CN110937296A

CN110937296A - Unmanned distribution station and unmanned vehicle goods access method thereof

Info

Publication number: CN110937296A
Application number: CN201811110624.3A
Authority: CN
Inventors: 汪钊; 陈英; 肖军; 张亚方
Original assignee: Beijing Jingdong Century Trading Co Ltd; Beijing Jingdong Shangke Information Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2020-03-31
Also published as: WO2020057243A1

Abstract

The invention provides an unmanned distribution station and an unmanned vehicle goods storing and taking method thereof, wherein the unmanned distribution station comprises a cabinet body and a movable parcel storage device arranged in the cabinet body, and the movable parcel storage device comprises a plurality of goods grids for storing parcels; the cabinet body is also provided with a cabinet door for the unmanned vehicle to enter and exit; a parcel grabbing area is further arranged in the cabinet body, and a grabbing device is arranged in the parcel grabbing area and used for transferring target parcels between the goods grids and the unmanned vehicle; when the grabbing device acts, the movable parcel storage device drives the empty goods lattice or the goods lattice where the target parcel is located to move to the parcel grabbing area along a set track.

Description

Unmanned distribution station and unmanned vehicle goods access method thereof

Technical Field

The invention relates to the field of warehouse logistics in general, and particularly relates to an unmanned distribution station and an unmanned vehicle parcel storage and taking method thereof.

Background

The transfer transportation and the goods extraction in the logistics field are very important, and the cost of the link accounts for a large proportion of the whole logistics cost, so that the technical optimization of the link is always the direction of research and development in the industry.

In the existing distribution station, a plurality of network points are generally established in a city, and each network point is configured with related staff, so that manpower is responsible for transferring goods or helps customers to extract goods.

The existing distribution station and goods transfer mode have strong dependence on workers, most workers work in the station for a long time, the cost is high, the efficiency is low, the error rate is generated due to errors of operators, and the development of the logistics industry is restricted to a certain extent.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

It is a primary object of the present invention to overcome at least one of the above-mentioned disadvantages of the prior art and to provide an unmanned distribution station that solves the problems of high cost and low efficiency of cargo transfer in the prior art.

It is another primary object of the present invention to overcome at least one of the above-mentioned deficiencies of the prior art and to provide a method of unmanned vehicle pickup using the above-mentioned unmanned dispensing station.

It is a further primary object of the present invention to overcome at least one of the above-mentioned deficiencies of the prior art and to provide a method of automated vehicle inventory using the above-mentioned automated dispensing station.

In order to achieve the purpose, the invention adopts the following technical scheme:

according to one aspect of the present invention, there is provided an unmanned delivery station comprising a cabinet and a movable package storage device disposed within the cabinet, the movable package storage device comprising a plurality of compartments for storing packages; the cabinet body is also provided with a cabinet door for the unmanned vehicle to enter and exit; a parcel grabbing area is further arranged in the cabinet body, and a grabbing device is arranged in the parcel grabbing area and used for transferring target parcels between the cargo grid and the unmanned vehicle; when the grabbing device acts, the movable parcel storage device drives the empty goods grid or the goods grid where the target parcel is located to move to the parcel grabbing area along a set track.

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

According to an embodiment of the invention, a parcel taking window is further arranged on the cabinet body, and the orthographic projection of the parcel taking window is located in the motion track range of the goods grid.

According to an embodiment of the present invention, the parcel pick-up window is connected to the cargo compartment, so that a user can directly put the target parcel into the empty cargo compartment or directly take the target parcel out of the unmanned distribution station through the parcel pick-up window.

According to an embodiment of the invention, the cabinet body is provided with a human-computer interaction device for receiving request information of a user and outputting corresponding feedback information to the user according to the request information.

According to one embodiment of the invention, the targeted package may be an item for sale.

According to one embodiment of the invention, the movable parcel storage device comprises two rotating shafts which are horizontally arranged at the upper part and the lower part in the cabinet body respectively, and a rectangular plane formed by the two rotating shafts is vertical to a horizontal plane; the linkage assemblies are symmetrically arranged, and each linkage assembly is linked between the two rotating shafts; the plurality of goods grids are arranged on the two groups of linkage assemblies and can rotate circularly around the two rotating shafts along with the rotation of the two groups of linkage assemblies.

