CN114476583A - Control method, device, smart cabinet and robot - Google Patents

Abstract

The embodiments of the present invention disclose a control method, a device, an intelligent cabinet and a robot. The method transfers the delivery item into the bin body in response to detecting that the bin body is at the same height as the target cabinet after sending a pickup message to notify the robot to pick up the cargo. Wherein, the pickup message includes the cabinet identification information of the target cabinet, the target cabinet stores the delivery items, and the cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and adjust the bin body to be at the same height as the target cabinet. Through the method, the delivery cost can be reduced, while the delivery efficiency can be improved and the user experience can be improved.

Description

Control method, device, smart cabinet and robot

technical field

The invention relates to the technical field of robots, in particular to a control method, a device, an intelligent cabinet and a robot.

Background technique

With the continuous development of Internet technology, after users purchase products online, shopping platforms usually provide users with product delivery services.

In the prior art, the delivery personnel usually deliver the delivery items to the delivery location and wait for the user to pick them up, or the delivery staff stores the delivery items in a smart cabinet near the delivery location, and then the user chooses the time to pick up the delivery from the smart cabinet. pieces. The existing delivery methods not only have high delivery costs, but also have low delivery efficiency, resulting in poor user experience.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a control method, device, smart cabinet, and robot.

In a first aspect, an embodiment of the present invention provides a smart cabinet, and the smart cabinet includes:

a cabinet, the cabinet includes a multi-layer cabinet, and each cabinet is provided with a cabinet door; and

A smart cabinet control device configured to perform the following steps:

Send a pickup message to notify the robot to pick up the pickup. The pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored, and the cabinet identification information is used to instruct the robot to move. before the target cabinet, and adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

In a second aspect, an embodiment of the present invention provides a robot, and the robot includes:

moving means for moving the robot;

at least one compartment;

a height adjustment device, the height adjustment device is used to adjust the height of the bin body; and

A robotic control device configured to perform the steps of:

receiving a pickup message, where the pickup message includes the cabinet identification information of the target cabinet, where the delivery item is stored in the target cabinet;

Move to the front of the target cabinet according to the cabinet identification information;

Controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

In a third aspect, an embodiment of the present invention provides a control method, which is applicable to a smart cabinet, and the method includes:

Send a pickup message to notify the robot to pick up the pickup. The pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored, and the cabinet identification information is used to instruct the robot to move. before the target cabinet, and adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

In a fourth aspect, an embodiment of the present invention provides a control method, which is applicable to a robot, and the method includes:

receiving a pickup message, where the pickup message includes the cabinet identification information of the target cabinet, where the delivery item is stored in the target cabinet;

Move to the front of the target cabinet according to the cabinet identification information;

Controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

In a fifth aspect, an embodiment of the present invention provides a smart cabinet control device, the device comprising:

A pickup message sending unit, configured to send a pickup message to notify the robot to pick up the pickup, the pickup message including the cabinet identification information of the target cabinet, where the delivery items are stored in the target cabinet, and the cabinet identification The information is used to instruct the robot to move to the front of the target cabinet, and to adjust the bin body to be at the same height as the target cabinet;

A first distribution item transfer unit, configured to transfer the distribution item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

In a sixth aspect, an embodiment of the present invention provides a robot control device, the device comprising:

a pickup message receiving unit, configured to receive a pickup message, where the pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored;

a moving unit, configured to move to the front of the target cabinet according to the cabinet identification information;

A height adjustment unit, used to control the height adjustment device to adjust the bin body to be at the same height as the target cabinet;

A second distribution item transfer unit, configured to transfer the distribution item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement any one of the third aspect or the fourth aspect. method described.

In an eighth aspect, an embodiment of the present invention provides a control device, the device comprising:

memory for storing one or more computer program instructions;

A processor, the one or more computer program instructions being executed by the processor to implement the method of any of the third or fourth aspects.

In the control method of the embodiment of the present invention, after a pickup message is sent to notify a robot to pick up, in response to detecting that the bin body and the target cabinet are at the same height, the delivery item is transferred to the bin body. Wherein, the pickup message includes the cabinet identification information of the target cabinet, the target cabinet stores the delivery items, and the cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and adjust the bin body to be at the same height as the target cabinet. Through the method, the delivery cost can be reduced, while the delivery efficiency can be improved and the user experience can be improved.

