CN112455981A - Automatic container and delivery method thereof - Google Patents
Automatic container and delivery method thereof Download PDFInfo
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- CN112455981A CN112455981A CN201910845266.9A CN201910845266A CN112455981A CN 112455981 A CN112455981 A CN 112455981A CN 201910845266 A CN201910845266 A CN 201910845266A CN 112455981 A CN112455981 A CN 112455981A
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- 238000012856 packing Methods 0.000 description 5
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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
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
本发明公开一种自动货柜。该自动货柜包括货柜本体，其内部包含至少一个温区，其内设置有复数层搁置物品的储存架，该储存架上设置有若干个放置物品的存储格，存储格内分别设置有将物品从存储格内推出的推送机构，该推送机构连接至马达，及设置于所述存储架一侧用以将推送机构推出的物品传输出的传送组件，该传送组件，包含倾斜配置的第一传输板、出货仓，取货时，其用以承接物品并将其导引至开口部、物品进而滑入出货仓内，通过移动机器人来拿取。通过该方法，用户指定的存储在自动货柜中冷藏区和/或常温区内的物品通过传送组件传输至移动机器人，通过该移动机器人将拿取的物品送往目的地。这样该自动货柜可应用于酒店等场合。
The invention discloses an automatic container. The automatic container includes a container body, which contains at least one temperature zone inside, and is provided with a plurality of layers of storage racks for placing items. A push mechanism pushed out in the storage compartment, the push mechanism is connected to a motor, and a conveying assembly disposed on one side of the storage rack for conveying the items pushed out by the push mechanism, the conveying assembly including a first conveying plate arranged at an inclination , Delivery warehouse, when picking up the goods, it is used to receive the items and guide them to the opening, and the items are then slid into the delivery warehouse and picked up by the mobile robot. Through this method, the articles stored in the refrigerated area and/or the normal temperature area of the automatic container designated by the user are transmitted to the mobile robot through the conveying assembly, and the picked articles are sent to the destination through the mobile robot. In this way, the automatic container can be used in hotels and other occasions.
Description
Technical Field
The invention relates to the field of container storage, in particular to an automatic container and a delivery method thereof.
Background
At present, with the gradual development and maturity of the automatic container technology, the application of the automatic container is wider and wider, the configured places are more and more, the automatic container is visible everywhere in subway stations, shopping malls and office buildings, and a huge business opportunity is formed. Accordingly, research on automatic containers is expanding and the types of automatic containers are also different.
At present, most of automatic containers on the market are used for personal operation, and people select articles on site, pay for the articles and take the corresponding articles out of a shelf. At present, automatic containers are also arranged in some commercial occasions (such as hotels, etc.), which mostly adopt a mode that people select articles on site and pay for the articles, and the corresponding articles are taken out from a shelf, and most of the containers are not provided with a cold storage area. With the rapid development of the mobile robot technology, the application range of the mobile robot technology is wider and wider, the mobile robot technology can be used for delivering goods based on instructions (orders) of customers, and therefore containers of the type cannot meet the diversified requirements of the customers, and the user experience is reduced. In addition, the structure of the transmission assembly arranged in the container is complex, so that the cost of the container is high, and the popularization of the container is not facilitated.
Disclosure of Invention
In order to overcome the above disadvantages, the present invention provides an automatic container, which has a simple structure and low control complexity. In addition, the automatic container can be matched with the mobile robot for operation and can identify the mobile robot, so that the automatic container can be applied to the occasions of unmanned goods taking.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an automatic container, its characterized in that: the goods container comprises a container body, wherein the container body comprises at least one temperature area, a plurality of layers of storage racks for holding goods are arranged in the container body, a plurality of storage grids for holding the goods are arranged on the storage racks, pushing mechanisms for pushing the goods out of the storage grids are respectively arranged in the storage grids, the pushing mechanisms are connected to a motor and arranged on one side of the storage racks and used for transmitting the goods pushed out by the pushing mechanisms to a transmission assembly, the transmission assembly comprises a first transmission plate and a delivery warehouse which are obliquely arranged, and when the goods are taken, the transmission assembly is used for receiving the goods and guiding the goods to an opening part so that the goods slide into the delivery warehouse.