According to an embodiment of the present invention, each of the linkage assemblies includes two chain wheels and a chain sleeved on the two chain wheels, and the two chain wheels are respectively installed at one end of the two rotating shafts; the movable parcel storage device further comprises a plurality of connecting rods which are horizontally arranged, and two ends of the connecting rods are respectively connected to each chain of each linkage assembly; the goods grids are hinged on the connecting rods.

According to an embodiment of the invention, the projection of the connecting rod on the top surface of the cargo space is centered.

According to one embodiment of the invention, the cargo space is provided with guide wheels, and a guide plate is arranged adjacent to the guide wheels, and the guide wheels can roll along the guide plate.

According to an embodiment of the present invention, the movable package storage device may be a plurality of devices operating in parallel and independently.

According to another aspect of the invention, there is provided an unmanned vehicle picking method, which adopts the unmanned distribution station, and comprises:

the central control system sends a goods taking instruction;

the unmanned vehicle receives the goods taking instruction, and the goods taking instruction comprises a package code and a goods grid code bound with the package code;

judging whether the goods lattice where the goods lattice code is located is in a package grabbing area, if so, carrying out goods taking action by a grabbing device;

if not, the movable parcel storage device drives the goods lattice where the goods lattice code is located to move to the parcel grabbing area along a set track.

According to an embodiment of the present invention, the picking action includes:

the grabbing device takes the to-be-taken packages out of the goods grids and puts the to-be-taken packages into a temporary storage platform;

a second identification device acquires the package code of the package to be taken;

the grabbing device stores the to-be-taken packages on the temporary storage platform into the unmanned vehicle.

According to still another aspect of the present invention, there is provided an unmanned vehicle inventory method using the above unmanned distribution station, comprising:

the central control system sends out inventory commands;

the unmanned vehicle receives the inventory instruction;

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

judging whether the position of the empty goods grid is located in the range of the package grabbing area, if so, carrying out inventory action;

if not, the movable parcel storage device drives the empty cargo grid to move to the parcel grabbing area along a set track.

According to an embodiment of the invention, the inventory action comprises:

the grabbing device puts the to-be-stored packages in the unmanned vehicle into a temporary storage platform;

a first identification device acquires a package code of the package to be stored;

the grabbing device is used for storing the packages to be stored on the temporary storage platform into the empty goods grids;

the second identification device acquires the goods lattice code of the empty goods lattice;

and the central control system binds the package code and the goods grid code.

According to the technical scheme, the unmanned distribution station and the unmanned vehicle parcel storage and taking method thereof have the advantages and positive effects that:

according to the unmanned distribution station, the grabbing device can automatically store and take the parcels between the unmanned distribution station and the unmanned vehicle, and the parcels do not need to be sorted by other auxiliary tools, so that the labor cost is greatly reduced, and the working efficiency is improved.

On the other hand, the invention also comprises a man-machine interaction device and a package sending window, and the user and the distributor can access the packages through the package sending window, so that the invention has diversity and universality. Send the self-service access function of getting the window through the parcel to combine the access goods function of unmanned car, unmanned delivery station has integrateed and has connect functions in an organic whole such as goods, unload, letter sorting, keep in, delivery, has realized full-automatic delivery parcel. Meanwhile, the packages in the unmanned distribution station can be commodities for sale, such as beverages, snacks, daily necessities and the like, and the requirement that the public can obtain the commodities at any time is met.

On the other hand, according to the unmanned vehicle goods taking method provided by the invention, after the unmanned distribution station receives the goods taking instruction, the packages to be taken can be taken out of the goods grids and placed into the temporary storage platform through the grabbing device, and after the unmanned vehicle drives into the package grabbing area of the unmanned distribution station, the grabbing device places the packages into the unmanned vehicle one by one, so that the waiting time of the unmanned vehicle is saved, and the goods taking efficiency of the unmanned vehicle is effectively improved.

Drawings

The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a perspective view of an unmanned dispensing station according to an exemplary embodiment.

FIG. 2 is a schematic view of an unmanned dispensing station having a door according to an exemplary embodiment.

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

Fig. 4 is a perspective view of an unmanned dispensing station according to an exemplary embodiment.

Fig. 5 is a schematic view according to fig. 4 with the cabinet removed.

Fig. 6 is a perspective view of a movable package storage device shown in accordance with an exemplary embodiment.

