CN110422529A

CN110422529A - A kind of method and system of cargo automatic transportation

Info

Publication number: CN110422529A
Application number: CN201910766242.4A
Authority: CN
Inventors: 杨承诚
Original assignee: Shanghai Wood Wood Robot Technology Co Ltd
Current assignee: Shanghai Noah Wood Robot Technology Co ltd
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2019-11-08
Anticipated expiration: 2039-08-19
Also published as: CN110422529B

Abstract

The present invention provides a kind of method and system of cargo automatic transportation, method includes: when at least one article to be transported is placed into delivery temporary storage cabinet, and delivery temporary storage cabinet issues delivery request；The robot being sent according to delivery request takes out at least one article to be transported from delivery temporary storage cabinet, transports and unloads article to be transported to corresponding automatic transceiving platform；After article to be transported is placed on automatic transceiving platform, picking notice is issued.The present invention reduces the delivery waiting time and the unloading waiting time saves labour turnover to promote the conevying efficiency of cargo.

Description

A kind of method and system of cargo automatic transportation

Technical field

The present invention relates to article conveying technology field, espespecially a kind of method and system of cargo automatic transportation.

Background technique

In recent years, as the development of robot technology and artificial intelligence study deepen continuously, robot is in human lives Play the part of more and more important role, is used widely in numerous areas.Robot, so that the continuous intelligence of the work and life of people Energyization, automation.

In supermarket or hospital, often have staff push a cart article be sent to each destination information and The artificial delivery of progress is got in stocks and artificial discharging, the great work intensity of staff.In the prior art, also have and participated in using robot Cargo transport link, but the prior art needs at least one people that cargo is sequentially placed into the storage of robot in batching delivery In goods area domain, if all robots all can not load this shipments, it is also necessary to wait cargo being offloaded to machine after destination information People's return place of delivery loads cargo again and is repeatedly transported, and the time of delivery personnel at place of delivery is caused largely to be wasted In waiting, inefficiency is caused, and staff is employed to carry out hand haulage, causes cost of labor higher and higher.

In summary, in the case where aging is on the rise, human cost is got higher increasingly, reduction delivery etc. how is realized To time and unloading waiting time, to promote the conevying efficiency of cargo, saving labour turnover is problem urgently to be resolved.

Summary of the invention

The object of the present invention is to provide a kind of method and systems of cargo automatic transportation, when realizing that reduction delivery waits Between and unloading the waiting time save labour turnover to promote the conevying efficiency of cargo.

Technical solution provided by the invention is as follows:

The present invention provides a kind of implementation method of cargo automatic transportation, comprising steps of

When at least one article to be transported is placed into delivery temporary storage cabinet, the delivery temporary storage cabinet issues delivery request；

It is described to be shipped that the robot being sent according to the delivery request takes out at least one from the delivery temporary storage cabinet Defeated article transports and unloads the article to be transported to corresponding automatic transceiving platform；

After the article to be transported is placed on the automatic transceiving platform, picking notice is issued.

The present invention also provides a kind of realization systems of cargo automatic transportation, comprising: several delivery temporary storage cabinets, robot and Automatic transceiving platform；

The delivery temporary storage cabinet, for issuing delivery request when at least one article to be transported is placed into itself；

The robot takes out at least one institute from the delivery temporary storage cabinet for being sent according to the delivery request Article to be transported is stated, transport and unloads the article to be transported to corresponding automatic transceiving platform；

Picking notifies mould group, for issuing picking after the article to be transported is placed on the automatic transceiving platform Notice；The picking notice mould group includes the automatic transceiving platform that the robot for completing to unload and/or completion connect goods.

A kind of method and system of the cargo automatic transportation provided through the invention can reduce the delivery waiting time It saves labour turnover with the unloading waiting time to promote the conevying efficiency of cargo.

Detailed description of the invention

Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of cargo automatic transportation Above-mentioned characteristic, technical characteristic, advantage and its implementation of method and system are further described.

Fig. 1 is a kind of flow chart of one embodiment of the implementation method of cargo automatic transportation of the present invention；

Fig. 2 is a kind of flow chart of another embodiment of the implementation method of cargo automatic transportation of the present invention；

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

Fig. 4 is a kind of flow chart of another embodiment of the implementation method of cargo automatic transportation of the present invention；

Fig. 5 is a kind of structural schematic diagram of one embodiment of the realization system of cargo automatic transportation of the present invention；

Fig. 6 is a kind of structural schematic diagram of another embodiment of the realization system of cargo automatic transportation of the present invention.

Specific embodiment

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing, and obtain other embodiments.

To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated " only this ", can also indicate the situation of " more than one ".

One embodiment of the present of invention, as shown in Figure 1, a kind of implementation method of cargo automatic transportation, comprising:

For S100 when at least one article to be transported is placed into delivery temporary storage cabinet, delivery temporary storage cabinet issues delivery request；

Specifically, delivery region (delivery station) is provided with several delivery temporary storage cabinets, if each delivery temporary storage cabinet is provided with Dry the first goods yard, each delivery temporary storage cabinet are equipped with signal generator.Delivery personnel obtain the cargo demand inventory of picking personnel, At least one article to be transported is put into delivery temporary storage cabinet, temporary storage cabinet of delivering is once it is determined that there is at least one article quilt to be transported After being put into delivery temporary storage cabinet, delivery temporary storage cabinet will generate and send out delivery request.Wherein, delivery temporary storage cabinet determination be No to have at least one article to be transported to be placed into itself mode include but is not limited to two kinds, first is that delivery temporary storage cabinet is equipped with behaviour Make panel, when at least one article to be transported is placed into delivery temporary storage cabinet, delivery personnel can be in delivery temporary storage cabinet Operation is inputted on operation panel, to generate delivery request and issue delivery request by signal projector.Second is that each first It is provided with detection sensor at goods yard, makes delivery temporary storage cabinet can automatically detect whether have at least one by detection sensor Article to be transported is placed at the first goods yard of itself, such as gravity sensor or pressure biography are provided at each first goods yard The detection sensors such as sensor then illustrate at least one once the measured value that detection sensor detects is greater than corresponding preset value Article to be transported is placed into delivery temporary storage cabinet, and temporary storage cabinet of delivering at this time generates delivery request and issued by signal projector and delivered Request.

The robot that S200 is sent according to delivery request takes out at least one article to be transported from delivery temporary storage cabinet, transports It send and unloads article to be transported to corresponding automatic transceiving platform；

Specifically, Receiving area (station of receiving) is provided with several automatic transceiving platforms, each automatic transceiving platform includes Several second goods yards.After the robot being sent is moved to the delivery temporary storage cabinet position with delivery demand, it is sent Robot docked with the delivery temporary storage cabinet of delivery demand, to take out at least one stored in delivery temporary storage cabinet Each article to be transported of taking-up is transported to corresponding automatic transceiving platform by article to be transported, the robot being then sent, And article to be transported is offloaded to corresponding automatic transceiving platform.

S300 issues picking notice after article to be transported is placed on automatic transceiving platform.

Specifically, the robot being sent issues picking after each article to be transported is offloaded to corresponding automatic transceiving platform Notice, to notify picking personnel that automatic transceiving platform position is gone to carry out picking in time.Picking advice method includes It is text, picture, vibration, light, any one or various ways in sound.

The present invention is suitable for the application scenarios of the logistics transportations demand such as hospital, supermarket, bookstore, express delivery, by this implementation Example, once with cargo batching delivery demand when, delivery personnel can in the cargo demand order for receiving picking personnel, Only it is absorbed in and is carried out according to cargo demand order with goods, in such manner, it is possible to does not need at least one delivery personnel for goods in delivery Object is sequentially placed into the warehousing region of robot, so that the delivery waiting time of delivery personnel is reduced, in addition to matching flow of goods journey and taking Outside the corresponding staff of goods requirements of process executes, remaining delivery process, cargo transport process, unloading process are joined without personnel With realize and promote Dispatching efficiency and whole cargo transportation efficiency, use manpower and material resources sparingly, substantially reduce the purpose of cost of labor.