Preferably, the container body comprises a cold storage area and a normal temperature area which are separated by a heat insulation plate, a plurality of first storage racks for placing articles are arranged in the cold storage area, a plurality of first storage grids for placing articles are arranged on the first storage racks, pushing mechanisms for pushing the articles out of the storage grids are respectively arranged in the first storage grids, a plurality of second storage racks for placing articles are arranged in the normal temperature area, a plurality of second storage grids and third storage grids for placing articles are arranged on the second storage grids and the third storage grids, pushing mechanisms for pushing the articles out of the storage grids are respectively arranged in the second storage grids and the third storage grids, and conveying components which are arranged on one sides of the first storage racks and the second storage racks and used for conveying the articles pushed out by the pushing mechanisms to a goods outlet are arranged in the normal temperature area, the conveying components comprise a first conveying plate and a second conveying plate which are obliquely arranged, when goods are taken, the articles in the cold storage area or the normal temperature area are pushed out by the pushing mechanism in the cold storage area or the normal temperature area and fall down, and the articles slide down to the delivery bin along the surface of the first conveying plate or the second conveying plate.
Preferably, the bottom of the cold storage area is provided with a first baffle plate which is obliquely arranged, and one end of the first baffle plate is rotatably fixed on the connecting device, so that the fallen articles are guided to the surface of the first conveying plate or the second conveying plate and slide down to the delivery bin.
Preferably, the bottom of the cold storage area is provided with a first baffle plate and a second baffle plate which are obliquely arranged, one end of the first baffle plate is rotatably fixed on the connecting device, and the first baffle plate and the second baffle plate are used for guiding the falling articles to the surface of the first conveying plate or the second conveying plate and sliding down to the delivery bin.
Preferably, the first baffle and the second baffle are in a splayed shape or a trumpet shape, and low heat conduction materials or heat insulation materials are adopted. Preferably, the included angle between the first baffle or the second baffle and the horizontal plane is between 15 and 70 degrees.
Preferably, the included angle between the first baffle and the horizontal plane is smaller than or equal to the included angle between the second baffle and the horizontal plane.
Preferably, the middle upper part in this cold-storage area disposes temperature sensor or temperature and humidity sensor, and its electric connection control assembly, control assembly controls refrigeration circuit work based on the information control refrigeration circuit that temperature sensor or temperature and humidity sensor transmitted.
Preferably, the angle between the first transmission plate and the horizontal plane is between 15 and 70 degrees.
Preferably, the automatic cargo container further comprises a second conveying plate, wherein the second conveying plate is connected to the opening portion in an opposite manner to the first conveying plate, an included angle between the second conveying plate and the horizontal plane is 15-70 degrees, and the horizontal height of the first conveying plate and the horizontal height of the second conveying plate are slightly lower than the height of the storage rack, so that the first conveying plate and the second conveying plate are used for receiving articles pushed out by the pushing mechanism and guiding the articles to the cargo outlet.
The embodiment of the application also provides a delivery method of the automatic container, which is characterized in that: comprising the above automatic container, the method comprising the steps of:
s1, the mobile robot moves to a preset goods taking position,
s2, opening the containing cavity of the mobile robot,
s3, based on the instruction, the control component of the container transfers the predetermined article to the receiving cavity,
and S4, the mobile robot closes the storage cavity of the taken article and transmits the taken article to a destination. According to the method, when a user reserves an article, the specified article stored in the automatic container (in a normal temperature area or a cold storage area) is transmitted to the mobile robot through the conveying assembly of the automatic container, and the taken article is sent to a destination through the mobile robot, so that the automatic container can be applied to commercial occasions such as hotels.
Preferably, S2 further includes a command for the container recognition device to recognize that the mobile robot has reached the predetermined position, to open the lid, and to close the lid when the container recognition device recognizes that the mobile robot has left the predetermined position.
Preferably, the container is provided with an identification module comprising a beacon component or an identification module, wherein the beacon component is matched with the mobile robot to be taken so as to reach a preset position; the identification module is electrically connected with the control assembly and used for identifying whether the mobile robot to be picked arrives at the preset position correctly
Preferably, the beacon assembly comprises a transmitter, a visual marker. The beacon component is matched with an identification module of the mobile robot, and when the mobile robot reaches a preset position, the beacon component is identified, and a command to be taken is sent to a server or sent.
Preferably, the automatic container further comprises a human-machine interface electrically connected to the control assembly, the conveying assembly is disposed side by side with the storage rack, and the first conveying plate portion of the conveying assembly extends into the delivery warehouse.
Preferably, the automatic container further comprises a display window covering the container body.
Preferably, the automatic container also comprises a door which covers the container body, the door is provided with a goods outlet for taking goods, and the goods outlet faces to the goods outlet; the delivery area is provided with an identification module for identifying whether the mobile robot to be taken correctly reaches a preset position.
