CN109901565A - Item delivery system and its device - Google Patents
Item delivery system and its device Download PDFInfo
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- CN109901565A CN109901565A CN201711284784.5A CN201711284784A CN109901565A CN 109901565 A CN109901565 A CN 109901565A CN 201711284784 A CN201711284784 A CN 201711284784A CN 109901565 A CN109901565 A CN 109901565A
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- trolley
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Abstract
The present invention mainly discloses a kind of item delivery system, including delivering control centre and at least one unmanned delivering trolley.The unmanned delivering trolley is coupled to the delivering control centre, and can move in a place.Control centre is delivered to couple via wirelessly or non-wirelessly network and an at least user terminal.When the personnel in the place are intended to an article delivery to another personnel, which can transmit delivery request by the user terminal and give the delivering control centre.The delivering control centre generates delivery tasks according to the delivery request and sends the unmanned delivering trolley to.The unmanned delivering trolley goes to the seat position pickup of the personnel along the pickup path in the delivery tasks, and after obtaining the article, continues to hand over part according to the seat position for sending part path to go to another personnel in the delivery tasks, to complete the delivery of the product.
Description
Technical field
The present invention is related with the technology in terms of article delivery, espespecially a kind of object for delivering a personnel in a place
Product are delivered to the item delivery system and its device of another personnel.
Background technique
In a place, such as office or plant area, personnel (sender) therein are generally required an article (such as paper
This document) consign to another personnel (addressee), at this point, the article hold personnel must oneself or through committing others, walking arrive
The seat of another personnel can be only achieved the purpose that the article is given to another personnel.This side with manpower delivering article
Formula, will waste many manpowers, the time and reduce person works' efficiency, especially in large-scale place, this problem is increasingly significant.
It can be by detecting lines or the conveyer of magnetic stripe movement, however, this conveyer can not although having at present
Receive the reservation of personnel at any time and according to the reservation and independence go to the seat position of the personnel to collect delivered article,
Also can not after receiving the article according to the reservation and independence go to the seat position of specified another personnel to deliver
The article, so that above-mentioned occasion can not be applied to and can not be solved the above problems.
Summary of the invention
Personnel's reservation can not be provided in view of existing conveyer and addressee is carried out according to reservation independence and send part operation,
So that can not solve the problems, such as it is existing manpower caused by article, time waste are delivered with manpower, the present invention proposes a kind of for will
Item delivery system and the following delivering will addressed of the article delivery of sender in one place to the addressee in the place
The devices such as control centre and unmanned delivering trolley.
In more detail, item delivery system of the invention includes delivering control centre and being located in the place and couple to be somebody's turn to do
Deliver the unmanned delivering trolley of control centre.The delivering control centre transmits to receive the sender via user terminal
The As-Is that delivery request and the unmanned delivering trolley are returned, and according to the delivery request, the mesh of the unmanned delivering trolley
Preceding situation and environment and personnel's seat information generate delivery tasks and transmit the delivery tasks and give the unmanned delivering trolley,
In, which includes the current position of the unmanned delivering trolley, which includes the data and the receipts of the sender
The data of part people, the environment and personnel's seat information include the map and the sender and addressee of the actual environment in the corresponding place
Corresponding position of the seat position of people in the map, the delivery tasks include pickup path and send part path.The unmanned delivering
Trolley to receive by the delivering control centre transmit Lai the delivery tasks, and taken according to this of the map and the delivery tasks
Go to the seat position of the sender in part path, and after the article for receiving sender delivery, continues to appoint along the delivering
The seat position for sending part path to go to the addressee of business, allows the addressee to take the article away.
In one embodiment, which includes the speed of the unmanned delivering trolley, and institute, the delivering control centre is received
The delivery request further includes pickup time range, when the delivery tasks produced by the delivering control centre further include according to the pickup
Between range, the pickup path, the unmanned delivering trolley speed and E.T.A for estimating out, the unmanned delivering trolley
The seat position of the sender is reached according to the E.T.A.
In one embodiment, item delivery system of the invention further includes laser spatial digitizer or depth camera, to
The three-dimensional environment map in the place is surveyed and drawn to form the environment and personnel's seat information, wherein the laser spatial digitizer or depth
The physical bit set of video camera is in the unmanned delivering trolley and/or the delivering control centre.