Fig. 7 is a perspective view of two sets of movable package storage devices shown in accordance with an exemplary embodiment.

Fig. 8 is a flow diagram illustrating a method for pickup of a human-free vehicle according to an exemplary embodiment.

Fig. 9 is a flowchart illustrating a picking action of a gripping device of the unmanned vehicle picking method according to an exemplary embodiment.

FIG. 10 is a flow diagram illustrating a method for unmanned vehicle inventory, according to an exemplary embodiment.

Fig. 11 is a flow diagram illustrating an inventory action by a grasping device of an unmanned vehicle inventory method according to an exemplary embodiment.

Wherein the reference numerals are as follows:

1. a distribution station; 10. a cabinet body; 11. a cabinet door; 12. a parcel posting and fetching window; 13. a human-computer interaction device; 14. an advertisement screen; 20. unmanned vehicles; 21. a first identification device; 22. an electronic control system; 23. a second recognition device; 30. a parcel grasping area; 31. a temporary storage platform; 32. a gripping device; 33. target packaging; 100. a movable parcel storage means; 121. a first rotating shaft; 122. a second rotating shaft; 130. a first linkage assembly; 131. a first sprocket; 132. a second sprocket; 133. a first chain; 134. a through hole; 140. a second linkage assembly; 141. a third sprocket; 142. a fourth sprocket; 143. a second chain; 152. a hinge plate; 153. a goods grid; 154. a guide wheel; 155. a fixing plate; 156. a connecting rod; 157. a guide plate; 160. a drive device; 161. a motor; 162. a third chain; 163. and a fifth sprocket.

Detailed Description

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

Although relative terms, such as "upper" and "lower," may be used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples described in the figures. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". Other relative terms, such as "top", "bottom", and the like, are also intended to have similar meanings. The terms "a," "an," "the," and "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," "third," and "fourth," etc. are used merely as labels, and are not limiting as to the number of their objects.

In the following, some embodiments of the invention will be described in detail with reference to the accompanying drawings, and features of the embodiments described below may be combined with each other without conflict.

FIG. 1 is a perspective view of an unmanned dispensing station, according to an exemplary embodiment; FIG. 2 is a schematic view of an unmanned dispensing station having a cabinet door, according to an exemplary embodiment; FIG. 3 is a partial cross-sectional view of an unmanned dispensing station according to an exemplary embodiment; FIG. 4 is a perspective view of an unmanned dispensing station according to an exemplary embodiment; FIG. 5 is a schematic view with the cabinet removed according to FIG. 4; FIG. 6 is a perspective view of a movable package storage device shown in accordance with an exemplary embodiment; fig. 7 is a perspective view of two sets of movable package storage devices shown in accordance with an exemplary embodiment. FIG. 8 is a schematic flow diagram illustrating a method for pickup of a drone vehicle in accordance with an exemplary embodiment; FIG. 9 is a flow diagram illustrating a picking action by a grasping device of an unmanned vehicle picking method according to an exemplary embodiment; FIG. 10 is a schematic flow diagram illustrating a method for unmanned vehicle inventory, according to an exemplary embodiment; fig. 11 is a flow diagram illustrating an inventory action by a grasping device of an unmanned vehicle inventory method according to an exemplary embodiment.

In this specification, the stock operation means to store the parcel to be stored in the unmanned vehicle in the unmanned distribution station, and the pickup operation means to put the parcel to be picked in the unmanned vehicle in the unmanned distribution station.

Referring to fig. 1 to 4, the invention provides an unmanned distribution station, which includes a cabinet 10 and a movable parcel storage apparatus 100 disposed in the cabinet 10.

It should be understood that the movable package storage device 100 described above may be rotated laterally, i.e., with the axis of rotation perpendicular to the horizontal, or vertically, i.e., with the axis of rotation parallel to the horizontal.

As shown in fig. 3, the movable package storage device 100 further includes a plurality of compartments 153 for storing packages, the compartments 153 being movable in response to movement of the movable package storage device 100.

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

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

The gripping device 32 may be at least one robot arm or a palletizing robot, or other device that can effect gripping. For convenience of the following description, the robot is schematically described as an example. The manipulator is mounted on the cabinet 10 and is disposed in the parcel grasping area 30. The robot arm also slides in the direction of travel of the drone 20 so that the robot arm can grasp parcels located in all of the bins 153 in the parcel grasping area 30. The gripping end of the robot may include an actuator such as a gripper.

