 3, the robot 2 and the user terminal, and then the robot 2 executes the next task. And the person at the receiving station takes the container from the automated pick-and-place platform 3 and puts the empty container back to the automated pick-and-place platform 3 once the goods in the container are taken out.

And S6, recovering the empty boxes, namely recovering the empty boxes in a timing recovery mode or a command recovery mode, and enabling the robot 2 to go to the automatic transceiving platform 3 to recover the empty boxes. When the empty box is recovered by adopting the command recovery mode, the recovery triggering command for recovering the empty box can be issued by a person (namely, a person for taking the goods in the invention) at the goods receiving station, or the recovery command can be automatically triggered when the empty box exists in the recovery area by appointing the recovery area. When the empty box is recovered by adopting a timing recovery mode, the scheduling system times and judges whether the timing recovery time is reached. And when a recovery command is received or the timing recovery time is reached, the scheduling system schedules the robot 2 to recover the empty boxes. The robot 2 receives the dispatch and then sends the dispatch to the automatic receiving and dispatching platform 3 or the designated recovery area to receive the empty box, and the empty box is placed in the goods storage area of the robot 2. The robot 2 can take away a number of empty boxes at a time.

And S7, storing the empty boxes, putting the empty boxes into the empty box storage cabinet 7 from the goods storage area by the robot 2, and putting a plurality of empty boxes into the robot 2 at a time. After the robot 2 is put into the empty box, it goes to perform the next task.

S8, receiving empty boxes, and when the person who is to distribute the goods needs to use the empty boxes, receiving (by physical or virtual buttons) the empty boxes from the empty box storage 7, and transferring the empty boxes stored in the empty box storage 7 to the person who is to distribute the goods by a conveyor belt.

In the logistics of the robot 2, two links delay manpower, one link is loading of bulk delivery, and the other link is manual unloading during receiving. Without the invention, firstly, when bulk delivery is carried out, at least one delivery person is required to put containers into the storage area of the robot 2 in sequence, if all the robots 2 cannot load the bulk of containers, the robot 2 needs to wait for the second delivery, and a large amount of time of the delivery person is wasted in waiting. Secondly, when the robot 2 arrives at the goods receiving station, the goods taking personnel is required to be called to take the goods, and the goods taking personnel is required to load the goods when the empty box is recovered. When the goods taking personnel are busy, the goods cannot be taken and put into an empty box in time, so that the unloading time is prolonged, and the working efficiency of the robot 2 is reduced. Thirdly, when the robot 2 is not used for logistics, a conveyor belt is needed to pass from the delivery station to the receiving station, and the transportation of the containers cannot be completed in partial environments such as crossing floors.

According to the invention, a delivery person only needs to allocate goods and puts the allocated containers into the delivery cache cabinet, so that the goods can be continuously allocated, the labor for delivery is saved, when the goods are unloaded, the robot 2 firstly unloads the containers on the automatic receiving and dispatching platform 3 and sends out a goods taking notice, the goods taking person takes the goods after the goods are busy, the empty boxes with the goods taken out are put on the automatic receiving and dispatching platform 3 and triggered to be recovered, the robot 2 returns the empty boxes according to a command, and then the empty boxes are put into the empty box storage cabinet 7. Whole unmanned on duty, the delivery is handled with other works parallel, greatly improves freight efficiency. In addition, the invention can use the robot 2 to take the elevator in the environment where the conveyor belt cannot be deployed, and transport the container to the goods receiving station under the condition of not changing the building structure. The manpower is saved, the manpower for putting and loading the goods is saved, the manpower for transporting is saved, the manpower for full-time goods taking is saved, the manpower for empty box recycling is saved, the goods are distributed, the goods are taken, transported and recycled, four lines work in parallel, the four lines do not interfere with each other, and the manual efficiency is improved to the maximum extent.

One embodiment of the present invention, as shown in fig. 5, is an implementation system for automatic cargo transportation, including: the system comprises a plurality of delivery temporary storage cabinets 1, a robot 2 and an automatic transceiving platform 3;

a delivery buffer cabinet 1 for sending a delivery request when at least one article to be transported is placed in itself;

the robot 2 is used for taking out at least one article to be transported from the temporary delivery storage cabinet 1 according to the delivery request, and transporting and unloading the article to be transported to the corresponding automatic transceiving platform 3;

the goods taking notification module is used for sending goods taking notification after the goods to be transported are placed on the automatic receiving and dispatching platform 3; the goods taking notification module comprises a robot 2 for completing unloading and/or an automatic receiving and dispatching platform 3 for completing receiving goods.