In one embodiment, unmanned delivering trolley of the invention has depth camera, and along the pickup path or is sending part
During moving path movement, the side Bian Yidong obtains environmental images in front of direction of travel by the depth camera, and according to before this
Square environmental images judge whether the case where barrier blocks the way occur, and correspond to when judging result is "Yes" by the pickup road
Diameter send part route diversion for that can bypass the new pickup path of the barrier or newly send part path, and is changed to along the new pickup path
It goes to the seat position of the sender or changes along the seat position for newly part path being sent to go to the addressee；And/or nobody pass this
It send trolley that also there is video camera, and can shoot to obtain the pickup for the movement for taking the article away comprising the addressee via the video camera
Photo, and the time that the pickup photo and the addressee take the article away is uploaded to delivering control centre.
In one embodiment, delivering control centre of the invention can also receive by another user's akrencephalon transmit Lai another pass
When sending request, according to another delivery request, the original delivery tasks and the environment and personnel's seat information, generates and transmit
New delivery tasks give the unmanned delivering trolley, pass so that the unmanned delivering trolley takes over original this with the new delivery tasks
Task is sent, and according to the pickup path in the new delivery tasks and send part path, the article and this of the sender is another
Another article of sender is delivered to the addressee and another addressee respectively.
In one embodiment, unmanned delivering trolley of the invention has door, which includes at least one movable doorboard, and the nothing
People, which delivers trolley, has at least one receiving room, which is set at least one receiving room, when the nothing
When people's delivering trolley enables this open, only one of which movable doorboard is opened, when the unmanned delivering trolley enables this close
When, which is closed.
In one embodiment, unmanned delivering trolley of the invention have identity identification module, the identity identification module to
When reaching the seat position of the sender, identity identification is carried out to the sender, and after recognizing successfully, even the door is beaten
It opens, allows the sender to put the article in the unmanned delivering trolley into, and after determining that the sender has put the article into, enable
The door is closed；The identity identification module is also to carry out identity to the addressee and distinguish when reaching the seat position of the addressee
Know, and recognize successfully and after addressee's determination will carry out addressee, even door opening, allowing the addressee by this, nobody is passed
The takeaway in trolley is sent, and after determining that the addressee has taken the article away, even the door is closed.
The present invention also provides a kind of delivering control centres in above-mentioned item delivery system.
The present invention also provides a kind of unmanned delivering trolley in above-mentioned item delivery system.
In one embodiment, unmanned delivering trolley of the invention further includes incorporating section, at least one electric lock and motor-driven machine
Structure.There are inlet and outlet to lead to its inner space for the incorporating section, and the two opposite sides of the inlet and outlet are respectively provided with track, the inner space by
At least one laminate defines at least one layer of receiving room being laminated above and below, and each receiving room respectively has one to live in the import and export
Dynamic door-plate, the left and right side of each movable doorboard are slidedly arranged on two tracks respectively and can move up and down in the inlet and outlet, and adjacent
Two movable doorboards mutually lean on above and below, space of withing a hook at the end below the movable doorboard of undermost receiving room.This at least one
Electric lock is set in each layer receiving room of the lowest level or more, which does not lock at least one layer receiving room usually
Movable doorboard.The motor drive mechanism is set to the lower section of undermost receiving room, to drive the work of the undermost receiving room
Dynamic door-plate moves up and down.Wherein, when the unmanned delivering trolley is required to open the wherein movable doorboard of a receiving room, this its
In the electric lock of upper layer receiving room of a receiving room first lock the movable doorboard of the upper layer receiving room, then, the motor drive mechanism
The movable doorboard of the undermost receiving room is driven to be moved down into the retaining space, and when the unmanned delivering trolley is required to close
Close this wherein the movable doorboard of a receiving room when, the motor drive mechanism first drive the movable doorboard of the undermost receiving room to
Upper mobile return is in situ, and then, the electric lock of the upper layer receiving room discharges the movable doorboard of the upper layer receiving room.
In one embodiment, unmanned delivering trolley of the invention further includes lifting transport platform, which is located at these
The opposite of the movable doorboard of receiving room, and article thereon can be moved into the doorway of a receiving room, and automatically by the object
The wherein receiving room that product are sent into, or by this, wherein an indoor article of storage is sent in the lifting transport platform automatically.