Preferably, a sensor is arranged at the bottom side of the delivery warehouse and electrically connected with the control assembly, and the sensor comprises one or a combination of a hall sensor, an ultrasonic sensor, an infrared correlation grating sensor, an infrared laser ranging sensor and a capacitive touch sensor and is used for detecting whether the articles to be taken in the delivery warehouse are required to be taken or not.
Preferably, the pushing mechanism comprises a spiral spring, one end of the spiral spring is connected with an output part of a motor, the motor drives the spring to rotate to push out the articles, the axial length of the spring is smaller than that of the storage grid, a partition plate is arranged at the bottom of the storage grid, a groove approximately parallel to the axis of the spring is formed in the partition plate, or the pushing mechanism comprises a conveyor belt structure, articles are prevented from being placed on the conveyor belt structure, and the conveyor belt structure moves to drive the articles to move so as to convey the predetermined articles to the delivery bin.
Advantageous effects
For the automatic packing cupboard that present packing cupboard this application provided, its simple structure, the control complexity is low. The interior of the container is provided with a cold storage area and a normal temperature area, thus enlarging the variety of articles stored in the container. This automatic packing cupboard is connected with the remote server and is carried out the information interaction, and the mobile robot that the discernment module discernment that its carried on was predetermine and is matchd, and this automatic packing cupboard can be applied to commercial occasions such as hotel like this, and after the user reserved article, the stock article of prestoring in the packing cupboard is transmitted to mobile robot through the conveying component, and mobile robot will take article and be sent to the destination to improve user experience.
Drawings
FIG. 1 is a schematic front view of an automatic container according to an embodiment of the invention;
FIG. 2 is a schematic cross-sectional view of an automated container according to an embodiment of the invention;
fig. 3a and 3b are schematic perspective views of a mobile robot for picking up goods according to an embodiment of the present invention;
FIG. 4 and FIG. 5 are schematic views of a method of automatic container pickup according to an embodiment of the present invention;
referring to FIG. 6, FIG. 7 is a schematic front view of an automatic container according to a second embodiment of the present invention.
Detailed Description
The scheme proposed by the present application is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.
Examples
The invention discloses an automatic container, which comprises a container body, wherein a control assembly is arranged in the container body, at least one layer of storage rack is arranged in the container body, a plurality of storage grids for storing articles are arranged on the storage rack, at least one pushing mechanism is arranged in each storage grid, a conveying assembly is arranged on one side of each storage rack and used for receiving the articles pushed out by the pushing mechanism and guiding the articles to a delivery warehouse, the container is provided with a first identification module which is electrically connected with the control assembly and used for identifying whether a mobile robot to be taken the goods correctly reaches a preset position, and a second identification module which is electrically connected with the control assembly and used for identifying the quantity and the type of the goods to be taken. By the method, the articles which are stored in the automatic container and designated by the user are transmitted to the mobile robot through the conveying assembly, and the taken articles are sent to the destination through the mobile robot, so that the automatic container can be applied to the occasions of unmanned taking.
The automatic container provided by the embodiment of the application comprises a container body, an internal control assembly of the container body, and a human-computer interface electrically connected with the container body, wherein the container body comprises at least one temperature area, a plurality of storage frames for placing articles are arranged in the storage frames, a plurality of storage grids for placing the articles are arranged in the storage frames, a pushing mechanism for pushing the articles out of the storage grids is respectively arranged in the storage grids, the pushing mechanism is connected to a motor and arranged on one side of the storage frames for transmitting the articles pushed out by the pushing mechanism to a transmission assembly, the transmission assembly comprises a first transmission plate and a delivery bin which are obliquely arranged, an opening is formed in the top of the delivery bin, the first transmission plate is connected with the delivery bin, and when the articles are taken, the first transmission plate is used for receiving the articles and guiding the articles to the opening so that the articles slide. In the present embodiment, the included angle between the first conveying plate 106a and the horizontal plane is 15 ° to 70 ° (preferably, the included angle is 25 ° to 50 °), which greatly reduces the utilization efficiency of the container (the number of the storage racks is limited), and when the included angle is too small, the selected goods are not easily and reliably conveyed to the delivery warehouse. The preferred first transfer plate is angled at 30 °, 45 °, 60 ° to the horizontal. The automatic container comprises a container body, wherein at least one temperature area is configured in the container body. Such as a warm zone, normal temperature zone. 2 temperature areas, a cold storage area (the temperature is between 0 and 10 degrees and between 0 and 6 degrees) and a normal temperature area (no temperature regulation function is provided, and the internal temperature is approximately the same as the environment of the place where the container is located).
