CN109081024A - A kind of cargo removing method, system, unmanned delivery machine and unmanned picking machine - Google Patents
A kind of cargo removing method, system, unmanned delivery machine and unmanned picking machine Download PDFInfo
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- CN109081024A CN109081024A CN201810672577.5A CN201810672577A CN109081024A CN 109081024 A CN109081024 A CN 109081024A CN 201810672577 A CN201810672577 A CN 201810672577A CN 109081024 A CN109081024 A CN 109081024A
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- unmanned
- machine
- cargo
- picking
- picking machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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Abstract
This application discloses a kind of cargo removing method, system, unmanned delivery machine and unmanned picking machines, this method comprises: the unmanned delivery machine sends the instruction for being used to indicate the unmanned picking machine and carrying out picking to the unmanned picking machine after the unmanned delivery machine reaches designated position；It is finished in the unmanned picking machine picking, and after cargo to be placed on to the traffic department in the unmanned picking machine, the unmanned picking machine controls the traffic department and the cargo is passed to the unmanned delivery machine, pass through the above method, it can be in the case where unmanned intervene, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, since whole process prosthetic participates in, to advantageously reduce cost of labor.
Description
Technical field
This application involves automatic control technology field, in particular to a kind of cargo removing method, system, nobody is sent
Cargo aircraft and unmanned picking machine.
Background technique
With the development of science and technology, currently there is unmanned delivery machine and unmanned picking machine, still to reduce cost of labor
How in the case where not needing be artificial, unmanned picking machine and unmanned delivery machine match and are transmitted to cargo from unmanned picking machine
Unmanned delivery machine, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of cargo removing method, system, unmanned delivery machine and unmanned picking machine,
Solving unmanned picking machine and unmanned delivery machine at present can not match cargo being transmitted to unmanned delivery machine from unmanned picking machine
Problem.
To achieve the goals above, this application provides a kind of cargo removing method, it is including nobody that the method, which is applied,
In the system of picking machine and unmanned delivery machine, which comprises
After the unmanned delivery machine reaches designated position, the unmanned delivery machine is used for the unmanned picking machine transmission
Indicate that the unmanned picking machine carries out the instruction of picking；
It is finished in the unmanned picking machine picking, and after cargo is placed on the traffic department in the unmanned picking machine, institute
It states the unmanned picking machine control traffic department and the cargo is passed into the unmanned delivery machine.
Optionally, the unmanned picking machine controls the traffic department and the cargo is passed to the unmanned delivery machine, wraps
It includes:
The unmanned picking machine, which controls the traffic department and executes, stretches out operation so that the delivery outlet of the traffic department according to
Specified extension elongation stretches out the unmanned picking machine；
The unmanned picking machine controls the operation that the traffic department executes transmitting cargo, so that the delivery electricity of the traffic department
Machine rotates according to specified rotation direction the cargo passing to the unmanned delivery machine.
Optionally, the traffic department being controlled in the unmanned picking machine, the cargo is passed into the unmanned delivery machine
Afterwards, the method also includes:
The unmanned picking machine detects in the traffic department whether there is also cargos by grating sensor；
If it is present continuing to execute the unmanned picking machine controls the operation that the traffic department executes transmitting cargo；
If it does not, the unmanned picking machine, which controls the traffic department and executes, resets operation, so that the traffic department contracts
Enter in the unmanned picking machine and is attributed to zero-bit.
To achieve the goals above, this application provides a kind of cargo extraction systems, and the system comprises unmanned picking machines
With unmanned delivery machine；
The unmanned delivery machine, for being sent out to the unmanned picking machine after the unmanned delivery machine reaches designated position
It send and is used to indicate the instruction that the unmanned picking machine carries out picking；
The unmanned picking machine, for being finished in the unmanned picking machine picking, and by cargo be placed on it is described nobody take
After traffic department in cargo aircraft, the traffic department is controlled by the cargo and passes to the unmanned delivery machine.