Relative to prior art, in the system of the present invention, sender need to only use the user terminal of oneself to the present invention
Delivering control center reserve delivery request, which will send unmanned delivering trolley according to the delivery request, will post
Part people wants to consign to the article of addressee, is delivered to addressee, quite saving manpower, the time and can improve person works effect
Rate solves the problems, such as that known conveyer can not provide personnel's reservation and independently carry out addressee according to reservation and send part operation, and
Delivering article is removed in the waste of manpower of solving the problems, such as over, time.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1 shows the stereoscopic schematic diagram of one embodiment of item delivery system of the invention.
Fig. 2 shows the floor map of the embodiment.
Fig. 3 shows the stereoscopic schematic diagram of the unmanned delivering trolley of the embodiment.
Fig. 4 shows another floor map of the embodiment.
Fig. 5 shows another stereoscopic schematic diagram of the unmanned delivering trolley of the embodiment.
Fig. 6 shows the schematic side view of the unmanned delivering trolley of the embodiment.
Fig. 7 shows the enabling schematic diagram (side view) of the unmanned delivering trolley of the embodiment.
Fig. 8 shows another enabling schematic diagram (side view) of the unmanned delivering trolley of the embodiment.
Wherein, appended drawing reference
Deliver control centre 1
Unmanned delivering trolley 2
User terminal 3
Seat position 4,4CA~4C
Place 100
Pickup path R1
New pickup path R1a
Send part path R2
New send part path R2a, R2b
Depth camera 200a
Video camera 200b
Door 20
Incorporating section 22
Electric lock 240
Inlet and outlet 220
Movable doorboard 23
Laminate 24
Receiving room 25,251~254
Retaining space 26
Motor drive mechanism 27
Locking bolt 241
Card slot 230
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments, to be further understood that
The purpose of the present invention, scheme and effect, but it is not intended as the limitation of scope of the appended claims of the present invention.
Fig. 1 shows one embodiment of item delivery system of the invention, which includes delivering control centre 1 and be located at
In place 100 and coupling delivers the unmanned delivering trolley 2 of control centre 1.There are multiple seat positions 4, each seat in place 100
Position 4 can be a location point or a small band of position, and it is corresponding represent a personnel it is on the scene position in 100.
In addition, each seat position 4 other than office desk and chair is arranged, is each provided with a user terminal 3 also for personnel's use.Often
One user terminal 3 can be the computer of PC, Smartphone or other patterns.When in place 100 a wherein personnel (under
Claim sender) when being intended to consigning to article into another personnel (calling addressee in the following text), which can be whole by user that oneself is used
3 transmission delivery request of end gives delivering control centre 1, realizes the reservation to pickup.The delivery request is filled out according to the sender
The data write and generate, include at least sender's data and the receiver data, such as name or the employee of this two people
Whose there article so that whom delivering control centre 1, which knows to, collects article there, and is sent to by number.To pass through this
The delivering control centre 1 of embodiment can provide subscription services for the personnel in place, and carry out addressee according to reservation is autonomous
With send part operation.
In the present embodiment, delivering control centre 1 can be the computer servo system for being equipped with program appropriate and database
System, can receive the delivery request come by the transmission of user terminal 3 and the unmanned As-Is for delivering trolley 2 and being returned, and according to
The delivery request, the As-Is of unmanned delivering trolley 2 and environment and personnel's seat information, generate delivery tasks and transmit this and pass
Send task to unmanned delivering trolley 2.The As-Is of unmanned delivering trolley 2 include at least the current position of unmanned delivering trolley 2,
It preferably further include the current speed of unmanned delivering trolley 2, and/or the current remaining storage space of unmanned delivering trolley 2.Environment and
Personnel's seat information include corresponding 100 actual environment of place map and the sender and addressee seat position in the map
In corresponding position.In another embodiment, delivering control centre 1 can become one with unmanned delivering trolley 2.