Further, a temporary storage platform 31 is disposed in the parcel gripping area 30 for temporarily storing the gripped target parcels 33.

When the unmanned distribution station 1 receives the inventory command from the central control system during the inventory operation, the gripping device 32 may take out the to-be-stored packages in the unmanned vehicle 20 and place the to-be-stored packages into the temporary storage platform 31, and then place the to-be-stored packages into the empty cargo space from the temporary storage platform 31. After the packages in the unmanned vehicle 20 are completely taken out, the next action can be performed without waiting for the gripping device 32 to completely place the packages to be stored in the empty cargo space.

Since it takes a certain time for the gripping device 32 to store the package to be stored in the empty compartment, and it also takes a certain time for the movable package storage device 100 to move the empty compartment to the package gripping area 30. The design of the temporary storage platform 31 improves the inventory efficiency, reduces the waiting time of the unmanned vehicle 20 and increases the utilization efficiency of the unmanned vehicle 20.

When the goods taking action is performed, after the unmanned distribution station 1 receives the goods taking instruction of the central control system, the to-be-taken parcel can be taken out and placed into the temporary storage platform 31 through the grabbing device 32, and the grabbing action is performed after the unmanned vehicle 20 drives into the parcel grabbing area 30 without waiting, so that the goods taking efficiency of the unmanned vehicle 20 is greatly improved.

Of course, it should be understood that the access to the packages between the unmanned vehicle 20 and the staging platform 31 may be performed by one robot, and the access to the packages between the staging platform 31 and the cargo space 153 may be performed by another robot, so that the two robots may operate simultaneously, thereby improving the overall efficiency of the goods access.

As shown in fig. 3, the first identification device 21 may scan the package code on the package during an inventory or pick-up action. Meanwhile, the second recognition device 23 is disposed at the grasping end of the grasping device 32, and can recognize the shelf code or the package code of the shelf 153 in which the package is stored. The central processing system binds the package code and the identification code.

The identification device can adopt a camera, the camera collects images of the packages or the shelves, such as two-dimensional codes or bar codes, and after the two-dimensional codes or the bar codes are correspondingly processed and analyzed, logistics information of the packages and position information of the shelves and the like are determined. Meanwhile, the corresponding relation between the package and the shelf in which the package is stored is bound through the collected two-dimensional codes or bar codes. Of course, the identification means may also be a code scanner or the like.

Further, still be provided with the parcel on the cabinet body 10 and send window 12, the orthographic projection that the window 12 was sent to the parcel is located the movement track within range of goods check 153, like this when controlling movable parcel storage device 100 and conveying goods check 153 to the parcel and send window 12 after, the user accessible parcel is sent window 12 and is sent the parcel.

Further, as shown in fig. 3, parcel pick-up window 12 is in communication with cargo space 153, so that a user may directly place target parcel 33 into cargo space 153 or directly take target parcel 33 out of cargo space 153 through parcel pick-up window 12 outside unmanned distribution station 1.

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

Of course, the package in the unmanned distribution station 1 may also be a commodity for sale, and correspondingly, the human-computer interaction device 13 may include a card swiping port, a coin slot, a change giving port or a receipt printing port.

Further, an advertisement screen 14 may be disposed on the cabinet 10 for displaying advertisements.

Further, an electric control system 22 may be further disposed in the cabinet 10, for example, the electric control system 22 may include a charger, an electric cabinet, an air conditioner, and the like.

It should be understood that the central control system described above is used to send pick-up or inventory instructions for the unmanned vehicle 20, while performing the functions of controlling, data analyzing and storing, etc. the corresponding devices of the unmanned distribution station 1.

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

Further, referring to fig. 3 to 6, the movable parcel storage apparatus 100 includes two rotating shafts horizontally disposed at the upper and lower portions of the cabinet 10, respectively, and a rectangular plane formed by the two rotating shafts is perpendicular to the horizontal plane; and two sets of linkage assemblies symmetrically arranged, wherein each linkage assembly is linked between the two rotating shafts; the plurality of cargo grids 153 are mounted on the two sets of linkage assemblies and can rotate circularly around the two rotation shafts along with the rotation of the two sets of linkage assemblies.