Optionally, when the cargo is passed to the unmanned delivery for controlling the traffic department by the unmanned picking machine
When machine, it is specifically used for:
The unmanned picking machine, which controls the traffic department and executes, stretches out operation so that the delivery outlet of the traffic department according to
Specified extension elongation stretches out the unmanned picking machine；
The unmanned picking machine controls the operation that the traffic department executes transmitting cargo, so that the delivery electricity of the traffic department
Machine rotates according to specified rotation direction the cargo passing to the unmanned delivery machine.
Optionally, the unmanned picking machine is also used to:
After the cargo is passed to the unmanned delivery machine by the unmanned picking machine control traffic department, the nothing
People's picking machine detects in the traffic department whether there is also cargos by grating sensor；
If it is present continuing to execute the unmanned picking machine controls the operation that the traffic department executes transmitting cargo；
If it does not, the unmanned picking machine, which controls the traffic department and executes, resets operation, so that the traffic department contracts
Enter in the unmanned picking machine and is attributed to zero-bit.
To achieve the goals above, this application provides another cargo removing method, the method is applied to be sent at nobody
Cargo aircraft, which comprises
Judge whether this equipment reaches designated position；
After this equipment reaches the designated position, the unmanned picking machine is used to indicate to the transmission of unmanned picking machine and is carried out
The instruction of picking.
To achieve the goals above, this application provides a kind of unmanned delivery machine, the unmanned delivery machine includes:
Judging unit, for judging whether this equipment reaches designated position；
Instruction sending unit, for being used to indicate to the transmission of unmanned picking machine after this equipment reaches the designated position
The unmanned picking machine carries out the instruction of picking.
To achieve the goals above, this application provides another cargo removing method, the method is applied to be taken at nobody
Cargo aircraft, which comprises
Receive the instruction for being used to indicate the unmanned picking machine and carrying out picking that unmanned delivery machine is sent；
It is finished in the unmanned picking machine picking, and after cargo is placed on the traffic department in the unmanned picking machine, control
It makes the traffic department and the cargo is passed into the unmanned delivery machine.
To achieve the goals above, this application provides a kind of unmanned picking machine, the unmanned picking machine includes:
Receiving unit, the finger for being used to indicate the unmanned picking machine and carrying out picking sent for receiving unmanned delivery machine
It enables；
Control unit for finishing in the unmanned picking machine picking, and cargo is placed in the unmanned picking machine
Traffic department after, control the traffic department for the cargo and pass to the unmanned delivery machine.
The technical solution that embodiments herein provides can include the following benefits:
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of cargo removing method provided by the present application；
Fig. 2 is the flow diagram of another cargo removing method provided by the present application；
Fig. 3 is the flow diagram of another cargo removing method provided by the present application；
Fig. 4 is a kind of structural schematic diagram of cargo extraction system provided by the present application；
Fig. 5 is the flow diagram of another cargo removing method provided by the present application；
Fig. 6 is a kind of structural schematic diagram of unmanned delivery machine provided by the present application；
Fig. 7 is the flow diagram of another cargo removing method provided by the present application；
Fig. 8 is a kind of structural schematic diagram of unmanned picking machine provided by the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is a kind of flow diagram of cargo removing method provided by the present application, and this method is applied to be taken including nobody
In the system of cargo aircraft and unmanned delivery machine, as shown in Figure 1, method includes the following steps:
101, after the unmanned delivery machine reaches designated position, the unmanned delivery machine is sent to the unmanned picking machine
It is used to indicate the instruction that the unmanned picking machine carries out picking.
Specifically, unmanned delivery machine can be moved to unmanned picking machine position after receiving pick-up instruction, in order to
It is passed in unmanned delivery machine convenient for enabling unmanned picking machine accurately will acquire, unmanned delivery machine needs to be moved to specific bit
It sets, and when unmanned delivery machine is after judging that it reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
Indicate that the unmanned picking machine carries out the instruction of picking, so that unmanned picking machine carries out picking.