It is noted that the environment and personnel's seat information are that delivering control centre 1 is reloaded after the completion of building in advance, it is preceding
Stating map can be the three-dimensional environment map of corresponding 100 actual environment of place, for example, laser three-dimensional scanner or depth can be used to take the photograph
The 3-D images construction tool such as camera, such as TOF (Time of Flight) video camera complete the three-dimensional ring condition to survey and draw
Then figure sets corresponding position of the seat position 4 of each personnel in place 100 in the three-dimensional environment map, so that each
The seat position 4 of personnel has the corresponding coordinate for representing oneself position in the three-dimensional environment map.If place 100
Environment or in which personnel have a unusual fluctuation, environment and personnel's seat information should correspond to modification according to the unusual fluctuation so that this three
Environmental map is corresponding with the environment realistic situation in place 100 meets for dimension, and makes the seat position 4 of each personnel in the three-dimensional environment
Corresponding position in map is also corresponding with personnel's realistic situation in place 100 to be met.Wherein, aforementioned 3-D image construction tool is also
It can be set to delivering control centre 1, so that delivering control centre 1 can be built by 3-D image construction tool and the three-dimensional environment of itself
Mould function establishes three-dimensional environment map for the environment in place 100.Furthermore 3-D image construction tool can also be set to nobody
It delivers on trolley 2, such as the depth camera 200a in Fig. 2.In addition, also can be in delivering control centre 1 and unmanned delivering trolley 2
On 3-D image construction tool is respectively set.
As shown in Fig. 2, delivery tasks include at least pickup path R1 (i.e. solid-line paths in figure) and part path R2 are sent (to scheme
Middle dashed path).Delivering control centre 1 is taken according to the sender's data and environment and personnel's seat information in delivery request
Corresponding position of the seat position 4A of sender in map is obtained, and using the acquired corresponding position as pickup path R1's
Terminal, meanwhile, using the current position of unmanned delivering trolley 2 as the starting point of pickup path R1, then according to the starting point, terminal and
Map cooks up pickup path R1.In addition, delivering control centre 1 be according in delivery request receiver data and environment and people
Member's seat information and obtain corresponding position of the seat position 4C of addressee in map, and made with the acquired corresponding position
For the terminal for sending part path R2, meanwhile, using corresponding position of the seat position 4A of sender in map as sending part path R2
Starting point, then cooked up according to the starting point, terminal and map and send part path R2.
Unmanned delivering trolley 2 receive by the transmission of delivering control centre 2 Lai delivery tasks after, according to internal map and
The pickup path R1 of the delivery tasks goes to the seat position 4A of sender, and after the article for receiving sender delivery,
Continue the seat position 4C for sending part path R2 to go to addressee according to the internal map and the delivery tasks, addressee is allowed to take away
The article.In this way, unmanned delivering trolley 2 is the execution for completing delivery tasks.After delivery tasks completion, unmanned delivering platform
Vehicle 2 will continue to execute next record delivery tasks as before.However, if there is no next record delivery tasks, unmanned delivering platform
Vehicle 2 is then stopped at original place or correcting action is awaited orders.
It is noted that the internal map of unmanned delivering trolley 2 is built in advance, map can be downloaded from delivering control centre 1
It as the internal map, also can voluntarily build, for example, as shown in figure 3, unmanned delivering trolley 2 has depth camera 200a, deeply
Degree video camera 200a is TOF video camera, in this way, unmanned delivering trolley 2 just can pass through depth camera 200a and the three-dimensional of itself
Environmental modeling function scans the environment in place 100 voluntarily to establish three-dimensional environment map as the internal map.
In one embodiment, the 1 received delivery request of institute of delivering control centre further includes pickup time range.The pickup time
Range represents sender oneself and thinks the time range for being able to cooperate delivery of items, if missing the time range, this is posted part and enters with regard to nothing
Method cooperates the delivery of the article, such as the sender to leave seat position 4A.Therefore, it delivers and is passed caused by control centre 1
Sending task also needs to include estimating out pre- according to pickup time range, the speed of pickup path R1 and unmanned delivering trolley 2
Count arrival time.Unmanned delivering trolley 2 is the seat position 4A that sender is reached according to the E.T.A.In addition, delivering
The E.T.A can also be sent to the corresponding user terminal 3 of sender by control centre 1, and the sender is allowed to learn that nobody passs
Send trolley 2 that will reach in the E.T.A, avoid the occurrence of sender when unmanned delivering trolley 2 reaches just not feelings
Condition.