Description of drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

1 is a schematic diagram of a distribution system according to an embodiment of the present invention;

Fig. 2 is the signaling diagram of the delivery system in the delivery process of the delivery item according to the embodiment of the present invention;

3 is a flowchart of a control method according to an embodiment of the present invention;

4 is a schematic structural diagram of a smart cabinet according to an embodiment of the present invention;

5 is a schematic structural diagram of a cabinet according to an embodiment of the present invention;

6 is a flowchart of a method for storing files according to an embodiment of the present invention;

7 is a flowchart of a method for closing a cabinet door after transferring and delivering items according to an embodiment of the present invention;

8 is a flowchart of a control method in an embodiment of the present invention;

9 is a flowchart of a method for moving a robot in an embodiment of the present invention;

10 is a schematic structural diagram of a robot according to an embodiment of the present invention;

11 is another schematic structural diagram of a robot in an embodiment of the present invention;

12 is a schematic structural diagram of a warehouse body in an embodiment of the present invention;

13 is a schematic diagram of a bin body and a target cabinet at the same height according to an embodiment of the present invention;

14 is a schematic flowchart of a robot distribution method according to an embodiment of the present invention;

15 is a schematic diagram of a smart cabinet control device in an embodiment of the present invention;

16 is a schematic diagram of a robot control device in an embodiment of the present invention;

FIG. 17 is a schematic diagram of a control device according to an embodiment of the present invention.

Detailed ways

The present invention is described below based on examples, but the present invention is not limited to these examples only. In the following detailed description of the invention, some specific details are described in detail. The present invention can be fully understood by those skilled in the art without the description of these detailed parts. Well-known methods, procedures, procedures, components and circuits have not been described in detail in order to avoid obscuring the essence of the present invention.

Furthermore, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless clearly required by the context, words like "including", "comprising" and the like in this application should be construed in an inclusive rather than an exclusive or exhaustive sense; that is, in the sense of "including but not limited to".

In the description of the present application, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Also, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

FIG. 1 is a schematic diagram of a distribution system according to an embodiment of the present invention. As shown in FIG. 1 , the distribution system includes a terminal 11 , a robot 12 , a smart cabinet 13 and a smart cabinet server 14 .

Wherein, the terminal 11 is a terminal held by the delivery personnel. The terminal 11 may specifically be a terminal device such as a mobile phone, a computer or a tablet computer. The delivery personnel can interact with the smart cabinet 13 or the smart cabinet server 14 through the delivery personnel 11 . The smart cabinet server 14 is a general computing device or a data processing device or a storage device. In this embodiment, the smart cabinet server 14 is specifically used to provide relevant information support to the distribution system in this embodiment. The robot 12 includes a moving device. The robot 12 can be moved by the moving device. The means of movement may be mechanical means of movement, such as wheel movement or crawler movement. Further, the robot 12 also has at least one bin body with a cabinet door. The warehouse body is used to store the delivery items, so as to ensure that the delivered items will not be dropped or lost during the process of delivering the items by the robot 12 . Further, the robot is further provided with a height adjustment device, and the height adjustment device is used to adjust the height of the bin body. In this embodiment, the robot 12 can be provided with a short-distance item delivery function by inputting an area map or setting a travel path to the robot 12 . The smart cabinet 13 has a multi-layer cabinet, and each cabinet has a cabinet door. Each of the cabinets can be used to store items. The terminal 11 , the robot 12 , the smart cabinet 13 and the smart cabinet server 14 are connected through a network to transmit data. The network connection may be connected through a local area network or a network cable. Optionally, in this embodiment, the terminal 11 , the robot 12 , the smart cabinet 13 , and the smart cabinet server 14 may also transmit instructions or data by other means, such as Bluetooth, scanning a two-dimensional code, or the like.

Specifically, in the actual application process, after the user purchases the product online, the shopping platform server will generate a corresponding target order, and assign the delivery task of the target order to the terminal 11 . The delivery personnel will deliver the delivery items according to the delivery address in the target order. Wherein, the shopping platform server is a server corresponding to the shopping platform, and the shopping platform server is used to provide the user with services related to commodity purchase and to generate a corresponding order after the user selects the commodity. Further, the shopping platform server will store the relevant information of the generated order, such as the time of placing the order, the number of the item to be purchased, and the delivery address.