For example, user, after sending order information to server, server sends pick-up instruction to unmanned delivery machine,
To make unmanned delivery machine after receiving the pick-up instruction, it is moved to the designated position, meanwhile, server is to unmanned picking machine
Order information is sent, so that unmanned picking machine is after receiving the pick-up instruction that unmanned delivery machine is sent, according to the order information
Picking is carried out, after unmanned delivery machine is moved to designated position, is used to indicate by server to the transmission of unmanned picking machine described
Unmanned picking machine carries out the instruction of picking or is directly used to indicate the unmanned picking machine to the transmission of unmanned picking machine being taken
The instruction of goods, unmanned picking machine start to carry out picking according to order information after receiving pick-up instruction.
It should be noted that can be set according to actual needs about the specific location that designated position is located at,
This is not specifically limited.
102, it is finished in the unmanned picking machine picking, and cargo is placed on the traffic department in the unmanned picking machine
Afterwards, the unmanned picking machine controls the traffic department and the cargo is passed to the unmanned delivery machine.
Specifically, needing, which will acquire, is placed into use after unmanned picking machine gets cargo according to above-mentioned pick-up instruction
In interim bearing goods and the traffic department being transported through to cargo, after unmanned picking machine places goods onto traffic department, control
Cargo is passed to unmanned delivery machine by traffic department, so that the unmanned delivery machine can get cargo.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
In a feasible embodiment, in order to avoid cargo is fallen from traffic department, and avoid cargo by neighbouring
People takes away, and blocking portion is arranged around traffic department, and the specific size and shape about blocking portion can carry out according to actual needs
Setting, is not specifically limited herein.
In a feasible embodiment, Fig. 2 is the process signal of another cargo removing method provided by the present application
Figure, as shown in Fig. 2, can be realized by following steps when executing step 102:
201, the unmanned picking machine, which controls the traffic department and executes, stretches out operation, so that the delivery of the traffic department exports
The unmanned picking machine is stretched out according to specified extension elongation.
Specifically, traffic department is attributed to zero-bit during unmanned picking machine picking, traffic department completes to be located at nobody at this time
The inside of picking machine, after unmanned picking machine places goods onto traffic department, unmanned picking machine can control traffic department's movement, with
It exports the delivery of traffic department and stretches out unmanned delivery machine, and the length stretched out is a specified length, the length of the stretching can
To be set according to actual needs, it is not specifically limited again.
Unmanned picking machine can just control traffic department be mobile after getting a cargo, alternatively, unmanned picking machine can be with
All cargos are all taken and finish and then control traffic department's movement, if the quantity of goods that unmanned picking machine will obtain is big
When the maximum cargo amount that traffic department is carried, the maximum cargo that the traffic department is carried is conveyed to traffic department in unmanned picking machine
After amount, control traffic department is mobile, so that the cargo obtained is passed to unmanned delivery machine by the traffic department；If unmanned picking machine
When the quantity of goods that will be obtained is less than the maximum cargo amount that traffic department is carried, all cargos are transported in unmanned picking machine
After traffic department, control traffic department is mobile, so that the cargo obtained is passed to unmanned delivery machine by the traffic department.
For example, traffic department is provided with delivery outlet, unmanned picking machine can pass through when to delivery machine conveying articles
Cargo is conveyed to traffic department by delivery outlet, which can also pass to unmanned delivery for cargo by export of goods
Machine is provided with grating sensor in the delivery exit, after a cargo is transported to traffic department by unmanned picking machine, traffic department
The cargo is transmitted to the inside of traffic department by control delivery motor, and to prevent cargo from falling, then traffic department is passed by the grating
Whether sensor detection receives cargo in certain time length again, if it is not, unmanned picking machine control traffic department is mobile, with
Just it stretches out delivery outlet, cargo is passed into unmanned delivery machine, if so, the cargo for then continuing will acquire is transmitted to delivery
The inside in portion.
It should be noted that can be taken according to nobody about specific picking method, picking movement and cargo laying method
The specific structure of cargo aircraft and actual needs are set, and are not specifically limited herein.
202, the unmanned picking machine controls the operation that the traffic department executes transmitting cargo, so that the traffic department send
Goods motor rotates according to specified rotation direction the cargo passing to the unmanned delivery machine.