In one embodiment, unmanned delivering trolley 2 can also be along pickup path R1 or during send part to move path R2 to move, side
Mobile side obtains front environmental images by depth camera 200a, and judges whether obstacle occur according to the front environmental images
The case where object (may be personnel or other things) blocks the way, and when judging result is "Yes" it is corresponding by pickup path R1 or
It send part path R2 to be changed to that the new pickup path of the barrier can be bypassed or newly send part path, and is changed to before the new pickup path
It sets 4A toward the seat of sender or is changed to the seat position 4C for newly sending part path to go to the addressee along this.In this way, unmanned delivering
Trolley 2 whether goes to the seat position 4A of the sender or goes to the seat position 4C of the addressee, can avoid open and be met
The barrier arrived.Wherein, whether unmanned 2 front of delivering trolley there is the case where barrier blocks the way, using meter
When mode judge, such as when the barrier block the way last up to one section of preset time (such as 10 seconds) when, i.e. judgement front
There is the case where barrier blocks the way.Conversely, not lasting up to this section of preset time when the barrier blocks the way, then judge
Front does not occur the case where barrier blocks the way.
In one embodiment, delivering control centre 1 can also transmit another delivery request come receiving another user terminal 3
When, according to another delivery request, original delivery tasks and environment and personnel's seat information, generates and transmit new delivering and appoint
It is engaged in unmanned delivering trolley 2, so that unmanned delivering trolley 2 takes over original delivery tasks with new delivery tasks, and according to this
Pickup path in new delivery tasks and part path is sent, the article of sender and another article of another sender are passed respectively
Give part people and another addressee.For example, the seat position 4A of sender is gone to carry out addressee in unmanned delivering trolley 2
Period, if another sender wants reservation, unmanned delivering trolley 2 delivers another article to another addressee, another sender
Also another user terminal 3 that can be used via oneself transmits another delivery request and gives delivering control centre 1, at this point, delivering control
Center 1 according to another delivery request, original delivery tasks and environment and personnel's seat information, generates new delivering and appoints
New delivery tasks are engaged in and transmitted to unmanned delivering trolley 2.Another delivery request includes another sender's data and another receipts
Part personal data, such as the name or employee number of this two people.As shown in figure 4, new delivery tasks include new pickup path R1a
And two new send part path R2a and R2b.At this point, unmanned delivering trolley 2 is taken over original delivering with the new delivery tasks and is appointed
Business, also that is, unmanned delivering trolley 2 is after the seat position 4A of sender collects the article, i.e., first according to new pickup path
R1a goes to the seat position 4B of another sender to collect another article, then, send part path R2a to go to addressee further according to new
The seat position 4C of people takes the article away by addressee.Then, before what unmanned delivering trolley 2 continuation basis was new send part path R2b
Toward the seat position 4D of another addressee, another article is taken away by another addressee.In this way, unmanned delivering trolley 2 is completed
The delivering of article and another article.
In one embodiment, as shown in figure 5, unmanned delivering trolley 2 has door 20 and incorporating section 22, which includes at least activity
Door-plate 23, incorporating section 22 include at least receiving room 25, and movable doorboard 23 is set to receiving room 25, when unmanned delivering trolley 2 enables door
20 when opening, and only one of which movable doorboard 23 is opened, when unmanned delivering trolley 2 enables door 20 close, this one of them
Movable doorboard 23 is closed.Wherein, unmanned delivering trolley 2 also has identity identification module (not shown), identity identification module
To carry out identity identification to the sender when unmanned delivering trolley 2 reaches the seat position 4A of sender, once identification at
Function allows the sender to put article in the unmanned delivering trolley 2 into, once it is determined that the sender has been put even the door 20 is opened
Into the article, even the door is closed.Seat position of the identity identification module also to reach addressee in unmanned delivering trolley 2 again
When 4C, identity identification is carried out to the addressee, once it recognizes successfully and after addressee's determination will carry out addressee, even the door
20 open, and allow the addressee by the takeaway in unmanned delivering trolley 2, once it is determined that the addressee has taken the article away, i.e.,
The door 20 is enabled to close.Wherein, identity identification can take identification of fingerprint or face feature to recognize.Weight detecting or optics can separately be taken
The mode of detecting determines that sender has put article into or the addressee has taken the article away.In addition, voice or key can be passed through
Mode determines that addressee will carry out addressee.