One embodiment of the present of invention, a kind of implementation method of cargo automatic transportation, comprising:

When at least one article to be transported is placed into delivery temporary storage cabinet, delivery temporary storage cabinet scans on article to be transported S101 Physical tag, identification physical tag obtain the corresponding destination information of article to be transported and cargo type；

S102 delivery temporary storage cabinet is analyzed according to destination information, cargo type and generates corresponding delivery request；

Specifically, delivery temporary storage cabinet is provided with tag scan equipment.The physical tag being arranged on article to be transported include but Be not limited to bar code, two dimensional code, in RFID chip any one or it is a variety of.When physical tag is bar code, tag scan Equipment may be bar code scan equipment (generally laser scanner).When physical tag is two dimensional code, tag scan equipment can It can be advanced bar code scan equipment or camera.When physical tag is RFID chip, tag scan equipment may be to penetrate Frequency reader.Delivery temporary storage cabinet scans the physical tag on article to be transported by the tag scanner of itself and is identified to obtain The corresponding destination information of article to be transported and cargo type.Then delivery temporary storage cabinet according to destination information and cargo type into The transportation demand for the article to be transported that row analysis itself is placed, to generate corresponding delivery request according to transportation demand.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment, delivery temporary storage cabinet can be analyzed to obtain the transportation demand of itself according to destination information, cargo type, thus Corresponding delivery request is generated according to transportation demand, in this way, scheduling is gone at delivery temporary storage cabinet position, takes out corresponding object to be transported Product and the robot transported can meet the transportation demand for the article to be transported placed in delivery temporary storage cabinet, in this way, subtracting The probability that inappropriate robot goes to picking and cargo transport is deployed less, when directly reduction reschedules the waiting of suitable machine people Between, it substantially reduces the suitable robot of redistribution and executes the probability of cargo transport, and then promote allotment robot and carry out picking With the efficiency of cargo transport, whole cargo transportation efficiency is considerably increased.

One embodiment of the present of invention, as shown in Fig. 2, a kind of implementation method of cargo automatic transportation, comprising:

S1021 delivery temporary storage cabinet judges whether to need closed transport according to cargo type, and obtains corresponding analysis knot Fruit；And/or

S1022 delivery temporary storage cabinet judges to reach whether position corresponding to destination information needs to pass in and out permission and right of ingress or egress Type is limited, and obtains corresponding analysis result；

S1023 delivery temporary storage cabinet generates corresponding delivery request based on the analysis results.

Specifically, the cargo type due to different articles to be transported may be different, destination information may be also different, and The article to be transported of different cargo types may have different transportation demands, and the article to be transported of different destinations may also have There is different transportation demands.

If delivery temporary storage cabinet according to cargo type is analyzed to obtain article to be transported and is had and avoids damage to or damage etc. safely The demand of transport, such as high-value consumables, high price import drugs or high-value goods.If temporary storage cabinet of delivering is according to cargo class Type analysis, which obtains article to be transported, to be had convenient for investigating, and the regulatory requirement of management is recalled.Whether demand or just is transported safely It can each belong to the demand that article to be transported has closed transport in transportation management demand, as long as delivery temporary storage cabinet is according to cargo class Type determines that article to be transported needs closed transport, then temporary storage cabinet of delivering can generate transportation demand including closed transport and to Transport article corresponds to the first delivery request of cargo type.Conversely, delivery temporary storage cabinet can generate the second delivery request.

If temporary storage cabinet of delivering is according to destination information, judgement is believed goods transportation to be transported to destination by robot The corresponding position of breath needs robot across floor or trans-regional, or even be into and out the region etc. with gate inhibition to have disengaging The region of permission.Region with disengaging permission includes the region that could be entered and left after being verified or allowing.Delivery is temporary It deposits cabinet and needs to pass in and out permission (or enter and leave permission) and required right of ingress or egress when judging to arrive at the destination position corresponding to information When the permission type of limit, delivery temporary storage cabinet can generate the including the transportation demands and destination information that need certain disengaging permissions Three delivery requests.Conversely, delivery temporary storage cabinet can generate the second delivery request.Such as robot first is opened disengaging elevator to multiply It sits the first permission downstairs freighted on elevator and passes in and out the second permission of gated area, and robot second opens Permission is stated, then delivery temporary storage cabinet just needs to be analyzed according to destination information, obtains needing that there is the first permission and the second permission Robot get to delivery temporary storage cabinet position and get in stocks, and move to reach destination information and correspond to automatic transceiving platform When carrying out unloading realization cargo transport demand, the third hair including the first permission, the second permission and destination information is generated and issued Goods request, to send the robot that can receive third delivery request to go to cargo transport.

If temporary storage cabinet of delivering is according to destination information and cargo type, judgement had both needed the transport of closed transport to need It asks, it is also desirable to which when the transportation demand of certain disengaging permissions, then temporary storage cabinet of delivering can be generated including certain disengaging permission demands, closing Formula transportation demand, the 4th delivery request of destination information.Conversely, delivery temporary storage cabinet can generate the second delivery request.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment, delivery temporary storage cabinet are analyzed to obtain corresponding transportation demand according further to destination information, and transportation demand includes Permission demand and disengaging permission type, closed transportation demand are passed in and out, is generated according to different transportation demands different types of Delivery request, then deliver temporary storage cabinet different types of delivery request is issued, in such manner, it is possible to it is more accurate, reliably select Dispatching suitable robot goes to delivery temporary storage cabinet to carry out picking and cargo transport, since more accurate allotment suitable machine people carries out Picking and cargo transport directly reduce the waiting time for rescheduling suitable machine people, greatly promote allotment robot and are taken The efficiency of goods and cargo transport, and greatly improve whole cargo transportation efficiency.

S210 is moved at the delivery temporary storage cabinet for issuing delivery request according to the robot that delivery request is sent；

S220 robot from issue delivery request delivery temporary storage cabinet in take out at least one article to be transported, and be put into The warehousing region of robot；

Specifically, the warehousing region of robot includes non-enclosed robot goods yard and enclosed robot goods yard, For non-enclosed goods yard, possible goods yard edge is provided with cabinet door in closed goods yard, is equipped with electronic lock at cabinet door.Machine After people's movement and arrival have the delivery temporary storage cabinet position of delivery demand, robot has two ways by object to be transported The warehousing region that product are removed and placed in robot from delivery temporary storage cabinet carries out article loading (getting in stocks) to be transported.

It is loaded first is that robot actively takes out article to be transported, i.e., robot may be provided with manipulator, then machine Device people can take out at least one article to be transported from delivery temporary storage cabinet by manipulator, and be placed on the warehousing of robot In region.It is loaded second is that robot passively takes out article to be transported, i.e., is provided with transmission dress at the goods yard of delivery temporary storage cabinet It sets.If robot goods yard is non-enclosed goods yard, until after robot is docked with delivery temporary storage cabinet, temporary storage cabinet goods of delivering Transmission device at position drives article to be transported mobile towards the non-enclosed goods yard of robot, so that object to be transported Product are placed into the non-enclosed goods yard of robot.If robot goods yard be closed goods yard, delivery temporary storage cabinet with After other side's identities match is mutually authenticated in robot, electronic lock automatically opens and opens cabinet door, to complete robot and delivery temporarily The docking of cabinet is deposited, then, the transmission device at temporary storage cabinet goods yard of delivering drives article to be transported towards the closing of robot Formula goods yard is mobile, so that article to be transported is placed into the closed goods yard of robot.

S230 robot obtains the corresponding destination information of article to be transported；

Article to be transported is transported to the corresponding automatic transceiving platform of its destination information by S240 robot, by least one Article to be transported is offloaded to automatic transceiving platform from warehousing region；

Specifically, robot, which obtains, itself takes out the corresponding destination information of article to be transported, robot is mobile and arrives After up to the corresponding automatic transceiving platform of destination information after position, docking referring to above-mentioned delivery temporary storage cabinet with robot makes The process of robot picking is obtained, robot is docked with automatic transceiving platform so that cargo, which is automatically performed, is offloaded to automatic transceiving There are two types of the mode of platform is same.