Referring to fig. 1 and fig. 2, the automatic container 100 of the present invention is described in detail, which includes a container body 101 having a control component (not shown) therein and electrically connected to a human-machine interface 112, a plurality of storage racks 102 for holding articles are disposed in the container body 101, a plurality of storage compartments 103 for holding articles are disposed on the storage racks, pushing mechanisms 104 for pushing the articles out of the storage compartments are disposed in the storage compartments 103, the pushing mechanisms are connected to a motor (not shown), and a conveying component disposed at one side of the storage racks for conveying the articles pushed out by the pushing mechanisms to a delivery outlet, the conveying component includes a first conveying plate 106a, a second conveying plate 106b, and a delivery outlet 107, an opening portion is disposed at the top of the delivery outlet, the first conveying plate 106a is connected to the delivery outlet 107, the second conveying plate 106b is connected to the delivery outlet 107, when the article is taken, it is used to receive the article and guide it to the opening portion so that the article slides into the delivery bin 107.
In the above embodiment, the second transfer plate is connected to the opening of the delivery bin to face the first transfer plate, and the angle between the second transfer plate and the horizontal plane is 15 ° to 70 ° (preferably 25 ° to 50 °). Preferably, the horizontal height of the first conveying plate and the second conveying plate is slightly lower than the height of the storage rack, so as to receive the articles pushed out by the pushing mechanism thereon and guide the articles to the delivery bin. In this embodiment, the container body is further provided with a sensor 109 for detecting whether an article falls, preferably, the sensor 109 is disposed at a side end of the lowest storage rack, or at a position slightly lower than the lowest storage rack on the first conveying plate or the second conveying plate in the horizontal direction, for detecting whether a selected article falls. The bottom side of the delivery bin is provided with a sensor 110, which can be an infrared correlation grating sensor, for detecting whether the bin has an article to be taken (or the article has been taken out of the bin only after the article has been taken successfully). The lower part of the delivery bin 107 is provided with an identification module 108 for identifying whether the mobile robot has correctly reached a predetermined position. A sensor 111 is arranged in the delivery chamber 107 for detecting whether the receiving chamber for the articles to be taken is in the correct position or whether the receiving chamber has been removed from the delivery chamber.
In this embodiment, the pushing mechanisms are respectively configured with storage cells, each of which includes a spiral spring, one end of which is connected to the output portion of the motor, and the spring is driven by the motor to rotate, so as to push the articles to move out and fall into the first conveying plate under the action of gravity, and the articles slide on the inclined first/second conveying plates and slide into the delivery warehouse. Preferably, the axial length of the spring is less than (or slightly less than) the length of the storage compartment. In one embodiment, the bottom of the storage compartment is provided with a partition (see fig. 1, 105) having a slot substantially parallel to the axis of the spring, so that small objects (e.g., elongated, strips) are inserted into the slot of the spring and the slot of the partition, the small objects are not prone to toppling over, and the pushing mechanism is easy to push the objects out of the storage compartment when pushing the objects out. Preferably, in one embodiment, the width of the slot of the partition is adjustable, thus accommodating different articles. In one embodiment, the pushing mechanism is configured as a belt/crawler, on which the articles are stored, and the movement of the conveyor belt drives the articles to move and push them to the delivery bin.