Again as shown in figure 3, unmanned delivering trolley 2 also has video camera 200b, such as RGB video camera, therefore nobody delivers platform
Vehicle 2 can shoot the image of face for obtaining addressee via video camera 200b, and carry out above-mentioned identity according to the image of face and distinguish
Know.In addition, unmanned delivering trolley 2 can also shoot to obtain the pickup for the movement for taking article away comprising addressee via video camera 200b
Photo, and the time that the pickup photo and the addressee take the article away is uploaded to delivering control centre 1, notice posts part in time
People's article Delivered addressee.
As shown in Figures 5 and 6, unmanned delivering trolley 2 further includes multiple electric locks 240 and motor drive mechanism 27.Incorporating section
22 there are inlet and outlet 220 to lead to its inner space, and the two opposite sides for importing and exporting 220 are respectively provided with track (not shown).Inside this
Space defines the multilayer receiving room 25 being laminated above and below by multiple laminates 24, and each receiving room 25 respectively has at inlet and outlet 220
Movable doorboard 23.The left and right side of each movable doorboard 23 is slidedly arranged on two tracks respectively and can move up and down in inlet and outlet 220,
And two adjacent movable doorboards 23 mutually lean on above and below, with a hook at the end sky positioned at the lower section of the movable doorboard 23 of undermost receiving room 251
Between 26.Those electric locks 240 are respectively arranged in each layer receiving room 25 of the lowest level or more, these electric locks 240 do not lock each layer
The movable doorboard 23 of receiving room 25.Motor drive mechanism 27 can take gear, rack gear in such as figure, other transmissions also can be selected
Member.Motor drive mechanism 27 is set to the lower section of undermost receiving room 25, to drive the activity of the undermost receiving room 251
Door-plate 23 moves up and down.It wherein, should when unmanned delivering trolley 2 is required to open the wherein movable doorboard 23 of a receiving room 25
Wherein the electric lock 240 of the upper layer receiving room 25 of a receiving room 25 first locks the movable doorboard 23 of the upper layer receiving room 25, then, horse
It drives the movable doorboard 23 of the undermost receiving room 251 to be moved down into retaining space 26 up to driving mechanism 27, and works as nobody
Delivering trolley 2 be required to close this wherein the movable doorboard 23 of a receiving room 25 when, motor drive mechanism 27 first drives this most lower
The movable doorboard 23 of the receiving room 251 of layer moves back up original position, and then, the release of electric lock 240 of the upper layer receiving room 25 should
The movable doorboard 23 of upper layer receiving room 25.
For example, if it is desired to opening the movable doorboard 23 of the receiving room 251 of unmanned delivering 2 lowest level of trolley (first layer), then
As shown in fig. 7, the electric lock 240 in the receiving room 25 of the second layer can be first latched, so that its locking bolt 241 is caught in the storage of the second layer
Correspondence card slot 230 on the movable doorboard 23 of room 252, in this way, the receiving room of each layer of the receiving room 252 of the second layer and its top
25 movable doorboard 23 all can be motionless and keeps its original closed state.Then, motor drive mechanism 27 drives the lowest level
The movable doorboard 23 of receiving room 251 be moved down into retaining space 26, opened in this way, the undermost receiving room 251 is presented
State is put, be put into article 5 for sender or takes the article away for addressee.And if it is desired to close the undermost receiving room
251 movable doorboard 23, motor drive mechanism 27 then first drive the movable doorboard 23 of the undermost receiving room 251 to move up
Original position is returned to, then, the electric lock 240 in the receiving room 252 of the second layer can unlock, so that its locking bolt 241 recesses the second layer
Correspondence card slot 230 on the movable doorboard 23 of receiving room 252, in this way, full off state as shown in FIG. 6 is restored in incorporating section 22.
For another example if it is desired to opening the movable doorboard 23 of the receiving room 253 of unmanned delivering 2 third layer of trolley, then such as Fig. 8 institute
Show, the electric lock 240 in the 4th layer of receiving room 254 can be first latched, so that the receipts of each layer of the 4th layer of receiving room 254 and its top
Receive room 25 movable doorboard 23 all can be motionless and keep its original closed state.Then, motor drive mechanism 27 drives this most
The movable doorboard 23 of the receiving room 251 of lower layer's (first layer) is moved down into the retaining space 26, at this point, due to the second layer and
The movable doorboard 23 of three layers of receiving room 252,253 is not lockable, thus this two movable doorboard 23 can due to gravity it is automatic down
It is mobile, in this way, the movable doorboard 23 of the undermost receiving room 25 can occupy retaining space 26, the receiving room 25 of the second layer
Movable doorboard 23 just moves down into the position for closing the undermost receiving room 25, the movable doorboard of the receiving room 25 of the third layer
23 then just move down into the position for closing the receiving room 25 of the second layer, also that is, all receiving rooms 25 only have the receipts of third layer
Receive room 25 be present open state, remaining is in closed state.