Based on the foregoing embodiment, as shown in fig. 6, the delivery buffer cabinet 1 includes: the first detection module 11 is used for detecting whether at least one article to be transported is placed in the delivery temporary storage cabinet 1; the first scanning and identifying module 12 is configured to scan a physical label on the article to be transported when at least one article to be transported is placed in the temporary shipment storage cabinet 1, and identify the physical label to obtain destination information and a cargo type corresponding to the article to be transported; the first processing module 13 is configured to analyze the destination information and the type of the goods and generate a corresponding delivery request; a first communication module 14 for issuing a shipping request.

Based on the foregoing embodiment, the first processing module 13 includes: the first analysis unit is used for judging whether closed transportation is needed or not according to the cargo type and obtaining a corresponding analysis result; the second analysis unit is used for judging whether the position corresponding to the destination information needs the access authority and the access authority type or not and obtaining a corresponding analysis result; and the generating unit is used for generating a corresponding delivery request according to the analysis result.

Based on the foregoing embodiment, the robot 2 includes: the second communication module is used for acquiring a delivery request; the first acquisition module is used for acquiring destination information corresponding to the article to be transported; the mobile module is used for moving to a delivery temporary storage cabinet 1 which sends out a delivery request; and the automatic transceiving platform 3 is also used for moving to the corresponding destination information; the execution module is used for taking out at least one article to be transported from the delivery temporary storage cabinet 1 which sends out a delivery request and placing the article into a storage area of the robot 2; and also for unloading at least one item to be transported from the storage area to the automated transceiving platform 3.

Based on the foregoing embodiment, further comprising: the server 4, the server 4 includes the third communication module and the second generating module; the third communication module is used for acquiring a delivery request; and sending a shipment scheduling instruction to the second communication module; the second generation module is used for generating a shipping scheduling instruction according to the shipping request; the delivery request comprises a first delivery request or a second delivery request;

the robot 2 further includes: the second scanning and identifying module is used for scanning the physical label on the article to be transported and identifying the physical label to obtain destination information corresponding to the article to be transported; and/or the second processing module is used for acquiring the freight scheduling instruction from the second communication module and analyzing the freight scheduling instruction to obtain destination information corresponding to the article to be transported.

Based on the foregoing embodiment, the server 4 further includes: a third processing module; the second processing module is further used for judging whether order receiving and shipping are carried out according to the shipping request and the first working state of the second processing module to obtain a corresponding shipping response result, and feeding back the corresponding shipping response result to the shipping temporary storage cabinet 1 corresponding to the shipping request through the second communication module; and/or the third processing module is used for acquiring the first working state corresponding to each robot 2, generating and sending a delivery scheduling instruction to the corresponding robot 2 according to the delivery request and the first working state; the first operating state is an operating state corresponding to the robot 2 at the time of receiving the shipping request.

Based on the embodiment, the goods to be transported comprise goods which are sorted according to the goods demand list and are provided with the physical labels comprising the destination information; and/or sorting the goods into empty containers according to the goods demand list and setting the containers with physical labels comprising destination information.

Based on the foregoing embodiment, further comprising: the first conveying devices are used for conveying at least one article to be conveyed, placed in the conveying area of the first conveying devices, to the corresponding delivery temporary storage cabinet 1.

Based on the foregoing embodiment, further comprising: a plurality of empty storage cabinets; the robot 2 is also used for moving to the automatic receiving and dispatching platform 3 where at least one empty box is placed, taking out the at least one empty box from the automatic receiving and dispatching platform 3, and conveying and unloading the empty box to the corresponding empty box storage cabinet.

Based on the foregoing embodiment, the automated transceiving platform 3 includes: a second detection module for detecting whether at least one empty box is placed in the automatic transceiving platform 3; a third generation module for generating an empty box recovery request when at least one empty box is placed in the automatic transceiving platform 3; the fourth communication module is used for sending an empty box recovery request;

the robot 2 is also used for judging whether to receive orders to recover the empty boxes according to the received empty box recovery request and the second working state of the robot, feeding back the corresponding response result of the recovered empty boxes to the automatic transceiving platform 3 corresponding to the delivery request and then sending the corresponding response result to the recovered empty boxes; and/or the presence of a gas in the gas,

the server 4 is used for judging whether to trigger the empty box recovery flow, acquiring a second working state corresponding to each robot 2 when the empty box recovery flow is triggered, and generating and sending a recovery empty box scheduling instruction to the corresponding robot 2 to go to the recovery empty box according to the empty box recovery request and the second working state; the second operating state is an operating state corresponding to the robot 2 at the time of receiving the empty box recovery request.