It is unloaded and (is unloaded) first is that robot actively takes out article to be transported, i.e., robot may be provided with machinery Hand then robot can take out at least one article to be transported by manipulator from the warehousing region of itself, and is placed In automatic transceiving platform.It is unloaded second is that robot passively takes out article to be transported, i.e. automatic transceiving platform is again provided with Multilayer goods yard, and the goods yard of automatic transceiving platform is provided with transmission device.If robot goods yard is non-enclosed goods yard, that Until the transmission device at automatic transceiving platform goods yard is towards robot after robot is docked with automatic transceiving platform Non-enclosed goods yard is mobile, thus can take article to be transported away from the non-enclosed goods yard of robot, complete object to be transported Product are offloaded to automatic transceiving platform automatically.If robot goods yard is closed goods yard, automatic transceiving platform and robot After other side's identities match is mutually authenticated, electronic lock automatically opens and opens cabinet door, to complete robot and automatic transceiving platform Docking, then, transmission device at automatic transceiving platform goods yard is mobile towards the closed goods yard of robot, thus Article to be transported can be taken away from the closed goods yard of robot, complete article to be transported and be offloaded to automatic transceiving platform automatically.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment replaces staff by robot other than executing with flow of goods journey and the corresponding staff of picking requirements of process It got in stocks, transported and is unloaded, liberated the mechanical work of fatigue of staff, reduced the workload of staff, most Bigization improves man efficiency.And robot work in addition to charging or failure when, need to grow very much unlike staff Time of having a rest (including lunch break, have a meal, is on and off duty and have a holiday or vacation), therefore, robot delays work the time for staff Shorter, in addition, whole delivered by delivery temporary storage cabinet, robot is got in stocks, freighted and is unloaded, and cooperation is a small amount of artificial It carries out with goods and picking, so that matching goods, picking, transport (including deliver, get in stocks, freight and unload) concurrent working, does not interfere with each other, This makes it possible to the whole Transporting efficiency for greatly promoting cargo, use manpower and material resources sparingly, substantially reduce cost of labor.

The present invention actively or is passively carried out by robot from delivery temporary storage cabinet takeaway to be transported article to be transported And load and the article to be transported of itself warehousing regional load is actively or passively offloaded to automatic transceiving platform by robot, It enables in batching delivery, does not need at least one delivery personnel and cargo is sequentially placed into the warehousing region of robot, To reduce the delivery waiting time of delivery personnel.In addition, not needing robot when batch is unloaded and picking personnel being waited to reach And other conveying tasks of execution can be just left after completing picking, when greatly reducing the waiting of robot waiting picking personnel picking Between, further shorten the cargo transport time, greatly improves Dispatching efficiency and robotic conveyance efficiency, so that whole Goods batches conevying efficiency greatly increases, and does not need delivery personnel and participates in article loading to be transported, does not also need picking personnel ginseng Unloaded with article to be transported, manpower and material resources be greatly saved in this way, reduce high cost of labor, promoted user (including Hospital, bookstore, supermarket etc.) experience.

S230 robot obtains the corresponding destination information of article to be transported and specifically includes step:

Physical tag on S231 Robot Scanning article to be transported, it is corresponding that identification physical tag obtains article to be transported Destination information；And/or

S232 robot is parsed to obtain the corresponding destination information of article to be transported to cargo transport dispatch command；Cargo transport is adjusted Degree instruction is that server is generated according to the delivery request for including destination information.

Specifically, robot obtains corresponding to article to be transported if being not provided with tag scan equipment in robot The mode of destination information only has one kind, i.e., after server gets the delivery request including destination information, according to including mesh Ground information delivery request and each robot of real time monitoring state, carry out analysis and generate cargo transport dispatch command, send Freight dispatch command to corresponding robot, robot receive cargo transport dispatch command after it is carried out to parse can obtain it is to be shipped The corresponding destination information of defeated article.

If robot is equipped with tag scan equipment, robot obtains destination information corresponding to article to be transported Mode there are three types of, a method of when to be not provided with tag scan equipment in above-mentioned robot obtain destination information.It is another Kind is that robot reaches delivery temporary storage cabinet position, and after taking out article to be transported in delivery temporary storage cabinet, passes through machine The tag scan equipment being arranged on people scans the physical tag on article to be transported, is identified to obtain to physical tag to be transported The corresponding destination information of article.Finally one is both according to the tag scan equipment scanning recognition being arranged in robot obtain to The corresponding destination information x1 of article is transported, is parsed to obtain the corresponding purpose of article to be transported also according to cargo transport dispatch command Ground information x2, then robot is compared verifying to destination information x1 and x2, in such manner, it is possible to which verifier people is temporary from delivery Deposit cabinet taking-up article to be transported it is whether correct, promotion take object accuracy, greatly reduce robot retrieve correctly to Article probability is transported, shortens article to be transported and takes out duration, Dispatching efficiency is promoted and then improves whole goods batches Transportation Efficiency Rate.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment, robot autonomous acquisition destination information, does not need that destination information is manually entered, and promotes the intelligence of cargo transport Property and automation, further decrease person works amount, greatly improve cargo transportation efficiency.

S010 is sorted according to cargo demand inventory and is arranged the cargo of the physical tag including destination information, will be divided It sorts out and carrys out and set at least one cargo of physical tag and be put into corresponding delivery temporary storage cabinet；Article to be transported is to have sorted At and set the cargo of physical tag；And/or

S020 according to cargo demand inventory by goods sorting to empty van and be arranged include destination information physical tag, At least one container completed with goods and set physical tag is put into corresponding delivery temporary storage cabinet；Article to be transported be with Goods is completed and sets the container of physical tag；

Specifically, picking personnel (including but not limited to case according to the cargo demand and cargo transport demand of itself Demand and destination information) place an order generates cargo demand inventory, then delivery personnel or delivery robot are according to cargo Demand inventory carries out sorting cargo.If required cargo does not need all to case on cargo demand inventory, goods sorting is gone out Come and setting includes the physical tag for corresponding to destination information on each cargo, then will sort and set physics mark At least one cargo of label is put into corresponding delivery temporary storage cabinet.If required cargo all needs to case on cargo demand inventory, Then goods sorting is come out and is put into empty van, voluntarily selects to be put into empty van with cargo size size according to demand any The cargo of the same destination of quantity is completed to match goods, and setting corresponds to the physics mark of cargo destination on container after the completion of matching goods Then label will complete with goods and set at least one container of physical tag to be put into corresponding delivery temporary storage cabinet.Certainly, such as Required cargo moiety needs to case on fruit cargo demand inventory, does not need partially to case, then will need to case referring to aforesaid way Cargo cased and be put into delivery temporary storage cabinet after the physical tag including destination information is set, do not need vanning cargo Delivery temporary storage cabinet is equally put into after physical tag including destination information is set.

The physical tag including identity information and destination information may be provided on article to be transported, it is also possible to It is provided with a fixed physical label A and an on-fixed physical tag B including destination information including identity information.It is excellent Choosing, for the recyclable article to be transported reused, such as container and non-consumptive material article (such as scalpel in hospital etc. Instrument, the also supermarket such as the shelf in supermarket the supermarket's articles not for sale itself used), in order to shorten update alternative It manages the time of label and saves physical tag cost, setting one can indicate identity on the recyclable article reused The fixed physical label of information and an on-fixed physical tag including destination information.No matter being set on article to be transported Set the physical tag of any type and quantity, an article to be transported is being delivered until in transport courses after being removed only It can include unique destination information, such as certain cargo A is recycled and is used for multiple times, cargo A is by receiving at destination S1, S2 Personnel are respectively necessary for, then setting includes that the physical tag Q1 of destination S1 obtains article A ' to be transported on cargo A, will be to be transported Article A ' is put into delivery temporary storage cabinet, is taken out from delivery temporary storage cabinet by robot and is transported to destination S1, in this whole flow process, It is destination S1 that identification or analysis, which obtain destination information,.Article A ' to be transported by return storage after, delivery personnel update to It is destination S2 that transport article A ', which goes up the destination information in object tags, i.e., destination S1 is changed to destination S2, according to Aforesaid way continues delivery transport.

Each robot of S110 receives delivery request, judges whether to connect according to delivery request and the first working condition of itself Single cargo transport, and corresponding cargo transport response results are fed back to the corresponding delivery temporary storage cabinet of sending delivery request；And/or

Specifically, delivery temporary storage cabinet, robot, being able to carry out wireless communication interaction between server three.When at least When one article to be transported is placed into delivery temporary storage cabinet, delivery temporary storage cabinet can generate delivery request, and to server And/or each robot sends delivery request.After temporary storage cabinet of delivering issues delivery request, then server and all robots It can receive delivery request.First working condition includes the identification information and status information of robot, status information The including but not limited to remaining capacity of robot, task list and robot the fault detection report that whether is in malfunction It accuses.