As shown in the above description, though the unmanned trolley 2 that delivers has multiple receiving rooms 25, however, being somebody's turn to do when unmanned delivering trolley 2 enables
When door is opened, only one of which movable doorboard 23 is opened, and when unmanned delivering trolley 2 enables this close, this wherein one
A movable doorboard 23 is then closed.It can be seen that each receiving room 25 independent open and close door of energy, wants to pass to be put into for sender respectively
The article sent, it is ensured that the article of each layer receiving room 25 is only capable of being obtained by legal addressee.
In one embodiment, being put into or taking out in order to facilitate article 5, unmanned delivering trolley 2 further includes lifting transport platform 21,
Lifting transport platform 21 is located at the opposite of the movable doorboard 23 of those receiving rooms 25, and article 5 thereon can be moved into one
The doorway of receiving room 25, and the article 5 in transport platform 21 will be gone up and down automatically and be sent into the wherein receiving room 25, or automatically by this its
In article 5 in a receiving room 25 be sent in lifting transport platform 21.
In summary it is found that sender need to only use the user terminal 3 of oneself to pass to the reservation of delivering control center 1 of the invention
Request is sent, delivering control center 1 will send unmanned delivering trolley 2 according to the delivery request, sender is wanted to consign to addressee
The article of people is delivered to addressee, quite saving manpower, the time and person works' efficiency can be improved, solve existing conveyer
The problem of personnel's reservation can not be provided and carry out addressee according to reservation is autonomous and send part operation, while also solving waste people in the past
Power, time go the problem of delivering article.
Certainly, the invention may also have other embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (11)
1. a kind of item delivery system, which is characterized in that for giving the article delivery of the sender in a place to the place
In an addressee, including delivering control centre and in the place and couple the unmanned delivering platform of the delivering control centre
Vehicle, in which:
The delivering control centre comes delivery request and the unmanned delivering platform to receive the sender and transmit via user terminal
The As-Is that vehicle is returned, and according to the delivery request, the As-Is and environment and personnel seat of the unmanned delivering trolley
Information generates delivery tasks and transmits the delivery tasks and gives the unmanned delivering trolley, wherein the As-Is include that nobody pass this
The current position of trolley is sent, which includes the data of the sender and the data of the addressee, the environment and personnel's seat
Position information include the actual environment in the corresponding place map and the sender and addressee seat position in the map
Corresponding position, the delivery tasks include pickup path and send part path；And
The unmanned delivering trolley to receive the delivery tasks come by delivering control centre transmission, and according to the map and this
Go to the seat position of the sender in the pickup path of delivery tasks, and after the article for receiving sender delivery,
Continue the seat position for sending part path to go to the addressee along the delivery tasks, the addressee is allowed to take the article away.
2. item delivery system as described in claim 1, which is characterized in that the As-Is include the unmanned delivering trolley
Speed, the received delivery request of institute, the delivering control centre further includes pickup time range, produced by the delivering control centre
The delivery tasks further include according to the pickup time range, the pickup path, the unmanned delivering trolley speed and estimate out
E.T.A, which reaches seat position of the sender according to the E.T.A.
3. item delivery system as described in claim 1, which is characterized in that further include laser spatial digitizer or depth camera
Machine, to survey and draw the three-dimensional environment map in the place to form the environment and personnel's seat information, the wherein laser 3-D scanning
The physical bit set of instrument or depth camera is in the unmanned delivering trolley and/or the delivering control centre.
4. item delivery system as described in claim 1, which is characterized in that the unmanned delivering trolley has depth camera,
And along the pickup path or send part move path move during, the side Bian Yidong by the depth camera obtain direction of travel before
Square environmental images, and judge whether the case where barrier blocks the way occur according to the front environmental images, and in judging result
When for "Yes" it is corresponding by the pickup path or send part route diversion to be can be around the new pickup path or the road Xin Songjian of the barrier
Diameter, and be changed to go to the seat position of the sender along the new pickup path or be changed to newly part path be given to go to the addressee along this
Seat position；
And/or
The unmanned delivering trolley also has video camera, and can shoot to obtain via the video camera and take the article away comprising the addressee
Movement pickup photo, and by the time that the pickup photo and the addressee take the article away be uploaded to delivering control centre.