Based on the foregoing embodiment, further comprising: a plurality of second conveying devices; the empty box storage cabinet is also used for being communicated with the second conveying device when an empty box receiving request of a delivery person is obtained; and the second conveying device is used for conveying at least one empty box placed in the self conveying area to the shipper, so that the shipper can distribute the empty boxes and set the physical labels.

Based on the foregoing embodiment, further comprising: the robot 2 is also used for feeding back a successful unloading result to the server 4 after the goods or the containers to be transported are placed on the automatic receiving and dispatching platform 3; and/or the automatic receiving and dispatching platform 3 is also used for feeding back the successful unloading result to the server 4 after the goods or the containers to be transported are placed on the automatic receiving and dispatching platform 3; and/or the server 4 is further configured to control the user terminal to send a goods taking notification after receiving the successful unloading result.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An implementation method for automatic cargo transportation is characterized by comprising the following steps:

when at least one article to be transported is placed in a delivery buffer, the delivery buffer sends out a delivery request; the article to be transported is provided with a physical label, and the delivery temporary storage cabinet is provided with label scanning equipment;

when at least one article to be transported is placed into the delivery buffer, the sending of a delivery request by the delivery buffer specifically includes:

when at least one article to be transported is placed in the delivery temporary storage cabinet, scanning a physical label on the article to be transported by the delivery temporary storage cabinet, and identifying the physical label to obtain destination information and a cargo type corresponding to the article to be transported;

the delivery temporary storage cabinet analyzes the destination information and the goods type, generates a corresponding delivery request and sends the delivery request to each robot, so that the robot can autonomously judge whether the delivery can be ordered or not;

2. The method for realizing automatic transportation of goods according to claim 1, wherein the step of analyzing the delivery buffer according to the destination information and the type of goods and generating a corresponding delivery request specifically comprises the steps of:

the delivery temporary storage cabinet judges whether closed transportation is needed or not according to the type of the goods, and obtains a corresponding analysis result; and/or the delivery temporary storage cabinet judges whether the position corresponding to the destination information needs access permission or not, and analyzes the permission type corresponding to the access permission to obtain a corresponding analysis result;

and the delivery temporary storage cabinet generates a corresponding delivery request according to the analysis result.

3. The method for realizing automatic transportation of goods according to claim 1, wherein the robot dispatched according to the delivery request takes out at least one of the items to be transported from the delivery buffer, and transports and unloads the item to be transported to the corresponding automatic transceiving platform, specifically comprising the steps of:

the robot dispatched according to the delivery request moves to a delivery temporary storage cabinet which sends out the delivery request;

the robot takes out at least one article to be transported from a delivery temporary storage cabinet which sends out the delivery request and puts the article into a storage area of the robot;

the robot acquires destination information corresponding to the article to be transported;

and the robot conveys the to-be-transported articles to an automatic receiving and dispatching platform corresponding to the destination information of the to-be-transported articles, and unloads at least one to-be-transported article from the goods storage area to the automatic receiving and dispatching platform.

4. The method for realizing automatic cargo transportation according to claim 3, wherein the step of acquiring destination information corresponding to each article to be transported by the robot specifically comprises the steps of:

the robot scans a physical label on the article to be transported, and identifies the physical label to obtain destination information corresponding to the article to be transported; and/or the presence of a gas in the gas,

the robot analyzes the freight scheduling instruction to obtain destination information corresponding to the article to be transported; the shipment scheduling instruction is generated by the server according to the shipment request comprising the destination information.

5. The method for realizing automatic transportation of goods according to claim 1, wherein after the temporary delivery storage cabinet issues a delivery request when at least one item to be transported is placed in the temporary delivery storage cabinet, the robot dispatched according to the delivery request takes out at least one item to be transported from the temporary delivery storage cabinet and transports and unloads the item to be transported to the corresponding automatic transceiving platform, and the method comprises the following steps:

each robot receives the delivery request, judges whether to receive the order delivery according to the delivery request and the first working state of the robot, and feeds back a corresponding delivery response result to a delivery temporary storage cabinet corresponding to the delivery request; and/or the presence of a gas in the gas,

the server receives the delivery request, acquires a first working state corresponding to each robot, and generates and sends a delivery scheduling instruction to the corresponding robot according to the delivery request and the first working state;

and the first working state is a working state corresponding to the robot at the receiving moment of the delivery request.