For convenience of the following description, the two rotation axes are specifically defined as a first rotation axis 121 and a second rotation axis 122, respectively. The first and second

rotating shafts

121 and 122 are horizontally disposed at the upper and lower portions of the bracket 110, respectively, and a rectangular plane formed by the first and second

rotating shafts

121 and 122 is perpendicular to a horizontal plane.

For the convenience of the following description, two sets of linkage elements are specifically defined as the first linkage element 130 and the second linkage element 140, respectively. The first linkage assembly 130 and the second linkage assembly 140 are linked between two rotation shafts. Specifically, the first linkage assembly 130 may be connected to one end of two rotation shafts, and the second linkage assembly 140 may be connected to the other end of the two rotation shafts. The linkage assembly is used for transmitting the power of the first rotating shaft 121 to the second rotating shaft 122 or transmitting the power of the second rotating shaft 122 to the first rotating shaft 121.

Further, each linkage assembly can comprise two chain wheels and a chain sleeved on the two chain wheels. The first linkage assembly 130 includes a first sprocket 131, a second sprocket 132, and a first chain 133 fitted over the sprockets. The second linkage assembly 140 includes a third sprocket 141 and a fourth sprocket 142, and a second chain 143 fitted over the sprockets. The first and

second sprockets

131 and 132 are fixedly coupled to one ends of the first and second

rotating shafts

121 and 122, respectively, and the third and

fourth sprockets

141 and 142 are fixedly coupled to the other ends of the first and second

rotating shafts

121 and 122, respectively.

For example, when the first rotating shaft 121 is a driving shaft, driving force is transmitted from the first and

third sprockets

131 and 141 to the second and

fourth sprockets

132 and 142 through the first and

second chains

133 and 143, respectively.

Of course, it should be understood by those skilled in the art that the linkage assembly is not limited to a sprocket and a chain, and may be a linkage manner of a driving roller and a conveyor belt, and the like, and may drive the baskets 150 to move along a predetermined track.

Further, the movable parcel storage apparatus 100 further includes a plurality of horizontally disposed connecting rods 156, and both ends of the plurality of connecting rods 156 are respectively connected to each of the chains of each interlocking assembly. As an example, chain attachment plates (not shown) may be provided on the first and

second chains

133 and 143, and the plurality of connecting rods 156 may be screwed to the chain attachment plates by screws. Of course, the connecting rod 156 may be connected to the chain by other means of fixed connection, such as welding, riveting, etc.

Meanwhile, the distances between the plurality of connecting rods 156 may be equal, or may be set to be unequal in order that the shelf can store goods of different heights. Accordingly, the heights of the plurality of cargo grids 153 are also set to be unequal.

Further, the plurality of cargo compartments 153 may be hinged to a plurality of connecting rods 156 by hinge plates 152.

Further, as shown in fig. 3 and 6, the projections of the plurality of tie bars 156 on the top surfaces of the plurality of cargo grids 153 are centered. Accordingly, the projection of the hinge point of the hinge plate 152 and the connecting rod 156 on the top surface of each shelf 153 is also centered. In other words, the direction of the center of gravity of the plurality of cargo cells 153 between the first sprocket 131 and the second sprocket 132 substantially coincides with the first chain 133 or the second chain 143. Such structural design, because the focus of a plurality of goods check 153 and first chain 133 or the coincidence of second chain 143, goods check 153 is at the in-process that rises or descends, and the direction of gravity direction and the chain drive power of goods check 153 coincide or be 180 degrees for the direction of force of drive goods check 153 all is ascending in the vertical direction, and goods check 153 is more stable at the motion in-process like this, has reduced rocking about goods check 153, and the condition that the goods accident dropped in the goods check 153 has been avoided takes place.

Further, guide wheels 154 are provided on the cargo space 153. Meanwhile, a guide plate 157 is disposed at a position adjacent to the guide wheel 154 during all or a portion of the travel of the first and

second chains

133 and 143, the guide plate 157 may be fixedly connected to the bracket 110, and the guide wheel 154 may roll along the guide plate 157. The design of the guide wheels 154 and the guide plates 157 ensures that the running track of the basket 150 is more accurate and stable during the working process of the rotary rack.

Further, as shown in fig. 5, the rotary shelf of the present invention further includes a driving device 160, and the driving device 160 may be disposed near the first rotating shaft 121 to provide power to the first rotating shaft 121, or disposed near the second rotating shaft 122 to provide power to the second rotating shaft 122.