In an optional implementation manner, the delivery personnel may store the delivery items in the smart cabinet 13 located near the delivery address. Specifically, the delivery person can send a storage request to the smart cabinet 13 through the terminal 11 . After receiving the storage request, the smart locker 13 will assign a currently available target locker to the delivery person and open the locker door of the target locker. Delivery personnel can store delivery items in the target compartment. Optionally, after the delivery person sends a storage request to the smart cabinet 13 through the terminal 11 , the smart cabinet 13 may choose to report the storage request to the smart cabinet server 14 . After receiving the deposit request, the smart cabinet server 14 will interact with the shopping platform server to obtain relevant information of the target order, and generate a transfer task bound to the target order. It should be understood that the smart locker server 14 may also choose not to perform information interaction with the shopping platform server. At this time, when the smart cabinet server 14 receives the reported storage request, a temporary transfer task will be generated, and the delivery personnel need to manually input the relevant information of the target order. Further, after the delivery personnel stores the delivery items in the target cabinet, the smart cabinet 13 can notify the robot 12 to pick up the items. When the robot 12 moves to the front of the target cabinet where the delivery items are stored, it can send a door opening request to instruct the smart cabinet 13 to open the cabinet door of the target cabinet, and then adjust the bin body to the same height as the target cabinet through the height adjustment device. Transfer the delivery item from the target bay to the bin body. Further, after the delivery items are transferred to the warehouse body, the robot 12 will complete the subsequent delivery tasks.

In the delivery system shown in FIG. 1 , after the delivery personnel store the delivered items in a smart cabinet located near the delivery address, the robot can complete the subsequent delivery tasks of the delivered items. Compared with the prior art, the distribution system can reduce distribution costs and improve distribution efficiency, and at the same time, the distribution system avoids the process of users picking up items by themselves, thereby improving user experience.

FIG. 2 is a signaling diagram of a distribution system in a process of transferring a distribution item according to an embodiment of the present invention. As shown in FIG. 2 , the delivery system involves signaling interaction among the smart cabinet 21 , the robot 22 , and the smart cabinet server 23 in the process of transferring the delivered items.

S100', the smart cabinet sends a pickup message.

Specifically, after the delivery personnel store the delivery items in the target cabinet, the smart cabinet will send a pickup message to notify the robot to pick up the item. Wherein, the pickup message includes the cabinet identification information of the target cabinet, and the cabinet identification information corresponds to the target cabinet. The cabinet identification information is used to instruct the robot to move to the front of the target cabinet and adjust the bin body to be at the same height as the target cabinet. Optionally, in step S100', the smart locker may send the pickup message to the smart locker server, and then the smart locker server forwards the message to the robot. Alternatively, the smart locker can directly send the pickup message to the robot.

S200', the robot moves to the front of the target cabinet according to the cabinet identification information in the pickup message.

Specifically, after acquiring the cabinet identification information in the pickup message, the robot can determine the cabinet position information of the target cabinet according to the cabinet identification information, and move to the front of the target cabinet. Wherein, the cabinet position information of the target cabinet may specifically be input for the robot in advance, and the coordinate address of the target cabinet in the map of the current area. It should be understood that the coordinate address is a three-dimensional coordinate address including height information.

S300', the robot sends a door opening request.

Specifically, after moving to the front of the target cabinet, the robot can send a door opening request to instruct the smart cabinet to open the cabinet door of the target cabinet. Optionally, in step S300', the robot may send the door opening request to the smart cabinet server, which is then forwarded to the smart cabinet by the smart cabinet server. Alternatively, the robot can directly send the door opening request to the smart cabinet.

S400', the smart cabinet opens the cabinet door of the target cabinet.

Specifically, the smart cabinet will open the cabinet door of the corresponding target cabinet according to the door opening request sent by the robot.

S500', the robot controls the height adjustment device to adjust the bin body to be at the same height as the target cabinet.

Specifically, after the robot sends a door opening request, it will adjust the bin body to be at the same height as the target cabinet by controlling the height adjustment device. It should be understood that there is no restriction on the execution sequence between steps S500' and S400', that is, steps S500' and S400' may be executed simultaneously or the execution sequence may be selected according to the actual situation. It should be understood that, in order to ensure that there is no conflict between the robot adjusting the bin body and the operation of opening the cabinet door of the target cabinet, the cabinet door of the target cabinet may be a rolling shutter door or a folding door. Alternatively, the cabinet door of the target cabinet may also be an opening and closing door, and in this case, step S400' may be executed first and then step S500' may be executed.