6. The method for realizing automatic transportation of goods according to claim 1, wherein when at least one article to be transported is placed in the delivery buffer cabinet, the delivery buffer cabinet sends out a delivery request and comprises the following steps:

sorting according to a goods demand list, setting goods of physical labels including destination information, and putting at least one piece of goods which is sorted and set with the physical labels into a corresponding delivery temporary storage cabinet; the goods to be transported are sorted goods with physical labels arranged; and/or the presence of a gas in the gas,

sorting the goods into empty boxes according to a goods demand list, setting physical labels comprising destination information, and putting at least one container which is finished in goods distribution and is provided with the physical labels into a corresponding delivery temporary storage cabinet; the goods to be transported are containers which are finished in goods distribution and provided with physical labels.

7. The method for realizing the automatic transportation of the goods according to claim 1, wherein after the goods to be transported is placed on the automatic transceiving platform, the method comprises the following steps:

the robot dispatched to recover the empty boxes moves to an automatic receiving and dispatching platform provided with at least one empty box;

and the robot takes out at least one empty box from the automatic receiving and dispatching platform, and conveys and unloads the empty box to a corresponding empty box storage cabinet.

8. The method for realizing the automatic transportation of the cargo according to claim 7, wherein after the goods to be transported is placed on the automatic transceiving platform and a goods taking notice is sent out, the robot dispatched to recover the empty box comprises the following steps before moving to the automatic transceiving platform where at least one empty box is placed:

each robot receives an empty box recovery request sent by the automatic receiving and sending platform when at least one empty box is put in, judges whether to accept and recover the empty box according to the empty box recovery request and a second working state of the robot, and feeds back a corresponding empty box recovery response result to the automatic receiving and sending platform corresponding to the delivery request and then sends the empty box to the empty box recovery platform; and/or the presence of a gas in the gas,

the server judges whether an empty box recovery flow is triggered or not, when the empty box recovery flow is triggered, a second working state corresponding to each robot is obtained, and a recovery empty box scheduling instruction is generated and sent to the corresponding robot to go to the recovery empty box according to the empty box recovery request and the second working state;

and the second working state is a working state corresponding to the robot at the receiving moment of the empty box recovery request.

9. The method for realizing the automatic transportation of the goods according to claim 7, wherein the robot further comprises the following steps after taking out at least one empty box from the automatic transceiving platform and transporting and unloading the empty box to the corresponding empty box storage cabinet:

when an empty box receiving request of a shipper is obtained, the empty box storage cabinet is communicated with a second conveying device, and the corresponding empty box is transported to the shipper through the second conveying device, so that the shipper can allocate each empty box and set a physical label.

10. The method for realizing the automatic transportation of the goods according to any one of claims 1 to 9, wherein the step of sending the goods taking notice after the goods to be transported are placed on the automatic transceiving platform specifically comprises the steps of:

when the goods or the containers to be transported are placed on the automatic receiving and dispatching platform, the automatic receiving and dispatching platform sends out goods taking notice; and/or the presence of a gas in the gas,

when the goods or the containers to be transported are placed on the automatic receiving and dispatching platform, the robot sends out goods taking notice; and/or the presence of a gas in the gas,

and after the goods to be transported or the container is placed on the automatic receiving and sending platform, the robot or the automatic receiving and sending platform feeds back a successful unloading result to the server, and the server controls the user terminal to send a goods taking notice after receiving the successful unloading result.

11. An implementation system for automatic cargo transportation is characterized by comprising: the delivery temporary storage cabinets, the robots and the automatic receiving and dispatching platform are arranged in the machine body;

the goods taking notification module is used for sending goods taking notification after the goods to be transported are placed on the automatic receiving and sending platform; the goods taking notification module comprises a robot for completing unloading and/or an automatic receiving and sending platform for completing goods receiving;

the delivery temporary storage cabinet comprises:

the first detection module is used for detecting whether at least one article to be transported is placed in the delivery temporary storage cabinet;

the first scanning and identifying module is used for scanning a physical label on the article to be transported when at least one article to be transported is placed in the delivery temporary storage cabinet, and identifying the physical label to obtain destination information and a cargo type corresponding to the article to be transported;

the first processing module is used for analyzing and generating a corresponding delivery request according to the destination information and the goods type;

and the first communication module is used for sending the delivery request to each robot so that the robot can autonomously judge whether the delivery can be performed by receiving orders or not.