Referring next to fig. 6, fig. 7 describes in detail an automatic container according to a second embodiment of the application,
an automatic container 500, comprising a container body 501, wherein a control component 506 is arranged inside the container body 501, the control component is electrically connected to a human-computer interface (not shown in the figure), a cold storage area 502 and a normal temperature area 503 are configured in the body 501 of the automatic container, the cold storage area is separated by a heat insulation board 504, a plurality of first storage racks 502a for holding articles are arranged in the cold storage area 502, a plurality of first storage grids 502b for holding articles are arranged on the storage racks, and pushing mechanisms (not shown in the figure, refer to the mode in fig. 1) for pushing the articles out of the storage grids are respectively arranged in the storage grids; a plurality of second storage racks 503a for holding articles are arranged in the normal temperature region 503, a plurality of second storage cells 503b for holding articles and a plurality of second storage cells 503c for holding articles are arranged on the storage racks, a pushing mechanism (not shown, refer to the mode in fig. 1) for pushing the articles out of the storage cells is respectively arranged in the second storage cells 503b and the second storage cells 503c, the pushing mechanism is connected to a motor (not shown), and a conveying assembly is arranged on one side of the storage racks for conveying the articles pushed out by the pushing mechanism to a goods outlet, the conveying assembly comprises a first conveying plate 505a and a second conveying plate 505b which are obliquely arranged, when goods are taken, such as the articles in a normal temperature region, the articles are pushed out by the pushing mechanism in the conveying assemblies and fall, and the articles slide down to a goods outlet (not shown) along the surfaces of the first conveying plate 505a or the second conveying plate 505 b; for example, when taking the articles in the cold storage area, the articles are pushed by the pushing mechanism therein and fall down, fall to the first baffle 505d or the second baffle 505e and slide along the surface thereof (by the action of gravity), the first baffle 505d is pressed open (as shown in fig. 7), the articles slide along the first baffle 505d to the first conveying plate 505a and slide along the surface thereof to the delivery bin (not shown), and the first baffle 505d is rapidly restored to the closed state by the elastic force. Thus reducing the leakage of cold air therein. In a preferred embodiment, the receiving portion of the mobile robot extends into the delivery bin (refer to fig. 3b) for receiving the fallen articles, and the mobile robot sends the articles to the destination according to the instruction after receiving the articles. In this embodiment, the first baffle 502d and the second baffle 502e are disposed at the bottom of the cold storage area 502 in an inclined manner, and have a substantially splayed or flared shape, so that the articles can be guided to the first conveying plate 505a or the second conveying plate 505 b. One end of the first baffle 502d is fixedly connected to the connecting device 502c, and the other end is connected to the second baffle 502e when the first baffle is closed, so as to form a closed space of the cold storage area. The first baffle 502d and the second baffle 502e have a heat insulating function, and are made of a low heat conductive material or a heat insulating material. Preferably, the first flap 502d is pivotally movable along the connecting means 502c, and may be elastic or may be quickly restored to the closed state by magnetic force. First storage compartment 502b, second storage compartment 503b, and second storage compartment 503c, depending on the application, may be different types of inventory items. The container body 501 is provided with a compressor 507, preferably, a control component 506, which is electrically connected to the motor of the pushing mechanism, the compressor 507, and the like. In this embodiment, the container body 501 is configured with a refrigeration circuit therein for maintaining the temperature of the refrigerated area within a predetermined range, such as 0 ° to 10 °, depending on the application. A temperature sensor 5021 is arranged in the cold storage area, and is preferably arranged at the middle upper part of the cold storage area; in the present embodiment, the temperature sensor 5021 is disposed at the top of the cold storage area. In one embodiment, a temperature/humidity sensor is disposed in the refrigeration zone and is disposed at a middle upper portion of the refrigeration zone. Preferably, the first baffle and the second baffle are slightly lower than the storage rack arranged in the cold storage area in horizontal height, so as to receive the articles pushed out by the pushing mechanism thereon and guide the articles to the first conveying plate or the second conveying plate. In one embodiment, the first shutter 502d is opened or closed by the driving of the motor, and the dropped article after being opened is guided to the first transfer plate or the second transfer plate by the first shutter, and the first shutter is moved to a closed state by the driving of the motor after the article is moved from the first shutter, so that the cold storage area forms a closed space. The connecting device of preferred connects the output of motor, and first baffle moves and is connected to connecting device, drives first baffle rotation based on the drive of motor.
In the present embodiment, the angle between the first baffle 502d and the horizontal plane is 20 ° to 70 ° (preferably 25 ° to 50 °). In the present embodiment, the length of the first flap 502d is longer than the length of the second flap 502 e. In other embodiments, the first baffle is symmetrical to the second baffle.
In one embodiment, the included angle between the first baffle and the horizontal plane is smaller than or equal to the included angle between the second baffle and the horizontal plane.
In one embodiment, the first baffle plate is arranged obliquely on the bottom side of the cold storage area, and one end of the first baffle plate is rotatably fixed on the connecting device, so that the falling objects are guided to the surface of the first conveying plate or the second conveying plate and slide down (by gravity) into the goods outlet.
In one embodiment, a first baffle plate is disposed at an angle on the bottom side of the cold storage area, and a weather strip for heat insulation is disposed around the first baffle plate.
In one embodiment, the first and second transfer plates are disposed in an inclined manner, and the opening at the lower side of the horizontal position faces the delivery compartment (into which the mobile robot includes a (retractable) receiving cavity when taking the goods). A sensor (not shown, refer to the embodiment of fig. 1) is disposed in the delivery bin to detect whether the receiving cavity to be taken is inserted into the correct position or the receiving cavity is removed from the delivery bin.