S600', in response to detecting that the target cabinet and the warehouse body are at the same height, transfer the delivery items to the warehouse body.

Optionally, the step S600' may specifically include the following implementation manners.

Specifically, in an optional implementation manner, when the smart cabinet detects that the target cabinet and the bin body are at the same height through the detection device in the target cabinet, the telescopic device in the target cabinet can be controlled to push the delivery items Warehouse body.

In an optional implementation manner, when the robot detects through the detection device in the bin body that the target cabinet is at the same height as the bin body, it can send a push request to the smart cabinet, instructing the smart cabinet to control the The telescopic device pushes the delivery items into the bin body.

In another optional implementation, when the robot detects through the detection device in the bin body that the target cabinet is at the same height as the bin body, it can control the magnetic suction device in the bin body to suck the metal tray into the bin body. It should be understood that at this point the delivery item will be placed on the picked up metal tray.

In another optional implementation, when the smart cabinet detects that the target cabinet and the bin body are at the same height through the detection device in the target cabinet, a magnetic attraction request can be sent to the smart cabinet, instructing the robot to control the bin body The magnetic suction device sucks the metal tray into the bin body. It should be understood that at this point the delivery item will be placed on the picked up metal tray.

Through steps S100' to S600' shown in FIG. 2, after the delivery personnel store the delivery items in the target cabinet, the delivery items can be further transferred from the target cabinet to the robot warehouse, so that the robot can complete the subsequent delivery. Task.

FIG. 3 is a flowchart of a control method according to an embodiment of the present invention. As shown in FIG. 3 , the control method is applicable to the smart cabinet in the above embodiment. The control method includes the following steps:

S100. Send a pickup message to notify the robot to pickup.

Specifically, after the delivery personnel store the delivery items in the target cabinet, the smart cabinet can send a pickup message to notify the robot to come and pick up the item. The pickup message includes the cabinet identification information of the target cabinet, and the cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and to adjust the bin body to be in the same position as the target cabinet. high.

FIG. 4 is a schematic structural diagram of a smart cabinet according to an embodiment of the present invention. As shown in FIG. 4 , the smart cabinet includes a cabinet body 41 . The cabinet 41 has three layers of cabinets, and each layer includes two cabinets. Wherein, each of the cabinets is provided with a cabinet door. It should be understood that in practical applications, the number of cabinet layers of the smart cabinet and the number of cabinets on each layer can be determined according to the distribution demand of the area where the smart cabinet is located. For example, for areas with large distribution needs, the number of cabinets in the smart cabinet and the number of cabinets on each layer are large. For areas with small distribution needs, the number of cabinet layers in the smart cabinet and the number of cabinets on each layer are small. Further, in addition to the cabinet body 41, the smart cabinet also includes a variety of optional installation hardware. As shown on the right side of FIG. 4 , the hardware may include a cabinet door control device 42 , a communication component 43 , a telescopic device 44 , a cabinet delivery item detection device 45 and a bin body detection device 46 . Each of the devices is connected to the processor 47, and the connection mode may be wired connection or wireless connection. The processor 47 is used to control the various devices to realize the functions related to the smart cabinet in this embodiment. For example, the cabinet door of the cabinet can be opened and closed through the cabinet door control device 42, and the instructions or data can be received or sent through the communication component 43. Wait. It should be understood that what is shown in FIG. 4 is only for illustration, and in an actual application process, the type, quantity, and placement position of the hardware can be combined or adjusted according to actual requirements.

In an optional implementation manner, the smart cabinet further includes a plurality of cabinet delivery item detection devices. Wherein, the detection devices for delivery items in each cabinet are respectively arranged in different cabinets, and the detection devices for delivery items in the cabinets are used to detect the existence of delivery items in the corresponding cabinets. FIG. 5 is a schematic structural diagram of a cabinet according to an embodiment of the present invention. As shown in FIG. 5 , the cabinet 51 is the cabinet in the smart cabinet shown in FIG. 4 . The cabinet 51 is provided with a cabinet delivery item detection device 511 , and the cabinet delivery item detection device 511 is used to detect the existence of the delivery items in the cabinet 51 . Optionally, the cabinet distribution item detection device 511 may specifically be a gravity detection device, and the gravity sensing detection device may be disposed on the bottom surface of the cabinet 51, which can determine the existence of the distribution item by detecting gravity. . Optionally, the cabinet distribution item detection device 511 can also be an infrared detection device, and the infrared detection device can be arranged on the side wall of the cabinet 51, which can transmit and receive infrared rays, and detect the infrared rays during the transmission process. to determine the existence of the delivery item by means of the loss condition in the delivery.