Each machine can be carried out wireless communication per capita with delivery temporary storage cabinet, so that robot receives delivery and keeps in After the delivery request that cabinet issues, robot is according to the corresponding first work shape of delivery request and the delivery request time of reception itself State, independently carrying out judging whether being capable of order cargo transport, if it is possible to meet delivery request and then feeds back and determines cargo transport response results extremely Delivery temporary storage cabinet feeds back refusal cargo transport response results to temporary storage cabinet of delivering if being unsatisfactory for delivery request.This robot master The mode of dynamic formula competition for orders cargo transport, can reduce the vacancy rate of robot, and liberate the load pressure of server.

S120 server receives delivery request, obtains corresponding first working condition of each robot, according to delivery request and First working condition generates and sends cargo transport dispatch command to corresponding robot；

Specifically, server and each machine are able to carry out wireless communication per capita, so that each machine of server real-time monitoring The first working condition of device people, after server receives the delivery request that delivery temporary storage cabinet issues, server is according to delivery request The first working condition corresponding with delivery request time of reception robot carries out robot scheduling and selects suitable target machine People simultaneously generates cargo transport dispatch command, and cargo transport dispatch command includes the space bit confidence having where the delivery temporary storage cabinet of delivery demand Breath, then cargo transport dispatch command is sent to corresponding robot by server.First working condition is the reception in delivery request Moment.

Specifically, the mode that robot is moved to delivery temporary storage cabinet includes but is not limited to two kinds, first is that robot can be with It is in place that the delivery temporary storage cabinet institute with delivery demand is moved to according to the spatial positional information independent navigation in cargo transport dispatch command It sets.Second is that cargo transport dispatch command includes the picking programme path of the robot generated by server, the picking of robot plans road Line carries out Global motion planning generation according to robot position and the delivery temporary storage cabinet position with delivery demand, to make It obtains robot and is moved to the delivery temporary storage cabinet position with delivery demand according to picking programme path.

Similarly, it includes but is not limited to two kinds that robot, which is moved to the mode of automatic transceiving platform, first is that if delivery is asked It does not include destination information in asking, robot can obtain destination letter according to the tag scan equipment scanning recognition of itself Breath carries out independent navigation according to destination information and is moved to destination information corresponding automatic transceiving platform position.Second is that If delivery request includes destination information, cargo transport dispatch command includes the delivery planning of the robot generated by server Route, the delivery programme path of robot according to the robot position after taking out cargo to be transported from delivery temporary storage cabinet, with And destination information corresponding automatic transceiving platform position carries out Global motion planning generation, so that robot is according to delivery Programme path is moved to destination information corresponding automatic transceiving platform position.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment, whether autonomous competition for orders carries out that cargo transport or passive type is sent to carry out sending cargo transport, and the robot being sent is mobile To the delivery temporary storage cabinet position with delivery demand, robot carries out pair with the delivery temporary storage cabinet with delivery demand It connects, to take out at least one article to be transported for storing in delivery temporary storage cabinet, the robot being then sent is by each of taking-up A article to be transported is transported to corresponding automatic transceiving platform, and article to be transported is offloaded to corresponding automatic transceiving and is put down Platform.

It is planned and is monitored in advance by server, carried out article convenient for the effective dispatch robot of server and convey task, To realize the optimization distribution and automatic management of article conveying task, the human and material resources and time cost of user are saved.By Robot autonomous navigation movement, does not generate corresponding programme path (taking including robot by the carry out unified allocation of resources of server Goods programme path and delivery programme path) so that server only carries out the selection scheduling of robot, the pressure of server can be reduced Power, robot autonomous navigation movement enable robot have perception, decision, ability to act, to realize that robot goes to delivery temporary The traveling safety of cabinet or automatic transceiving platform position, by infrared sensor, laser radar, camera etc. identifies machine Environmental information around people carries out avoidance, improves the independence run in robot operational process and place adaptability, and can Incident collision and congestion phenomenon when effectively avoiding the synchronous operation of more robots, so that it is same to greatly improve more robots Operation stability and reliability when step operation operation, have very strong practical value and market popularization value.In addition, avoiding machine The device people traveling inflexible according to the travelling route that server advance planning obtains, once encountering barrier, robot is possibly can not Effective avoidance, by robot autonomous navigation, can automatic sensing circumstances not known effective avoidance effect in advance, it is intelligent autonomous Mobile significant effect, environmental suitability are strong.

At least one article to be transported is put into second conveyer by S001, by second conveyer by least one Article to be transported is put into corresponding delivery temporary storage cabinet；

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Specifically , second conveyer may be the conveyer belt that can be docked with the warehousing region of robot, and second conveyer is also likely to be Device with liftable equipment, second conveyer are also likely to be the device with manipulator.Delivery personnel or delivery machine Device people carries out sorting cargo according to cargo demand inventory, and obtained article to be transported includes the cargo for setting physical tag, with And the container of physical tag is completed and set with goods, then, article to be transported is put by delivery personnel or delivery robot The entrance area of second conveyer, second conveyer are docked with delivery temporary storage cabinet, by second conveyer by inlet region At least one goods transportation to be transported at domain is to corresponding delivery temporary storage cabinet.Illustratively, as shown in figure 3, delivery personnel will Article setting to be transported is put into conveyer belt, and article to be transported is put into delivery temporary storage cabinet 1 by conveyer belt.Preferably, it delivers Several settable second conveyers 5 of region (delivery station) and several delivery temporary storage cabinets 1.Such as delivery station region can be equipped with Several conveyer belts.

One embodiment of the present of invention, as shown in figure 4, a kind of implementation method of cargo automatic transportation, comprising:

S020 according to cargo demand inventory by goods sorting to empty van and be arranged include destination information physical tag, At least one container completed with goods and set physical tag is put into corresponding delivery temporary storage cabinet 1；Article to be transported is The container of physical tag is completed and set with goods；

For S100 when at least one article to be transported is placed into delivery temporary storage cabinet 1, delivery temporary storage cabinet 1 issues delivery request；

The robot 2 that S200 is sent according to delivery request takes out at least one article to be transported from delivery temporary storage cabinet 1, It transports and unloads article to be transported to corresponding automatic transceiving platform 3；

S300 issues picking notice after article to be transported is placed on automatic transceiving platform 3；

Each robot 2 of S410 receives the empty van recycling request that automatic transmit-receive platform 3 is issued when at least one empty van is put into, Request is recycled according to empty van and the second working condition of itself judges whether that empty van is recycled in order, and it is empty to feed back corresponding recycling Case response results go to recycling empty van to after issuing the corresponding automatic transceiving platform 3 of delivery request；And/or

Specifically, empty van recycling request includes initiating position letter corresponding to the automatic transceiving platform 3 of empty van recycling request Breath.Wireless communication is able to carry out between each robot 2 and automatic transceiving platform 3 to interact.When at least one empty van is placed into certainly When dynamic transmit-receive platform 3, automatic transceiving platform 3 can generate empty van recycling request, and issue empty van to each robot 2 Recycling request.Second working condition includes the identification information and status information of robot 2, status information include but not Whether the remaining capacity, task list and robot 2 for being limited to robot 2 are in the fault detection address of malfunction.

Specifically, be sent the robot 2 of delivery by each cargo to be transported be offloaded to after corresponding automatic transceiving platform 3 from It opens, once cargo to be dispensed, which is placed on automatic transceiving platform 3, issues picking notice, to notify picking personnel to go in time certainly Dynamic 3 position of transmit-receive platform carries out picking.Picking advice method include be text, picture, vibration, light, in sound Any one or various ways.Automatic transceiving platform 3 determines whether that at least one empty van is placed into itself mode and includes But be not limited to two kinds, first is that automatic transceiving platform 3 be equipped with operation panel and signal projector, when picking personnel take away it is complete with goods At and set the container of physical tag, and when empty van is put into automatic transceiving platform 3 after cargo in container is taken out, Picking personnel can input operation on the operation panel of automatic transceiving platform 3, request to generate empty van recycling and pass through letter Number transmitter issues empty van recycling request.Second is that being provided with detection sensor at each second goods yard, made by detection sensor Whether have at least one empty van be placed into itself second goods yard at, such as each if can automatically detect derived from dynamic transmit-receive platform 3 The detection sensors such as gravity sensor or pressure sensor and tag scan equipment are provided at second goods yard, once detection passes The measured value that sensor detects is greater than the first preset value (generally 0) and is less than or equal to the second preset value (generally manual measurement Or the empty weight value of empty van factory measurement) and the result of tag scanner scanning only include the physical tag of container, and Do not include the physical tag to cargo, then illustrates that empty van is placed into automatic transceiving platform 3, automatic transceiving platform 3 generates sky at this time Case recycling request simultaneously issues empty van recycling request by signal projector.