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

Further, as shown in FIG. 7, the movable package storage device 100 may be multiple, operating in parallel and independently. In this embodiment, two sets of movable package storage devices 100 are disposed side-by-side within the cabinet 10. Therefore, two users can be supported to send and take packages at the same time, and meanwhile, more unmanned vehicles 20 can be accommodated to carry out inventory or goods taking actions, and the working efficiency of the whole unmanned distribution station 1 is further improved.

The unmanned delivery station of the present invention performs the stocking or picking-up operation during use of the unmanned vehicle.

When the storage operation is carried out, the packages carried by the unmanned vehicle are driven in from the cabinet door of the unmanned distribution station until the unmanned vehicle reaches the package grabbing area, the to-be-stored packages are taken out from the unmanned vehicle by the grabbing device, are firstly placed into the temporary storage platform and then are stored into the empty goods grid of the movable package storage device. If the current parcel snatchs the district in empty goods check, then will wait to deposit the parcel and deposit in this empty goods check, if the current parcel snatchs not have empty goods check in the district, then movable parcel storage device snatchs the nearest empty goods check drive in district to the parcel and snatchs the district with the parcel.

When the goods taking action is carried out, if the goods lattice where the package to be taken is located in the package grabbing area, the grabbing device directly takes out the package to be taken, puts the package into the temporary storage platform firstly and then puts the package into the unmanned vehicle. Otherwise, the movable parcel storage device drives the parcel to be taken to move to the parcel grabbing area, and the grabbing device continues to take goods.

By adopting the unmanned distribution station, the invention also provides a goods taking method for the unmanned vehicle, which comprises the following steps:

s110: the central control system sends a goods taking instruction;

s120: the unmanned vehicle receives the goods taking instruction, and the goods taking instruction comprises a package code and a goods grid code bound with the package code;

specifically, each goods grid in the unmanned distribution station has a unique goods grid code, the central control system binds the package code of the package stored in the goods grid with the goods grid code, and when the unmanned vehicle takes goods, the goods grid code bound with the package code is obtained on the basis of the package code, so that the position of the goods grid with the goods grid code is obtained.

S130: judging whether the goods lattice where the goods lattice code is located is in a package grabbing area;

specifically, the goods check code on the goods check is scanned to a plurality of recognition device of accessible setting on cabinet body inner wall, and then through central control system's analysis function, obtains the positional information of each goods check.

S140: if the judgment result is yes, the gripping device takes goods;

s150: if the structure is judged not to be the same, the movable parcel storage device drives the cargo lattice where the cargo lattice code is located to move to the parcel grabbing area along the set track, and then the step S140 is executed.

Further, the picking operation in step S140 further includes:

s410: the grabbing device takes the to-be-taken packages out of the goods grids and puts the to-be-taken packages into a temporary storage platform;

s420: a second identification device acquires the package code of the package to be taken;

specifically, the second identification device may be disposed at a grabbing end of the grabbing device, and may also be disposed in the cabinet body.

S430: the grabbing device stores the to-be-taken packages on the temporary storage platform into the unmanned vehicle.

After receiving a goods taking instruction of the central control system, the unmanned distribution station can take out the to-be-taken packages through the grabbing device and place the to-be-taken packages into the temporary storage platform, and does not need to wait for the unmanned vehicle to enter the package grabbing area and then grab, so that the goods taking efficiency of the unmanned vehicle is greatly improved.

By adopting the unmanned distribution station, the invention also provides an unmanned vehicle inventory method, which comprises the following steps:

s210: the central control system sends out inventory commands;

s220: the unmanned vehicle receives the inventory instruction;

s230: the central control system determines an empty cargo grid closest to the parcel grabbing area;

specifically, the position information of each goods lattice in the cabinet body is acquired through the identification device, meanwhile, whether each goods lattice stores the packages or not is judged, and then the central control system analyzes and processes the empty goods lattice which is closest to the package grabbing area.

S240: judging whether the position of the empty cargo grid is located in the range of the parcel grabbing area;

s250: if the judgment result is yes, the grabbing device carries out inventory action;

s260: if not, the movable parcel storage device drives the empty compartment to move to the parcel grabbing area along a predetermined track, and the step S250 is executed.