12. The system for realizing the automatic transportation of the goods according to claim 11, wherein the first processing module comprises:

the first analysis unit is used for judging whether closed transportation is needed or not according to the cargo type and obtaining a corresponding analysis result;

the second analysis unit is used for judging whether the position corresponding to the destination information needs access permission or not and analyzing the permission type corresponding to the access permission to obtain a corresponding analysis result;

and the generating unit is used for generating a corresponding delivery request according to the analysis result.

13. The system for realizing the automatic transportation of goods according to claim 11, characterized in that said robot comprises:

the second communication module is used for acquiring the delivery request;

the first acquisition module is used for acquiring destination information corresponding to the article to be transported;

the mobile module is used for moving to a delivery temporary storage cabinet which sends the delivery request; and the mobile terminal is also used for moving to an automatic transceiving platform corresponding to the destination information;

the execution module is used for taking out at least one article to be transported from the delivery temporary storage cabinet which sends out the delivery request and placing the article to be transported into a storage area of the robot; and the automatic receiving and dispatching platform is also used for unloading at least one article to be transported from the goods storage area to the automatic receiving and dispatching platform.

14. The system for realizing the automatic transportation of the cargo according to claim 13, further comprising: a server including a third communication module and a second generation module;

the third communication module is used for acquiring the delivery request; and sending a shipment scheduling instruction to the second communication module;

the second generation module is used for generating the freight scheduling instruction according to the delivery request;

the robot further includes:

the second scanning and identifying module is used for scanning the physical label on the article to be transported, identifying the physical label and obtaining destination information corresponding to the article to be transported; and/or the presence of a gas in the gas,

and the second processing module is used for acquiring the freight scheduling instruction from the second communication module and analyzing the freight scheduling instruction to obtain destination information corresponding to the article to be transported.

15. The system for realizing automatic transportation of goods according to claim 14, wherein said server further comprises: a third processing module;

the second processing module is further configured to determine whether to receive orders and to ship goods according to the delivery request and a first working state of the second processing module, and feed back a corresponding delivery response result to the delivery temporary storage cabinet corresponding to the delivery request through the second communication module; and/or the presence of a gas in the gas,

the third processing module is used for acquiring a first working state corresponding to each robot, and generating and sending a delivery scheduling instruction to the corresponding robot according to the delivery request and the first working state;

16. The system for realizing the automatic transportation of the cargo according to claim 11, further comprising: a plurality of empty storage cabinets; the robot is also used for moving to an automatic receiving and dispatching platform where at least one empty box is placed, taking out the at least one empty box from the automatic receiving and dispatching platform, and conveying and unloading the empty box to a corresponding empty box storage cabinet;

the automatic transceiving platform comprises:

the second detection module is used for detecting whether at least one empty box is placed into the automatic transceiving platform;

a third generating module, configured to generate an empty box recovery request when at least one empty box is placed on the automatic transceiving platform;

the fourth communication module is used for sending the empty box recovery request;

the robot is also used for judging whether to receive orders to recover the empty boxes according to the received empty box recovery request and the second working state of the robot, feeding back the corresponding response result of the recovered empty boxes to the automatic receiving and dispatching platform corresponding to the delivery request and then sending the result to the recovered empty boxes; and/or the presence of a gas in the gas,

the server is used for judging whether an empty box recovery flow is triggered or not, acquiring a second working state corresponding to each robot when the empty box recovery flow is triggered, and generating and sending a recovery empty box scheduling instruction to the corresponding robot to go to the recovery empty box according to the empty box recovery request and the second working state;

17. The system for realizing the automatic transportation of the cargo according to any one of claims 11 to 16, further comprising: a user terminal;

the robot is also used for feeding back a successful unloading result to the server after the goods to be transported or the container is placed on the automatic receiving and sending platform; and/or the presence of a gas in the gas,

the automatic receiving and dispatching platform is further used for feeding back a successful unloading result to the server after the goods to be transported or the containers are placed on the automatic receiving and dispatching platform; and/or the presence of a gas in the gas,

and the server is also used for controlling the user terminal to send a goods taking notice after receiving the successful unloading result.