After each robot 2 receives the empty van recycling request of the sending of automatic transceiving platform 3, robot 2 is returned according to empty van Request and the empty van recycling request time of reception itself corresponding second working condition are received, independently carrying out judging whether being capable of order time Receive empty van, if it is possible to meet empty van recycling request then feed back determine recycling empty van response results to automatic transceiving platform 3, if It is unsatisfactory for empty van recycling request and then feeds back refusal recycling empty van response results to automatic transceiving platform 3.This robot 2 is active The mode of empty van is recycled in competition for orders, can reduce the vacancy rate of robot 2, and liberate the load pressure of server 4.

S420 server 4 judges whether that triggering empty van recovery process obtains each robot when triggering empty van recovery process 2 corresponding second working conditions generate and send recycling empty van dispatch command according to empty van recycling request and the second working condition Recycling empty van is gone to corresponding robot 2；

Specifically, server 4 and each robot 2 are able to carry out wireless communication so that server 4 monitor in real time it is each Second working condition of robot 2, after server 4 receives the empty van recycling request of the sending of automatic transceiving platform 3, server 4 According to empty van recycling request and empty van recycling request corresponding second working condition of time of reception robot 2, carries out robot 2 and adjust Degree selects suitable target robot 2 and generates recycling empty van dispatch command, and recycling empty van dispatch command includes having empty van Spatial positional information where the automatic transceiving platform 3 of recycling demand, then server 4 is sent to empty van dispatch command is recycled Corresponding robot 2.The condition of triggering empty van recovery process includes: that server 4 determines arrival timing recovery time, server 4 Receive in empty van recovery command any one or it is a variety of.The empty van recovery command that server 4 receives is picking personnel Take the cargo in container away, and put the empty van after cargo is removed to automatic transceiving platform 3, picking personnel are whole using user End input generates.

The robot 2 that S500 is sent to recycle empty van is moved at the automatic transceiving platform 3 for being placed at least one empty van；

Specifically, the robot 2 for being sent recycling empty van through the above way is moved to the mode packet of automatic transceiving platform 3 It includes but is not limited to two kinds, first is that robot 2 can the position according to corresponding to the automatic transceiving platform 3 for issuing empty van recycling request Information carries out independent navigation and is moved to 3 position of automatic transceiving platform for needing to recycle empty van.Second is that empty van recycling scheduling refers to Order includes the empty van recycling programme path of the robot 2 generated by server 4, and empty van recycles programme path according to from robot 2 Present position, and issue location information corresponding to the automatic transceiving platform 3 of empty van recycling request and carry out Global motion planning life At so that robot 2 according to empty van recycle programme path be moved to need to recycle empty van the institute of automatic transceiving platform 3 it is in place It sets.

S600 robot 2 takes out at least one empty van from automatic transceiving platform 3, transports and unloads empty van to corresponding sky Case cabinet 7；

Specifically, it includes but is not limited to three kinds that robot 2, which is moved to the mode of empty van cabinet 7, through the above way, One is robots 2 to store the corresponding spatial position of all empty van cabinets 7, and robot 2 takes out from automatic transceiving platform 3 After at least one empty van, a corresponding spatial position of empty van cabinet 7 is arbitrarily selected, according to current time itself position And the corresponding spatial position of selected empty van cabinet 7, it carries out independent navigation and is moved to corresponding empty van cabinet 7.It is another Kind be that robot 2 stores the corresponding spatial position of all empty van cabinets 7, robot 2 taken out from automatic transceiving platform 3 to After a few empty van, is obtained from server 4 and be matched with the current suitable target empty van storage for taking out empty van specification and quantity Cabinet 7 carries out independent navigation shifting according to current time itself position and the corresponding spatial position of target empty van cabinet 7 It moves to corresponding empty van cabinet 7.Another kind is use state of the server 4 according to all empty van cabinets 7, robot 2 from The empty van specification and quantity and robot 2 that at least one empty van is taken out in automatic transceiving platform 3 are from automatic transceiving platform 3 Position carries out Global motion planning after taking out at least one empty van, generates empty van and recycles programme path, so that 2, robot Suitable empty van cabinet 7 is moved to according to empty van recycling programme path.

It is transported it is preferable to use latter two mode and unloads empty van to corresponding empty van cabinet 7, because of latter two side Formula can precisely, high efficiency selected go out and dock unloading empty van with the robot 2 for taking empty van away, reduction robot 2 carries more The probability for needing that different empty van cabinets 7 is repeatedly gone to carry out unloading empty van when the empty van of quantity greatly reduces empty van unloading Waiting time, greatly improve empty van recovery efficiency, needed when reducing delivery personnel batching delivery empty van carry out with goods etc. To the time, so that whole goods batches conevying efficiency greatly increases.

When the empty van for getting delivery personnel receives request, empty van cabinet 7 is connected to S700 with second conveyer 6, Corresponding empty van is shipped to delivery personnel by second conveyer 6 so that delivery personnel each empty van is carried out with goods and Physical tag is set.

Specifically, second conveyer 6 may be the transmission that can be docked with the third goods yard of empty van cabinet 7 Band, second conveyer 6 are also likely to be the device with liftable equipment, and second conveyer 6 is also likely to be with manipulator Device.Delivery region (delivery station) is provided with several empty van cabinets 7, and each empty van cabinet 7 includes several thirds Goods yard.Delivery personnel receive cargo demand inventory, and delivery personnel can be by mobile terminal that itself is used (including but not It is limited to mobile phone, computer) input demand, so that mobile terminal generation empty van receives request and is sent to empty van cabinet 7.Certainly, it sends out The empty van that goods personnel can also directly input delivery personnel on the operation panel of empty van cabinet 7 receives request.When getting When the empty van of delivery personnel receives request, empty van cabinet 7 is connected to second conveyer 6, and corresponding empty van is passed through second Transmission device 6 is shipped to delivery personnel, can be and transports delivery personnel position, can also submit empty van to delivery personnel On hand, so that delivery personnel carry out with goods empty van according to cargo demand inventory and physical tag is arranged.

Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through The present embodiment, empty van recovery process are carried out by robot 2 completely, are replaced staff to carry out empty van recycling by robot 2, are reduced The workload of staff maximizes and improves man efficiency.And robot 2 work in addition to charging or failure when, unlike work Make time of having a rest that personnel need to grow very much like that (including lunch break, have a meal, is on and off duty and have a holiday or vacation), therefore, robot 2 relative to For staff, the time of delaying work is shorter.In addition, carrying out empty van storage by empty van cabinet 7, robot 2 is not needed as existing Technology is such, and delivery personnel can just leave all empty vans unloading that robot 2 loads after the completion, greatly reduces robot 2 Empty van unload the waiting time.Empty van storage is finally carried out by empty van cabinet 7, second conveyer 6 carries out empty van and submits, this Robot 2 in embodiment only needs to carry out dress empty van, transport empty van and unload empty van in empty van recovery process, so that with goods, taking Goods, transport (including deliver, get in stocks, freight and unload) and empty van recycling (including fill empty van, transport empty van and unload empty van) parallel work Make, do not interfere with each other, this makes it possible to the whole Transporting efficiency for greatly promoting cargo, use manpower and material resources sparingly, substantially reduce manually at This.

Based on the above embodiment, S300 is when at least one article to be transported is placed into delivery temporary storage cabinet 1, temporary storage cabinet of delivering 1 sending delivery request specifically includes step:

For S310 after article to be transported or container are placed on automatic transceiving platform 3, it is logical that automatic transceiving platform 3 issues picking Know；And/or

For S320 after article to be transported or container are placed on automatic transceiving platform 3, robot 2 issues picking notice；With/ Or,

S330 is after article to be transported or container are placed on automatic transceiving platform 3, robot 2 or automatic transceiving platform 3 feedback unloading successful results are to server 4, and control user terminal sending picking is logical after server 4 receives unloading successful result Know.