As shown in fig. 7, when the goods are picked up from the cold storage area, the goods (not shown) fall onto the first baffle 502d of the cold storage area, the first delivery baffle 502d is opened by the action of gravity, and the goods slide onto the first transport plate or the second transport plate and are guided by the surface of the first transport plate or the second transport plate to slide down to the picking bin. After the goods slide to the first transfer plate or the second transfer plate, the first blocking plate 502d is rapidly restored to the closed state. Therefore, the cold air leakage in the cold storage area is reduced, and the operation energy consumption of the container is reduced. In other embodiments, the cargo (not shown) falls onto the first flap 502d of the cold storage area, and the first flap is driven by the motor to rotate to open the first cargo-discharging flap.
In one embodiment, the first transfer plate and the second transfer plate are symmetrically arranged along the center line of the delivery bin. Preferably, the device further comprises a side plate, which is vertically and fixedly connected with the first transmission plate and the second transmission plate. The side plate is approximately vertical to the horizontal plane of the container and is used for reinforcing the strength of the first transmission plate and the second transmission plate.
In one embodiment, the first and second transmission plates partially extend into the delivery bin, and the first and second transmission plates are symmetrically disposed along a center line of the delivery bin, and side ends of the first and second transmission plates are respectively connected to side plates for reinforcing the strength of the first and second transmission plates.
In one embodiment, the horizontal height of the first conveying plate or the first conveying plate and the second conveying plate is slightly lower than the height of the storage rack arranged at the lowest layer, so that the articles pushed out by the pushing mechanism can be easily pushed to the first conveying plate or the second conveying plate, and the articles falling on the first conveying plate or the second conveying plate slide under the action of gravity and are guided to the delivery bin. The delivery bin is in a square shape, is configured into a mouth shape or a horn shape with an open top, and is used for taking the articles, and a shielding plate is not configured on the side of the articles, so that the articles can be conveniently accessed and taken. Preferably, one end of the first transmission plate is connected with a first baffle plate which is approximately vertical to the horizontal plane, and one end of the second transmission plate is connected with a second baffle plate which is approximately vertical to the horizontal plane. Preferably, one end of the first transfer plate or one end of the second transfer plate slightly extends into the delivery bin. The delivery bin is square shaped with its bottom configured to be open so that (selected) articles conveyed by the first conveyor plate or the second conveyor plate fall through the delivery bin into the receiving cavity of the taking device (e.g., mobile robot).
In one embodiment, the transport assembly within the container is disposed at a central location of the container body and is disposed alongside the storage rack. Preferably, the conveying assembly is disposed at a front side of the storage shelf, so that the articles pushed out of the storage cells of the storage shelf are fed into the conveying assembly to take the articles.
In one embodiment, a sensor is disposed in the delivery bin for detecting whether the (retractable) receiving cavity of the mobile robot is correctly inserted into a predetermined position of the delivery bin. Preferably, the sensor comprises a light sensor, a curtain-shaped shielding object is hung in the delivery bin, and the curtain-shaped shielding object is pushed up after the storage cavity is correctly stretched into the storage cavity.
In one embodiment, the container further comprises a door covering the container body, the door being provided with a delivery opening (see 112 in FIG. 1) for taking the goods, the delivery opening facing the delivery compartment (see 107 in FIG. 1), and a movably attached cover plate being provided thereon for covering the delivery compartment. Preferably, the cover plate is connected with the driving device and electrically connected with the control assembly, and the driving device is controlled based on the instruction of the control assembly so as to open/close the goods outlet. In other embodiments, there may be no cover plate on the shipment, when the mobile robot arrives at the preset position, the robot is considered to arrive at the preset position when the identification module carried by the mobile robot establishes a connection relation with the module matched with the robot, the telescopic storage chamber of the mobile robot stretches into the shipment chamber, when the shipment chamber identifies that the storage chamber stretches correctly, a signal waiting for taking the article is sent to the control assembly or the server, the control assembly controls the corresponding pushing mechanism in response to the signal of taking the article, and the pushing mechanism pushes the article into the conveying assembly so that the article falls into the storage chamber.
As shown in fig. 3a, which is a schematic structural diagram of a mobile robot according to an embodiment of the present invention reaching a container to pick up goods, the mobile robot 200 includes a (retractable) receiving cavity 202, when the mobile robot 200 reaches the container 100, only the mobile robot 200 carries an alignment recognition module 201 to establish with a recognition module 108 of the container, and when the mobile robot 200 reaches a preset position of the container, the receiving cavity 202 opens a delivery bin 107 of the container to pick up a predetermined article.