It should be noted that the transmission device connecting with delivery motor can be placed on crawler belt with crawler belt, cargo, in delivery
After motor rotation, cargo is passed to by unmanned delivery machine by crawler belt, certain delivery motor can also be with other kinds of transmission
Device connection, the concrete type of transmission device can be configured according to actual needs, be not specifically limited herein.
In a feasible embodiment, Fig. 3 is the process signal of another cargo removing method provided by the present application
Figure, as shown in figure 3, after the cargo is passed to the unmanned delivery machine by the unmanned picking machine control traffic department,
This method is further comprising the steps of:
301, the unmanned picking machine detects in the traffic department whether there is also cargos by grating sensor, if
In the presence of, then follow the steps 302, if it does not exist, then execute step 303.
302, it continues to execute the unmanned picking machine and controls the operation that the traffic department executes transmitting cargo.
303, the unmanned picking machine, which controls the traffic department and executes, resets operation, so that the traffic department
In unmanned picking machine described in retraction and it is attributed to zero-bit.
Specifically, being set in unmanned picking machine to make the cargo placed in traffic department all pass to unmanned delivery machine
Grating sensor is set, for example, the grating sensor can be set in the picking outlet port of traffic department, alternatively, grating sensor
It can also be arranged on unmanned delivery machine, the working principle about grating sensor is described in detail above-mentioned, not another herein
One repeats, and the specific setting position about grating sensor can be configured according to actual needs, is not specifically limited herein.
For the ease of the cargo placed in traffic department is all passed to unmanned delivery machine, the rotation of delivery motor can be made to refer to
Fixed duration, or the step-length for keeping the rotation of delivery motor specified, concrete implementation mode can be configured according to actual needs,
It is not specifically limited herein.
If unmanned picking machine determine in traffic department there is also cargo, unmanned picking machine control delivery motor continues
Rotation, until the cargo in traffic department is all passed to unmanned delivery machine, if unmanned picking machine determines that traffic department does not deposit
In cargo, then controlling in the unmanned picking machine of traffic department's retraction, i.e., control traffic department resets, so that traffic department is for zero-bit, so as to
Carry out next picking.
Unmanned picking machine can control traffic department's stretching and retraction, concrete type and control about the motor by motor
Mode processed can be set according to actual needs, be not specifically limited herein.
Fig. 4 is a kind of structural schematic diagram of cargo extraction system provided by the present application, as shown in figure 4, the system comprises
Unmanned picking machine 41 and unmanned delivery machine 42；
The unmanned delivery machine 42 is used for after the unmanned delivery machine 42 reaches designated position, to the unmanned picking
Machine 41, which is sent, is used to indicate the instruction that the unmanned picking machine 41 carries out picking；
Cargo for finishing in unmanned 41 picking of picking machine, and is placed on the nothing by the unmanned picking machine 41
After traffic department in people's picking machine 41, the traffic department is controlled by the cargo and passes to the unmanned delivery machine 42.
In a feasible embodiment, as shown in figure 4, when the unmanned picking machine 41 is for controlling the traffic department
When the cargo is passed to the unmanned delivery machine 42, it is specifically used for:
The unmanned picking machine 41, which controls the traffic department and executes, stretches out operation, so that the delivery outlet of the traffic department is pressed
The unmanned picking machine 41 is stretched out according to specified extension elongation；
The unmanned picking machine 41 controls the operation that the traffic department executes transmitting cargo, so that the delivery of the traffic department
Motor rotates according to specified rotation direction the cargo passing to the unmanned delivery machine 42.
In a feasible embodiment, as shown in figure 4, the unmanned picking machine 41 is also used to:
It is controlled after the cargo passes to the unmanned delivery machine 42 by the traffic department in the unmanned picking machine 41, institute
Unmanned picking machine 41 is stated by grating sensor, detects in the traffic department whether there is also cargos；
If it is present continuing to execute the unmanned picking machine 41 controls the operation that the traffic department executes transmitting cargo；
If it does not, the unmanned picking machine 41, which controls the traffic department and executes, resets operation, so that the traffic department
In unmanned picking machine 41 described in retraction and it is attributed to zero-bit.