Specifically, user terminal include mobile phone used in picking personnel or picking personnel region computer or Person's broadcasting equipment.After each container is offloaded to corresponding automatic transceiving platform 3 by the robot 2 being sent, with informing function Equipment issues picking notice, to notify picking personnel that 3 position of automatic transceiving platform is gone to carry out picking in time.It issues For picking notice there may be three kinds in a manner of reminding the timely picking of picking personnel, first way is when container is placed on certainly After at any one second goods yard of dynamic transmit-receive platform 3, automatic transceiving platform 3 issue the first picking reminder announced picking personnel and When go at corresponding automatic transceiving platform 3 progress picking.The second way is placed on automatic transceiving platform 3 when container After at any one second goods yard, robot 2 issues the second picking reminder announced picking personnel and goes to corresponding automatic receipts in time It sends out and carries out picking at platform 3.The third mode is when container is placed at any one second goods yard of automatic transceiving platform 3 Afterwards, to server 4, server 4 is received to unload and successfully be tied for robot 2 or the feedback unloading successful result of automatic transceiving platform 3 After fruit, control instruction is generated and sent to corresponding the used user terminal of picking personnel of container, user terminal refers to according to control Sending third picking reminder announced picking personnel are enabled to go to progress picking at corresponding automatic transceiving platform 3 in time.Advice method Including being text, picture, vibration, light, any one or various ways in sound.

Through this embodiment, picking is carried out by multiple, various progress picking reminder announced picking personnel, conveniently taken Goods personnel are quick, go at automatic transceiving platform 3 picking of entering in time.In the present embodiment, robot 2 issues picking notice, and After article to be transported is offloaded to automatic transceiving platform 3, other places is gone to continue to convey article to be transported at once, it can be with Picking personnel are reminded to carry out picking.Article to be transported is offloaded to automatic transceiving platform 3, by automatic transceiving platform 3 local one Straight hair goes out picking notice and carries out prompting picking, until picking personnel carry out picking and just stop issuing picking notice, not only reduces Picking personnel leak the probability for taking or forgetting picking, the picking experience of picking personnel are promoted, it is not necessary to as the prior art Wait robot 2 after pickup that other places can just be gone to continue to convey article to be transported until picking personnel take away, significantly The conevying efficiency of robot 2 is improved, and then promotes whole cargo transportation efficiency.In addition, working as article to be transported or container quilt After being placed in automatic transceiving platform 3, robot 2 or the feedback of automatic transceiving platform 3 unloading successful result are serviced to server 4 Control user terminal issues picking notice after device 4 receives unloading successful result, can be realized remote notification picking personnel and goes to Automatic transceiving platform 3 carries out the purpose of picking, and the picking personnel leakage of reduction takes or forget the probability of picking, promotes picking personnel's Picking experience.

In the following, example cites an actual example, as shown in figure 3, comprising steps of

S1, batching delivery: people's (deliver in invention personnel) with goods is completed before workbench after matching goods, by container purpose The information such as ground are bundled on container and (stamp in bar code or write-in RFID chip), goods are put into conveyer belt, the people with goods continues to match Goods, without being concerned about transport.

S2, be put into delivery temporary storage cabinet 1: container is sequentially placed into delivery temporary storage cabinet 1 by conveyer belt, and delivery temporary storage cabinet 1 receives Container identifies container and container destination, after then issuing delivery request to scheduling system (server 4 i.e. in the present invention) Robot 2 is sent to carry out picking.

S3,2 picking of robot, robot 2 take container away before coming delivery temporary storage cabinet 1, and robot 2 can take more every time Part container, and container is transmitted in the warehousing region of robot 2.In the access section of delivery temporary storage cabinet 1 and the warehousing of robot 2 In region, the destination of the container can be read.

S4, robot 2 transport, and the corresponding station of receiving of the different floors of elevator arrival is taken by robot 2, meet most of indoor Outer transport task.

Container is discharged at automatic transceiving platform 3 when robot 2 reaches the automatic transceiving platform 3 at station of receiving by S5, unloading On, and by any one or the various ways notifier in automatic transceiving platform 3, robot 2, user terminal come after picking, Robot 2 just goes to execute next task.And the people at station of receiving takes container away from automatic transceiving platform 3, once he takes out goods Empty van is just put back to automatic transceiving platform 3 by the cargo in case.

S6, empty van recycling, can timing way of recycling recycling empty van or order way of recycling recycle empty van, robot 2 arrives Automatic transceiving platform 3 recycles empty van up.When using order way of recycling recycling empty van, the triggering recycling order of empty van is recycled It can be assigned by the people (i.e. picking personnel in invention) at station of receiving, or by specifying recovery zone, certainly when there is empty van in recovery zone Dynamic triggering recycling order.When using timing way of recycling recycling empty van, scheduling system timing judges whether that reaching timing recycles Time.When receiving recycling order or reaching timing recovery time, scheduling system call robot 2 recycles empty van.Robot 2 Reception goes automatic transceiving platform 3 or specified recovery zone to collect empty van after sending, empty van is put into the warehousing region of robot 2 It is interior.Robot 2 can take multiple empty vans away every time.

Empty van is put into empty van cabinet 7 from warehousing region by S7, storage empty van, robot 2, and robot 2 can be put into every time Multiple empty vans.After robot 2 is put into empty van, just go to execute next task.

S8, empty van are received, and when the people with goods is needed using empty van, are received from empty van cabinet 7 and (by entity or are virtually pressed Button) empty van, passes to the people with goods for the empty van stored in empty van cabinet 7 by conveyer belt.

In 2 logistics of robot, relatively delaying manpower there are two link, a link is the entrucking of batching delivery, another Link is artificial discharging when receiving.Before the present invention, first is that needing at least one delivery personnel by goods when batching delivery Case is sequentially placed into the warehousing region of robot 2, if all robots 2 all can not load this unit of cargo case, it is also necessary to wait robot 2 Transport second again, the time for the personnel that deliver largely is wasted in waiting.Second is that needing to exhale when robot 2 reaches station of receiving It makes picking personnel carry out picking, and is also required to picking personnel loading when the recycling of empty van.When picking personnel are extremely busy, can not accomplish and When picking and be put into empty van, extend unloading time, reduce the working efficiency of robot 2.Third is that not using 2 object of robot When stream, a conveyer belt is needed to lead to station of receiving from delivery station, container transport is unable to complete when component environment is for example across floor.

Delivery personnel only need with goods through the invention, the container prepared are put into delivery caching cabinet, so that it may continue to match Goods saves the manpower of delivery, and when unloading, robot 2 is first discharged at container on automatic transceiving platform 3, and it is logical to issue picking Know, picking personnel carry out picking again after finishing, and the empty van for taking out cargo is placed on automatic transceiving platform 3 and triggers recycling, machine Empty van, to recycle empty van, then is put into empty van cabinet 7 according to order by device people 2.Whole unattended, dispatching and other work are simultaneously Row processing, is greatly improved cargo transportation efficiency.In addition, the present invention can not dispose in the environment of conveyer belt, machine is used People 2 takes elevator, and in the case where not changing building structure, container is transported to station of receiving.Manpower is saved, goods putting dress is saved The manpower of vehicle saves the manpower of transport, saves the manpower of full-time picking, saves the manpower of empty van recycling, with goods, takes Goods, transport, recycling, four line concurrent workings, do not interfere with each other, and maximize and improve man efficiency.

A kind of one embodiment of the present of invention, as shown in figure 5, realization system of cargo automatic transportation, comprising: several hairs Goods temporary storage cabinet 1, robot 2 and automatic transceiving platform 3；

Delivery temporary storage cabinet 1, for issuing delivery request when at least one article to be transported is placed into itself；

Robot 2 takes out at least one article to be transported from delivery temporary storage cabinet 1 for being sent according to delivery request, It transports and unloads article to be transported to corresponding automatic transceiving platform 3；

Picking notifies mould group, for after article to be transported is placed on automatic transceiving platform 3, issuing picking notice；It takes Goods notice mould group includes the automatic transceiving platform 3 completed the robot 2 of unloading and/or complete to connect goods.