As shown in fig. 3b, a schematic structure of the mobile robot according to another embodiment of the present invention reaching a container for picking up goods is shown, the mobile robot 300 includes a baffle 301 on the top, the baffle 301 is connected to the body 302 through a connecting device, the body 302 includes a receiving cavity (not shown), the baffle 301 is opened when picking up goods, when the mobile robot reaches a preset position of the container 400 (at this time, the alignment identification module carried by the mobile robot is connected to the identification module 408 of the container), the receiving cavity faces the delivery warehouse of the container, the goods are pushed into the receiving cavity, after picking up the goods, the mobile robot leaves the container, the baffle 301 is closed, and the goods are transported to a destination. In this embodiment, the (selected) article transported via the first transport plate and/or the second transport plate is guided to the outlet opening to fall into the receiving cavity of the device to be picked (e.g. mobile robot).
In one embodiment, a sensor is disposed on the bottom side of the warehouse and electrically connected to the control component, wherein the sensor includes an ir grating sensor for detecting whether the warehouse has an article to be taken. In other embodiments, the sensor comprises an ultrasonic sensor. If the article is not taken correctly, a prompt is sent (a prompt device such as a buzzer or a voice horn carried by a server or a container connected with the article is sent). In other embodiments, the sensor may be disposed at the top of the warehouse, at the side of the conveying assembly, or at another position of the container, as long as it can recognize that the mobile robot reaches the predetermined position.
In one embodiment, the lower side of the delivery bin is provided with an identification device for identifying whether the mobile robot reaches a predetermined position. Preferably, the identification device is an infrared sensor, the mobile robot is provided with a matched infrared sensor, the recognition device detects that the mobile robot reaches a preset position and sends a signal to the container, the control component receives and responds to the signal to open the cargo outlet of the container, after the mobile robot recognizes that the cargo outlet is opened, the retractable storage cavity on the control device stretches into the delivery warehouse, a position sensor in the delivery warehouse judges that the storage cavity correctly stretches into a preset position and sends a signal for receiving articles to a container or a server connected with the container, the control component controls a corresponding pushing mechanism based on a preset instruction, the pushing mechanism pushes out a preset number of articles to enable the articles to slide into a first transmission plate or a second transmission plate of a transmission component, the articles slide into the storage cavity in the delivery warehouse, and a mobile robot withdraws the storage cavity after detecting the articles in the storage cavity. The mobile robot then delivers the goods based on the set command. In this embodiment, when the detection module in the delivery warehouse of the container detects that the receiving cavity is recovered, the detection module sends a door closing signal to the connection control component, and the control component receives and responds to the door closing signal to close the delivery outlet of the container. The mobile robot is provided with a detection module for detecting whether a cover plate of the goods outlet is opened. Preferably, the detection module comprises a distance measurement sensor, such as an ultrasonic sensor, an infrared sensor, a laser sensor, or a grating sensor, an ultrasonic sensor, or a CCD pattern recognition sensor.
The embodiment of the application also provides a mobile robot which is used for taking the articles from the container and sending the articles to a preset place. The robot carries at least one retractable storage chamber for taking articles (see fig. 3a or fig. 3 b). Preferably, the robot carries a detection module for detecting whether the article is put into the containing cavity. In one embodiment, the detection module carried by the robot is further used for detecting whether a cover plate of the goods outlet is opened. The detection module comprises an ultrasonic sensor, a CCD image recognition module and a grating ruler sensor.
Next, the method for shipping (taking) a container of the above-described embodiment, that is, the method for taking an article from a container by using a mobile robot will be described with reference to FIGS. 4 and 5,
as shown in fig. 4, a method for taking an article from a container using a mobile robot includes, S1, the mobile robot moving to a predetermined pickup position,
s2, the containing cavity of the mobile robot extends into the delivery warehouse,
s3, based on the instruction, the control component of the container transfers the predetermined article to the receiving cavity,
and S4, the mobile robot withdraws the containing cavity for taking the articles. The mobile robot then transfers the picked item to the destination based on the instruction. In this embodiment, when picking up goods, the mobile robot moves to a preset picking position based on an instruction, the carried storage cavity of the mobile robot extends into the delivery bin, the position sensor arranged in the delivery bin judges that the storage cavity correctly extends into a preset position and then sends a signal for preparing to receive the goods to the container or the server connected with the container, the control component controls the corresponding pushing mechanism based on the preset instruction (delivery signal), the pushing mechanism pushes out a preset number of goods to slide into the first transmission plate or the second transmission plate of the transmission component, the goods slide into the storage cavity in the delivery bin, and the mobile robot detects that the goods are placed into the storage cavity and then withdraws the storage cavity. And after the mobile robot takes the goods, the goods are transmitted to the destination. The storage cavity is also called a storage box. In one implementation, the control component based on the command container in S3 transfers the articles scheduled in the cold storage area and/or the constant temperature area to the receiving cavity.