About the system in above-described embodiment, unmanned picking machine 41 and unmanned delivery machine 42 have executed the concrete mode of operation
It is described in detail in the embodiment of the method, no detailed explanation will be given here.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
Fig. 5 is the flow diagram of another cargo removing method provided by the present application, and the method is applied to be sent at nobody
Cargo aircraft, as shown in figure 5, the described method comprises the following steps:
501, judge whether this equipment reaches designated position.
502, after this equipment reaches the designated position, the unmanned picking machine is used to indicate to the transmission of unmanned picking machine
Carry out the instruction of picking.
Concrete mode about the method in above-described embodiment has carried out in detail in the embodiment of the method
Description, no detailed explanation will be given here.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
Fig. 6 is a kind of structural schematic diagram of unmanned delivery machine provided by the present application, as shown in fig. 6, the unmanned delivery machine
Include:
Judging unit 61, for judging whether this equipment reaches designated position.
Instruction sending unit 62, for sending to unmanned picking machine for referring to after this equipment reaches the designated position
Show that the unmanned picking machine carries out the instruction of picking.
Concrete mode about the unmanned delivery machine in above-described embodiment has carried out in the embodiment of the method
Detailed description, no detailed explanation will be given here.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
Fig. 7 is the flow diagram of another cargo removing method provided by the present application, and the method is applied to be taken at nobody
Cargo aircraft, as shown in fig. 7, the described method comprises the following steps:
701, the instruction for being used to indicate the unmanned picking machine and carrying out picking that unmanned delivery machine is sent is received.
702, it is finished in the unmanned picking machine picking, and cargo is placed on the traffic department in the unmanned picking machine
Afterwards, it controls the traffic department and the cargo is passed into the unmanned delivery machine.
Concrete mode about the method in above-described embodiment has carried out in detail in the embodiment of the method
Description, no detailed explanation will be given here.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
Fig. 8 is a kind of structural schematic diagram of unmanned picking machine provided by the present application, as shown in figure 8, the unmanned picking machine
Include:
Receiving unit 81, the finger for being used to indicate the unmanned picking machine and carrying out picking sent for receiving unmanned delivery machine
It enables；
Cargo for finishing in the unmanned picking machine picking, and is placed on the unmanned picking machine by control unit 82
In traffic department after, control the traffic department for the cargo and pass to the unmanned delivery machine.
Concrete mode about the unmanned picking machine in above-described embodiment has carried out in the embodiment of the method
Detailed description, no detailed explanation will be given here.
In this application, after unmanned delivery machine reaches designated position, unmanned delivery machine is used for the transmission of unmanned picking machine
It indicates that unmanned picking machine carries out the instruction of picking, is finished in unmanned picking machine picking, and cargo is placed in unmanned picking machine
Traffic department after, cargo is passed to unmanned picking machine by unmanned picking machine control traffic department, due to referring in the arrival of unmanned delivery machine
Positioning postpones, and cargo can accurately be passed to unmanned delivery machine in unmanned picking machine, therefore pass through the above method, Ke Yi
It is unmanned intervene in the case where, the cargo that will acquire unmanned picking machine passes to unmanned delivery machine, due to whole process nobody
Work participates in, to advantageously reduce cost of labor.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of cargo removing method, which is characterized in that it is including unmanned picking machine and unmanned delivery machine that the method, which is applied,
In system, which comprises
After the unmanned delivery machine reaches designated position, the unmanned delivery machine is used to indicate to the unmanned picking machine transmission
The unmanned picking machine carries out the instruction of picking；
It is finished in the unmanned picking machine picking, and after cargo is placed on the traffic department in the unmanned picking machine, the nothing
People's picking machine controls the traffic department and the cargo is passed to the unmanned delivery machine.