Based on previous embodiment, as shown in fig. 6, delivery temporary storage cabinet 1 includes: first detection module 11, for detecting whether There is at least one article to be transported to be placed into delivery temporary storage cabinet 1；First scanning recognition module 12, it is to be transported for working as at least one When article is placed into delivery temporary storage cabinet 1, the physical tag on article to be transported is scanned, identification physical tag obtains article to be transported Corresponding destination information and cargo type；First processing module 13, for being analyzed according to destination information, cargo type And generate corresponding delivery request；First communication module 14, for issuing delivery request.

Based on previous embodiment, first processing module 13 includes: the first analytical unit, for being according to cargo type judgement It is no to need closed transport, and obtain corresponding analysis result；Second analytical unit, for judging that arrival destination information institute is right It answers whether position needs to pass in and out permission and disengaging permission type, and obtains corresponding analysis result；Generation unit is used for basis It analyzes result and generates corresponding delivery request.

Based on previous embodiment, robot 2 includes: second communication module, for obtaining delivery request；First obtains mould Block, for obtaining the corresponding destination information of article to be transported；Mobile module, the delivery for being moved to sending delivery request are temporary It deposits at cabinet 1；And it is also used to be moved to the corresponding automatic transceiving platform 3 of destination information；Execution module, for being sent out from sending At least one article to be transported is taken out in the delivery temporary storage cabinet 1 of goods request, and is put into the warehousing region of robot 2；And also For at least one article to be transported to be offloaded to automatic transceiving platform 3 from warehousing region.

Based on previous embodiment, further includes: server 4, server 4 include third communication module and the second generation module； Third communication module, for obtaining delivery request；And for sending cargo transport dispatch command to second communication module；Second is raw At module, for generating cargo transport dispatch command according to delivery request；Delivery request includes that the first delivery request or the second delivery are asked It asks；

Robot 2 further include: the second scanning recognition module identifies object for scanning the physical tag on article to be transported Reason label obtains the corresponding destination information of article to be transported；And/or Second processing module, for from second communication module Cargo transport dispatch command is obtained, cargo transport dispatch command is parsed to obtain the corresponding destination information of article to be transported.

Based on previous embodiment, server 4 further include: third processing module；Second processing module is also used to according to delivery Request and the first working condition of itself judge whether that order freights to obtain corresponding cargo transport response results, and logical by second Believe the corresponding cargo transport response results of module feedback to the corresponding delivery temporary storage cabinet 1 of sending delivery request；And/or third handles mould Block generates and sends fortune according to delivery request and the first working condition for obtaining corresponding first working condition of each robot 2 Goods dispatch command is to corresponding robot 2；Wherein, the first working condition is corresponding for the time of reception robot 2 in delivery request Working condition.

Based on previous embodiment, article to be transported includes being sorted and being arranged including destination according to cargo demand inventory The cargo of the physical tag of information；And/or according to cargo demand inventory by goods sorting to empty van and be arranged include destination The container of the physical tag of information.

Based on previous embodiment, further includes: several second conveyers, second conveyer will be for that will be placed on itself At least one of transit area goods transportation to be transported is to corresponding delivery temporary storage cabinet 1.

Based on previous embodiment, further includes: several empty van cabinets；Robot 2, is also used to be moved to and is placed at least At the automatic transceiving platform 3 of one empty van, at least one empty van is taken out from automatic transceiving platform 3, transports and unloads empty van extremely Corresponding empty van cabinet.

Based on previous embodiment, automatic transceiving platform 3 includes: the second detection module, for detecting whether there is at least one Empty van is placed into automatic transceiving platform 3；Third generation module, for when at least one empty van is placed into automatic transceiving platform 3, Generate empty van recycling request；Fourth communication module, for issuing empty van recycling request；

Robot 2 is also used to empty van recycling request and the second working condition of itself based on the received and judges whether to connect Single recycling empty van, and before feeding back after corresponding recycling empty van response results to the corresponding automatic transceiving platform 3 of sending delivery request Toward recycling empty van；And/or

Server 4, for judging whether that triggering empty van recovery process obtains each machine when triggering empty van recovery process Corresponding second working condition of people 2 generates and sends recycling empty van scheduling according to empty van recycling request and the second working condition and refers to It enables to corresponding robot 2 and goes to recycling empty van；Wherein, the second working condition is the time of reception machine in empty van recycling request The corresponding working condition of people 2.

Based on previous embodiment, further includes: several second conveyers；Empty van cabinet is also used to that hair ought be got When the empty van of goods personnel receives request, it is connected to second conveyer；Second conveyer, for itself transmission area will to be placed on At least one empty van in domain is shipped to delivery personnel, so that delivery personnel carry out with goods each empty van and physical tag is arranged.

Based on previous embodiment, further includes: robot 2 is also used to be placed on automatic receipts when article to be transported or container After sending out platform 3, feedback unloading successful result to server 4；And/or automatic transceiving platform 3, be also used to when article to be transported or After container is placed on automatic transceiving platform 3, feedback unloading successful result to server 4；And/or server 4, it is also used to connect Control user terminal issues picking notice after receiving unloading successful result.

Specifically, the present embodiment is the corresponding system embodiment of above method embodiment, specific effect is referring to the above method Embodiment, this is no longer going to repeat them.

It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.

Claims

1. a kind of implementation method of cargo automatic transportation, which is characterized in that comprising steps of

The robot being sent according to the delivery request takes out at least one described object to be transported from the delivery temporary storage cabinet Product transport and unload the article to be transported to corresponding automatic transceiving platform；

2. the implementation method of cargo automatic transportation according to claim 1, which is characterized in that described when at least one is to be shipped When defeated article is placed into delivery temporary storage cabinet, the delivery temporary storage cabinet issues delivery request and specifically includes step:

When at least one article to be transported is placed into the delivery temporary storage cabinet, the delivery temporary storage cabinet scans the object to be transported Physical tag on product identifies that the physical tag obtains the corresponding destination information of the article to be transported and cargo type；

The delivery temporary storage cabinet is analyzed according to the destination information, cargo type and generates corresponding delivery request.

3. the implementation method of cargo automatic transportation according to claim 2, which is characterized in that the delivery temporary storage cabinet according to The destination information, cargo type, which are analyzed and generate corresponding delivery request, specifically includes step:

The delivery temporary storage cabinet judges whether to need closed transport according to the cargo type, and obtains corresponding analysis knot Fruit；And/or the delivery temporary storage cabinet judges to reach whether position corresponding to the destination information needs to pass in and out permission, and The corresponding permission type of disengaging permission needed for analysis obtains corresponding analysis result；

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

4. the implementation method of cargo automatic transportation according to claim 1, which is characterized in that described to be asked according to the delivery Ask the robot being sent to take out at least one described article to be transported from the delivery temporary storage cabinet, transport and unload it is described to Transport article to corresponding automatic transceiving platform specifically includes step:

It is moved at the delivery temporary storage cabinet for issuing the delivery request according to the robot that the delivery request is sent；

The robot takes out at least one described article to be transported from the delivery temporary storage cabinet for issuing the delivery request, and puts Enter to the warehousing region of the robot；

The robot obtains the corresponding destination information of the article to be transported；

The article to be transported is transported to the corresponding automatic transceiving platform of its destination information by the robot, by least one The article to be transported is offloaded to the automatic transceiving platform from the warehousing region.

5. the implementation method of cargo automatic transportation according to claim 4, which is characterized in that the robot obtains every The corresponding destination information of article to be transported specifically includes step:

Physical tag on article to be transported described in the Robot Scanning, identifies that the physical tag obtains the object to be transported The corresponding destination information of product；And/or

The robot is parsed to obtain the corresponding destination information of the article to be transported to cargo transport dispatch command；Cargo transport is adjusted Degree instruction is that server is generated according to the delivery request for including the destination information.

6. the implementation method of cargo automatic transportation according to claim 1, which is characterized in that described when at least one is to be shipped It is described according to the delivery request after the delivery temporary storage cabinet issues delivery request when defeated article is placed into delivery temporary storage cabinet The robot being sent takes out at least one described article to be transported from the delivery temporary storage cabinet, transports and unloads described to be shipped Defeated article to before corresponding automatic transceiving platform comprising steps of

Each robot receives the delivery request, is according to the delivery request and the first working condition judgement of itself No order cargo transport, and corresponding cargo transport response results are fed back to issuing the corresponding delivery temporary storage cabinet of the delivery request；And/or

Server receives the delivery request, obtains corresponding first working condition of each robot, according to the delivery request and First working condition generates and sends cargo transport dispatch command to corresponding robot；

Wherein, first working condition is the corresponding working condition of time of reception robot in the delivery request.