5. item delivery system as described in claim 1, which is characterized in that the delivering control centre can also receive by another
When another delivery request that user terminal transmission comes, according to another delivery request, the original delivery tasks and the environment and
Personnel's seat information generates and transmits new delivery tasks and give the unmanned delivering trolley, so that the unmanned delivering trolley is new with this
Delivery tasks take over the original delivery tasks, and according to the pickup path in the new delivery tasks and send part path, will
The article of the sender and another article of another sender are delivered to the addressee and another addressee respectively.
6. item delivery system as described in claim 1, which is characterized in that the unmanned delivering trolley has door, which includes
At least one movable doorboard, and the unmanned delivering trolley has at least one receiving room, which is set to
At least one receiving room, when the unmanned delivering trolley enables this open, only one of which movable doorboard is opened, when this
When unmanned delivering trolley enables this close, one of movable doorboard is closed.
7. item delivery system as claimed in claim 6, which is characterized in that the unmanned delivering trolley has identity identification mould
Block, the identity identification module is to carry out identity identification to the sender, and distinguishing when reaching the seat position of the sender
After knowing successfully, even the door is opened, the sender is allowed to put the article in the unmanned delivering trolley into, and is determining that this posts part
After people has put the article into, this is enabled to close；The identity identification module also to reach the addressee seat position when,
Identity identification carried out to the addressee, and recognize successfully and after addressee's determination will carry out addressee, even door opening,
Allow the addressee by the takeaway in the unmanned delivering trolley, and after determining that the addressee has taken the article away, i.e.,
This is enabled to close.
8. one kind is applied to such as the described in any item delivering control centres of claim 1-7.
9. one kind is applied to such as the described in any item unmanned delivering trolleys of claim 1-7.
10. unmanned delivering trolley as claimed in claim 9, which is characterized in that further include:
There are inlet and outlet to lead to its inner space for incorporating section, and the two opposite sides of the inlet and outlet are respectively provided with track, the inner space by
At least one laminate defines at least one layer of receiving room being laminated above and below, and each receiving room respectively has activity in the import and export
The left and right side of door-plate, each movable doorboard is slidedly arranged on two tracks respectively and can move up and down in the inlet and outlet, and adjacent
Two movable doorboards mutually lean on above and below, space of withing a hook at the end below the movable doorboard of undermost receiving room；
At least one electric lock, in each layer receiving room more than the lowest level, which does not lock this extremely usually
The movable doorboard of few one layer of receiving room；And
Motor drive mechanism, set on the lower section of undermost receiving room, to drive the movable doorboard of the undermost receiving room
It moves up and down；
Wherein, when the unmanned delivering trolley is required to open the wherein movable doorboard of a receiving room, the wherein receiving room
The electric lock of upper layer receiving room first locks the movable doorboard of the upper layer receiving room, and then, which drives the lowest level
The movable doorboard of receiving room be moved down into the retaining space, and wherein one receives when the unmanned delivering trolley is required to close this
Receive room movable doorboard when, which first drives the movable doorboard of the undermost receiving room to move back up original
Position, then, the electric lock of the upper layer receiving room discharges the movable doorboard of the upper layer receiving room.
11. unmanned delivering trolley as claimed in claim 10, which is characterized in that further include lifting transport platform, lifting conveying
Platform is located at the opposite of the movable doorboard of receiving room, and article thereon can be moved into the doorway of a receiving room, and automatic
The wherein receiving room that the article is sent into, or by this, wherein an indoor article of storage is sent to the lifting transport platform automatically
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711284784.5A CN109901565A (en) | 2017-12-07 | 2017-12-07 | Item delivery system and its device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711284784.5A CN109901565A (en) | 2017-12-07 | 2017-12-07 | Item delivery system and its device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109901565A true CN109901565A (en) | 2019-06-18 |
Family
ID=66939213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711284784.5A Pending CN109901565A (en) | 2017-12-07 | 2017-12-07 | Item delivery system and its device |
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| Country | Link |
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| CN (1) | CN109901565A (en) |
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