2. the method as described in claim 1, which is characterized in that the unmanned picking machine controls the traffic department for the cargo
Pass to the unmanned delivery machine, comprising:
The unmanned picking machine, which controls the traffic department and executes, stretches out operation, so that the delivery outlet of the traffic department is according to specified
Extension elongation stretch out the unmanned picking machine；
The unmanned picking machine controls the operation that the traffic department executes transmitting cargo, so that the delivery motor of the traffic department is pressed
It is rotated according to specified rotation direction and the cargo is passed into the unmanned delivery machine.
3. the method as described in claim 1, which is characterized in that control the traffic department for the goods in the unmanned picking machine
After object passes to the unmanned delivery machine, the method also includes:
The unmanned picking machine detects in the traffic department whether there is also cargos by grating sensor；
If it is present continuing to execute the unmanned picking machine controls the operation that the traffic department executes transmitting cargo；
If it does not, the unmanned picking machine, which controls the traffic department and executes, resets operation, so that traffic department's retraction institute
It states in unmanned picking machine and is attributed to zero-bit.
4. a kind of cargo extraction system, which is characterized in that the system comprises unmanned picking machines and unmanned delivery machine；
The unmanned delivery machine, for sending and using to the unmanned picking machine after the unmanned delivery machine reaches designated position
In the instruction for indicating the unmanned picking machine progress picking；
Cargo for finishing in the unmanned picking machine picking, and is placed on the unmanned picking machine by the unmanned picking machine
In traffic department after, control the traffic department for the cargo and pass to the unmanned delivery machine.
5. system as claimed in claim 4, which is characterized in that when the unmanned picking machine is for controlling the traffic department for institute
When stating cargo and passing to the unmanned delivery machine, it is specifically used for:
The unmanned picking machine, which controls the traffic department and executes, stretches out operation, so that the delivery outlet of the traffic department is according to specified
Extension elongation stretch out the unmanned picking machine；
The unmanned picking machine controls the operation that the traffic department executes transmitting cargo, so that the delivery motor of the traffic department is pressed
It is rotated according to specified rotation direction and the cargo is passed into the unmanned delivery machine.
6. system as claimed in claim 4, which is characterized in that the unmanned picking machine is also used to:
After the cargo is passed to the unmanned delivery machine by the unmanned picking machine control traffic department, described nobody is taken
Cargo aircraft detects in the traffic department whether there is also cargos by grating sensor；
If it is present continuing to execute the unmanned picking machine controls the operation that the traffic department executes transmitting cargo；
If it does not, the unmanned picking machine, which controls the traffic department and executes, resets operation, so that traffic department's retraction institute
It states in unmanned picking machine and is attributed to zero-bit.
7. a kind of cargo removing method, which is characterized in that the method is applied in unmanned delivery machine, which comprises
Judge whether this equipment reaches designated position；
After this equipment reaches the designated position, the unmanned picking machine is used to indicate to the transmission of unmanned picking machine and carries out picking
Instruction.
8. a kind of unmanned delivery machine, which is characterized in that the unmanned delivery machine includes:
Judging unit, for judging whether this equipment reaches designated position；
Instruction sending unit, for being used to indicate to the transmission of unmanned picking machine described after this equipment reaches the designated position
Unmanned picking machine carries out the instruction of picking.
9. a kind of cargo removing method, which is characterized in that the method is applied in unmanned picking machine, which comprises
Receive the instruction for being used to indicate the unmanned picking machine and carrying out picking that unmanned delivery machine is sent；
It is finished in the unmanned picking machine picking, and after cargo is placed on the traffic department in the unmanned picking machine, controls institute
It states traffic department and the cargo is passed into the unmanned delivery machine.
10. a kind of unmanned picking machine, which is characterized in that the unmanned picking machine includes:
Receiving unit, the instruction for being used to indicate the unmanned picking machine and carrying out picking sent for receiving unmanned delivery machine；
Cargo for finishing in the unmanned picking machine picking, and is placed on sending in the unmanned picking machine by control unit
Behind goods portion, the traffic department is controlled by the cargo and passes to the unmanned delivery machine.
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Application publication date: 20181225 |