7. the implementation method of cargo automatic transportation according to claim 1, which is characterized in that described when at least one is to be shipped When defeated article is placed into delivery temporary storage cabinet, the delivery temporary storage cabinet issue delivery request before comprising steps of

The cargo of the physical tag including destination information is sorted and be arranged according to cargo demand inventory, will be sorted out simultaneously At least one cargo for setting the physical tag is put into corresponding delivery temporary storage cabinet；The article to be transported is to have sorted At and set the cargo of physical tag；And/or

According to cargo demand inventory by goods sorting to empty van and be arranged include destination information physical tag, will with goods it is complete At and set at least one container of the physical tag and be put into corresponding delivery temporary storage cabinet；The article to be transported be with Goods is completed and sets the container of physical tag.

8. the implementation method of cargo automatic transportation according to claim 1, which is characterized in that described to work as the object to be transported After product are placed on the automatic transceiving platform, issue picking notice after comprising steps of

The robot for being sent to recycle empty van is moved at the automatic transceiving platform for being placed at least one empty van；

The robot takes out at least one empty van from the automatic transceiving platform, transports and unloads the empty van to corresponding Empty van cabinet.

9. the implementation method of cargo automatic transportation according to claim 8, which is characterized in that described to work as the object to be transported After product are placed on the automatic transceiving platform, after issuing picking notice, the robot for being sent to recycle empty van is mobile To before being placed at the automatic transceiving platform of at least one empty van comprising steps of

Each robot receives the empty van recycling request that the automatic transceiving platform is issued when at least one empty van is put into, root Request is recycled according to the empty van and the second working condition of itself judges whether that empty van is recycled in order, and feeds back corresponding recycling Empty van response results go to recycling empty van to after issuing the corresponding automatic transceiving platform of the delivery request；And/or

Server judges whether to trigger empty van recovery process, when triggering empty van recovery process, obtains each robot corresponding the Two working conditions generate and send recycling empty van dispatch command to correspondence according to empty van recycling request and the second working condition Robot go to recycling empty van；

Wherein, second working condition is the corresponding working condition of time of reception robot in empty van recycling request.

10. the implementation method of cargo automatic transportation according to claim 8, which is characterized in that the robot is from described At least one empty van is taken out in automatic transceiving platform, transports and unloads the empty van to further including after corresponding empty van cabinet Step:

When the empty van for getting delivery personnel receives request, the empty van cabinet is connected to second conveyer, will be corresponding Empty van delivery personnel are shipped to by the second conveyer so that the delivery personnel carry out with goods each empty van And setting physical tag.

11. the implementation method of -10 described in any item cargo automatic transportations according to claim 1, which is characterized in that described to work as institute It states after article to be transported is placed on the automatic transceiving platform, issues picking notice and specifically include step:

After the article to be transported or container are placed on the automatic transceiving platform, the automatic transceiving platform issues picking Notice；And/or

After the article to be transported or container are placed on the automatic transceiving platform, the robot issues picking notice； And/or

After the article to be transported or container are placed on the automatic transceiving platform, the robot or automatic transceiving are flat Platform feedback unloading successful result is to server, and control user terminal issues picking after the server receives unloading successful result Notice.

12. a kind of realization system of cargo automatic transportation characterized by comprising several delivery temporary storage cabinets, robot and from Dynamic transmit-receive platform；

The robot, for according to the delivery request be sent to take out at least one from the delivery temporary storage cabinet described in Article is transported, transports and unloads the article to be transported to corresponding automatic transceiving platform；

Picking notifies mould group, for after the article to be transported is placed on the automatic transceiving platform, issuing picking notice； The picking notice mould group includes the automatic transceiving platform that the robot for completing to unload and/or completion connect goods.

13. the realization system of cargo automatic transportation according to claim 12, which is characterized in that the delivery temporary storage cabinet packet It includes:

First detection module, for detecting whether there is at least one article to be transported to be placed into the delivery temporary storage cabinet；

First scanning recognition module, for when at least one article to be transported is placed into the delivery temporary storage cabinet, described in scanning Physical tag on article to be transported identifies that the physical tag obtains the corresponding destination information of the article to be transported and goods Species type；

First processing module, for being analyzed according to the destination information, cargo type and generating corresponding delivery request；

First communication module, for issuing the delivery request.

14. the realization system of cargo automatic transportation according to claim 13, which is characterized in that the first processing module Include:

First analytical unit needs closed transport for judging whether according to the cargo type, and obtains corresponding analysis As a result；

Second analytical unit reaches whether position corresponding to the destination information needs to pass in and out permission, Yi Jifen for judging The corresponding permission type of disengaging permission needed for analysis obtains corresponding analysis result；

Generation unit, for generating corresponding delivery request according to the analysis result.

15. the realization system of cargo automatic transportation according to claim 13, which is characterized in that the robot includes:

Second communication module, for obtaining the delivery request；

First obtains module, for obtaining the corresponding destination information of the article to be transported；

Mobile module, for being moved at the delivery temporary storage cabinet for issuing the delivery request；And it is also used to be moved to the mesh The corresponding automatic transceiving platform of ground information；

Execution module, for taking out at least one described article to be transported from the delivery temporary storage cabinet for issuing the delivery request, And it is put into the warehousing region of the robot；And it is also used at least one article to be transported from the warehousing area Domain is offloaded to the automatic transceiving platform.

16. the realization system of cargo automatic transportation according to claim 15, which is characterized in that further include: server, institute Stating server includes third communication module and the second generation module；

The third communication module, for obtaining the delivery request；And for sending cargo transport dispatch command to described second Communication module；

Second generation module, for generating the cargo transport dispatch command according to the delivery request；

The robot further include:

Second scanning recognition module identifies that the physical tag obtains for scanning the physical tag on the article to be transported The corresponding destination information of the article to be transported；And/or

Second processing module carries out cargo transport dispatch command for obtaining cargo transport dispatch command from the second communication module Parsing obtains the corresponding destination information of the article to be transported.

17. the realization system of cargo automatic transportation according to claim 16, which is characterized in that the server also wraps It includes: third processing module；

The Second processing module is also used to judge whether order according to the delivery request and the first working condition of itself Cargo transport obtains corresponding cargo transport response results, and feeds back corresponding cargo transport response results to sending by the second communication module The corresponding delivery temporary storage cabinet of the delivery request；And/or

The third processing module, for obtaining corresponding first working condition of each robot, according to the delivery request and One working condition generates and sends cargo transport dispatch command to corresponding robot；

18. the realization system of cargo automatic transportation according to claim 12, which is characterized in that further include: several are empty Case cabinet；The robot, is also used to be moved to and is placed at the automatic transceiving platform of at least one empty van, from described automatic At least one empty van is taken out in transmit-receive platform, transports and unloads the empty van to corresponding empty van cabinet；

The automatic transceiving platform includes:

Second detection module, for detecting whether there is at least one empty van to be placed into the automatic transceiving platform；

Third generation module, for when at least one empty van is placed into the automatic transceiving platform, generating empty van recycling request；

Fourth communication module, for issuing the empty van recycling request；

The robot is also used to the empty van recycling request and the second working condition of itself based on the received and judges whether Empty van is recycled in order, and feeds back corresponding recycling empty van response results to issuing the corresponding automatic transceiving platform of the delivery request After go to recycling empty van；And/or

Server triggers empty van recovery process for judging whether, when triggering empty van recovery process, it is corresponding to obtain each robot The second working condition, according to the empty van recycling request and the second working condition generate and send recycling empty van dispatch command extremely Corresponding robot goes to recycling empty van；

19. the realization system of the described in any item cargo automatic transportations of 2-18 according to claim 1, which is characterized in that further include: User terminal；

The robot is also used to after the article to be transported or container are placed on the automatic transceiving platform, and feedback is unloaded Goods successful result is to server；And/or

The automatic transceiving platform is also used to after the article to be transported or container are placed on the automatic transceiving platform, Unloading successful result is fed back to server；And/or

Server controls the user terminal sending picking notice after being also used to receive unloading successful result.