Further, the inventory action of S250 further comprises:

s510: the grabbing device puts the to-be-stored packages in the unmanned vehicle into a temporary storage platform;

s520: a first identification device acquires a package code of the package to be stored;

s530: the grabbing device is used for storing the packages to be stored on the temporary storage platform into the empty goods grids;

s540: the second identification device acquires the goods lattice code of the empty goods lattice;

s550: and the central control system binds the package code and the goods grid code.

Specifically, the parcel code and the goods grid code are respectively obtained through the identification device and are bound through the central control system, so that when the unmanned vehicle takes goods, the goods grid where the parcel is located can be quickly found.

It is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the description. The invention is capable of other embodiments and of being practiced and carried out in various ways. The foregoing variations and modifications fall within the scope of the present invention. It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute alternative aspects of the present invention. The embodiments described in this specification illustrate the best mode known for carrying out the invention and will enable those skilled in the art to utilize the invention.

Claims

1. An unmanned delivery station comprising a cabinet and a movable parcel storage means disposed within the cabinet, the movable parcel storage means comprising a plurality of compartments for storing parcels;

the cabinet body is also provided with a cabinet door for the unmanned vehicle to enter and exit;

a parcel grabbing area is further arranged in the cabinet body, and a grabbing device is arranged in the parcel grabbing area and used for transferring target parcels between the cargo grid and the unmanned vehicle;

when the grabbing device acts, the movable parcel storage device drives the empty goods grid or the goods grid where the target parcel is located to move to the parcel grabbing area along a set track.

2. The unmanned dispensing station of claim 1, wherein a staging platform is further provided within said parcel grasping area for temporarily staging the grasped target parcel.

3. The unmanned dispensing station of claim 1, wherein a parcel pick-up window is further provided on the cabinet, and an orthographic projection of the parcel pick-up window is located within a motion trajectory range of the cargo compartment.

4. The unmanned dispensing station of claim 3, wherein the parcel pick-up window is in communication with the cargo compartment such that a user may directly place the destination parcel into the empty cargo compartment or directly remove the destination parcel through the parcel pick-up window outside the unmanned dispensing station.

5. The unmanned distribution station of claim 1, wherein the cabinet is provided with a human-computer interaction device for receiving request information of a user and outputting corresponding feedback information to the user according to the request information.

6. The unmanned dispensing station of claim 1, wherein the target package may be an item for sale.

7. The unmanned dispensing station of any one of claims 1 to 6, wherein said movable package storage means comprises two rotating shafts horizontally disposed at an upper portion and a lower portion of said cabinet, respectively, and a rectangular plane formed by said two rotating shafts is perpendicular to a horizontal plane; the linkage assemblies are symmetrically arranged, and each linkage assembly is linked between the two rotating shafts;

the plurality of goods grids are arranged on the two groups of linkage assemblies and can rotate circularly around the two rotating shafts along with the rotation of the two groups of linkage assemblies.

8. The unmanned dispensing station of claim 7, wherein each linkage assembly comprises two sprockets and a chain sleeved on the two sprockets, and the two sprockets are respectively mounted at one end of the two rotating shafts;

the movable parcel storage device further comprises a plurality of connecting rods which are horizontally arranged, and two ends of the connecting rods are respectively connected to each chain of each linkage assembly;

the goods grids are hinged on the connecting rods.

9. The unmanned dispensing station of claim 8, wherein a projection of the connecting bar onto the top surface of the cargo space is centered.

10. The unmanned dispensing station of claim 7, wherein the cargo space is provided with a guide wheel and a guide plate is provided adjacent the guide wheel, the guide wheel being rollable along the guide plate.

11. The unmanned dispensing station of claim 7, wherein said movable package storage means can be a plurality of operating in parallel and independently.

12. An unmanned vehicle pickup method using the unmanned distribution station according to any one of claims 1 to 11, comprising:

the central control system sends a goods taking instruction;

13. The method of claim 12, wherein the picking action comprises:

14. An unmanned vehicle inventory method employing an unmanned distribution station according to any of claims 1 to 11, comprising:

the central control system sends out inventory commands;

the unmanned vehicle receives the inventory instruction;

15. The unmanned vehicle inventory method of claim 14, wherein the inventory action comprises:

and the central control system binds the package code and the goods grid code.