Further, in order to ensure that the delivery personnel can store the delivery items in the smart cabinet. The embodiment of the present invention also provides a method for storing files. FIG. 6 is a flowchart of a method for storing files according to an embodiment of the present invention. As shown in FIG. 6 , the storage method specifically includes the following steps:

S110. Before sending a pickup message to notify the robot to pickup, in response to receiving a deposit request, open the cabinet door of the target cabinet.

Specifically, after receiving the storage request, the smart cabinet can determine a currently available target cabinet and open the cabinet door of the target cabinet, so that the delivery personnel can store the delivery items. The storage request may be an instruction transmitted based on scanning a two-dimensional code, Bluetooth, or a local area network.

S120. Detect the existence of the delivery items in the target cabinet.

Specifically, after the delivery personnel stores the delivery items in the target cabinet, the smart cabinet can detect whether there are delivery items in the target cabinet through the cabinet delivery item detection device in the target cabinet.

S130. In response to the presence of the delivery item in the target cabinet, close the cabinet door of the target cabinet.

Specifically, when the smart cabinet determines that the delivery item exists in the target cabinet, the cabinet door of the target cabinet is closed.

In an optional implementation manner, the delivery item corresponds to a target order, and the pickup message further includes delivery address information corresponding to the target order. Further, before the smart cabinet sends a pickup message to notify the robot to pickup, the delivery address information corresponding to the target order is also obtained. The delivery address information is the delivery address information filled in by the user who purchased the delivery item, which specifically includes information such as the hotel room number or house number. The delivery address information may be acquired by the smart cabinet server from the shopping platform server, or input by the delivery personnel through the human-computer interaction interface of the smart cabinet or through the interactive interface of the terminal equipment of the delivery personnel.

S200. In response to receiving the door opening request sent by the robot, open the cabinet door of the target cabinet.

Specifically, when the robot receives the pickup message, it will move to the front of the target cabinet and send a door opening request. When the smart cabinet receives the door opening request sent by the robot, it opens the cabinet door of the target cabinet. It should be understood that, in some optional implementation manners, step S200 may be selected according to actual requirements or not. For example, when the smart cabinet is an open smart cabinet without a cabinet door, step S200 may be omitted.

S300. In response to detecting that the bin body and the target cabinet are at the same height, transfer the delivery item into the bin body.

Specifically, after the robot sends out the door opening request, it will adjust the height of the bin body through the height adjustment device. When it is detected in step S300 that the bin body and the target cabinet are at the same height, the delivery items are transferred to the bin body. In step S300, the executive body that detects whether the bin body is at the same height as the target cabinet may be a smart cabinet or a robot. In step S300, the executive body that transfers the delivered items to the warehouse body can also be a smart cabinet or a robot.

Specifically, the smart cabinet further includes a plurality of bin body detection devices. The bin body detection devices are respectively arranged in different cabinets, and the bin body detection devices are used to detect whether the bin bodies are at the same height as the corresponding cabinet. As shown in FIG. 5 , the illustrated cabinet 51 is provided with a bin body detection device 512 . The bin body detection device 512 is used to detect whether the bin body and the cabinet 51 are at the same height.

Further, the bin body detection device may correspond to the cabinet detection device on the robot bin body. That is, when the bin body detection device of the cabinet is opposite to the cabinet detection device on the robot bin body, the bottom face of the cabinet can be spliced with the bottom face of the bin body, as shown in Figure 13, The 131 is a cabinet detection device and a bin body detection device that overlap when the bottom surface of the cabinet and the bottom surface of the bin body are spliced together. Optionally, the bin body detection device may also be arranged inside the cabinet. Wherein, when the bin body detection device is arranged inside the cabinet, it should be ensured that there is no obstruction in front of the bin body detection device after the cabinet door of the cabinet is opened.