As shown in FIG. 5, a method for taking an article from a container by using a mobile robot is disclosed, which is different from the embodiment of FIG. 4 in that a cover plate is covered on a delivery port of the container, the mobile robot is moved to a preset delivery position based on an instruction when the article is delivered, a recognition device of the container recognizes that the mobile robot reaches a predetermined position, a signal that the mobile robot reaches the predetermined position is sent to a server connected with the container, the server receives and responds to the signal to send an instruction for opening the cover plate to a control component, the control component receives and responds to the instruction for opening the cover plate to control the cover plate to be opened, a detection module of the mobile robot detects that the cover plate is opened, a receiving cavity carried by the mobile robot is controlled to extend into a delivery bin of the container, a position sensor arranged in the delivery bin of the container judges that the receiving cavity correctly extends into the predetermined position, and then sends a signal for preparing to receive the article to the container or the server, the control assembly transmits the articles to the containing cavity based on a preset instruction (an instruction generated based on the order signal), and after the mobile robot detects that the articles are placed in the containing cavity, the mobile robot withdraws the containing cavity, leaves the container and transmits the taken articles to a destination. When the container recognition mobile robot leaves the position, the cover plate is closed based on the control of the control component. In the implementation method, the mobile robot is provided with a detection module for detecting whether a cover plate of the goods outlet is opened. Preferably, the detection module comprises a grating sensor, an ultrasonic sensor and a CCD pattern recognition sensor.
In another embodiment, the container recognition device recognizes that the mobile robot has reached the predetermined position, and sends a signal to the control unit to open the cover, and the control unit receives the signal and opens the cover in response thereto.
The container of the above embodiment has a container body having a control component electrically connected to the human-machine interface. The container is connected with the remote server in a wired or wireless mode to carry out information interaction. The control unit of the container operates based on a command from the server or a predetermined control program to distribute the articles.
In the design of the container body, at least one layer of storage rack for placing articles is arranged in the container body, a plurality of storage grids for placing the articles are arranged on the storage rack, pushing mechanisms for pushing the articles out of the storage grids are respectively arranged in the storage grids, and the pushing mechanisms are arranged on the front side of the storage rack, so that the articles pushed out of the storage grids are conveyed to the conveying assembly.
In the design of the conveying assembly, the conveying assembly comprises a first conveying plate or a first conveying plate and a second conveying plate which are obliquely arranged, and a delivery bin, wherein the top of the delivery bin is provided with an opening part, the first conveying plate is connected with the delivery bin, and when goods are taken, the first conveying plate is used for receiving the goods and guiding the goods to the opening part so that the goods slide into the delivery bin. The included angles between the first transmission plate and the horizontal plane and between the second transmission plate and the horizontal plane are respectively 15-70 degrees, and the included angle is further 25-50 degrees. Preferably, the first transmission plate and the second transmission plate are at an angle of 20 degrees, 25 degrees, 30 degrees, 45 degrees, 60 degrees and 70 degrees with respect to the horizontal plane.
In the design of the delivery warehouse, a detection module is included to detect whether a receiving cavity (also called a receiving box) of the mobile robot in the delivery warehouse enters or is taken out.
In the design of the mobile robot, the mobile robot includes a plurality of receiving cavities (also called receiving boxes) for taking articles, when the receiving cavities reach a position preset by a bottom container, the receiving cavities extend into a delivery bin to take the articles, the receiving cavities are recovered after the articles are taken, and then the mobile robot transfers the articles to a destination.
In the design of a mobile robot, the mobile robot comprises a detection module for detecting whether an article is put into a containing cavity carried by the mobile robot. Preferably, the detection module detects the state of the cargo outlet (i.e., the cover is opened or closed).
In the design of the mobile robot, it includes an identification module (also called an alignment identification module) for identifying a beacon component disposed in the container, identifying the beacon component based on a preset operation, sending an instruction to a server or a container to be taken, and the container responding to the instruction to deliver the container. The beacon assembly includes a transmitter, a visual marker (e.g., a two-dimensional code, a marker point, etc.).
In the present application, the terms "upper", "lower", "inside", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
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| CN201910845266.9A CN112455981A (en) | 2019-09-08 | 2019-09-08 | Automatic container and delivery method thereof |
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| CN201910845266.9A CN112455981A (en) | 2019-09-08 | 2019-09-08 | Automatic container and delivery method thereof |
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