In an optional implementation manner, the bin body detection device may be a cabinet light receiving device, and the cabinet bin detection device on the robot bin body may be a robot light emission device. At this time, the detection execution body of step S300 can be a smart cabinet, and the method for the smart cabinet to detect whether the bin body is at the same height as the target cabinet can be:

In response to receiving a light signal of a specific pattern through the cabinet light receiving device of the target cabinet, it is determined that the bin body and the target cabinet are at the same height. Specifically, the smart cabinet can determine whether the target cabinet is at the same height as the bin body by judging whether the cabinet light receiving device in the target cabinet receives a specific pattern of light signals emitted by the robot light emitting device. It should be understood that the optical signal of a specific mode in this embodiment may be a modulated infrared signal.

In another optional implementation manner, the bin body detection device may also be a cabinet light emitting device. Correspondingly, the cabinet detection device on the robot bin body may be a robot light receiving device. At this time, the detection execution body of step S300 is a robot, and the smart cabinet needs to control the cabinet light emitting device in the target cabinet to emit a light signal of a specific mode to assist the robot to detect whether the bin is at the same height as the target cabinet. Specifically, after the cabinet door of the target cabinet is opened, the smart cabinet can control the cabinet light emitting device in the target cabinet to emit a light signal of a specific mode. During the process of adjusting the height of the bin, the robot will determine that the target bin and bin are at the same height if the light receiving device of the robot receives the light signal of a specific pattern emitted by the bin light emitting device in the target bin.

Further, the smart cabinet further includes a plurality of telescopic devices. Wherein, the telescopic devices are respectively arranged in different cabinets, and the telescopic devices are used to push the items stored in the corresponding cabinets into the bin body. As shown in FIG. 5 , a telescopic device 513 is provided on the illustrated cabinet 51 . The telescopic device 513 is used to push the items in the cabinet 51 into the bin body when it is detected that the bin body and the target cabinet are at the same height. The telescopic device may specifically be a retractable spring device.

Further, step S300 in this embodiment can be specifically implemented in the following ways:

In an optional implementation manner, in response to detecting that the bin body and the target cabinet are at the same height by the bin body detection device of the target cabinet, the telescopic device in the target cabinet is controlled to The delivery item is pushed into the bin body. Specifically, when the smart cabinet detects that the bin body and the target cabinet are at the same height through the bin body detection device of the target cabinet, the telescopic device in the target cabinet is controlled to push the delivery items into the bin.

In another optional implementation manner, in response to detecting that the bin body and the target cabinet are at the same height through the bin body detection device of the target cabinet, a magnetic attraction request is sent to instruct the robot to pass The magnetic suction device sucks the metal tray into the bin body. Wherein, the delivery items are placed on the metal tray. Specifically, when the smart cabinet detects that the bin body and the target cabinet are at the same height through the bin body detection device of the target cabinet, a magnetic suction request can be sent to instruct the robot to suck the metal tray into the bin body through the magnetic suction device.

In another optional implementation manner, in response to receiving the push request, the telescopic device in the target cabinet is controlled to push the delivery item into the bin body. Wherein, the push request is used to indicate that the bin body and the target cabinet are at the same height. Specifically, when the robot detects through the cabinet detection device that the bin body and the target cabinet are at the same height, it will send a push request to the smart cabinet. After receiving the push request, the smart cabinet can control the telescopic device in the target cabinet to push the delivery items into the bin body.

Optionally, FIG. 7 is a flowchart of a method for closing a cabinet door after the delivery item is transferred according to an embodiment of the present invention. As shown in Figure 7, after the delivery items are transferred, the method for closing the cabinet door includes the following steps:

S310. Detect the existence of the delivery items in the target cabinet.

S320. In response to detecting that the delivery item does not exist in the target cabinet, close the cabinet door of the target cabinet.

Specifically, the smart cabinet detects the existence of the delivery items in the target cabinet through the cabinet delivery item detection device in the target cabinet, and closes the cabinet door of the target cabinet when it is confirmed that the delivery items in the target cabinet are taken away by the robot.

Further, the control method of the present embodiment further includes: after closing the cabinet door of the target cabinet, sending a delivery instruction to instruct the robot to detect the existence of the delivery item in the warehouse and according to the delivery item A condition exists to deliver the delivery item. Specifically, after closing the cabinet door of the target cabinet, the smart cabinet can send a delivery instruction to instruct the robot to detect the existence of the delivery item in the warehouse and deliver the delivery item according to the detection result.

Further, the control method of this embodiment further includes: reporting a start delivery message of the target order. Specifically, after the smart cabinet detects that the robot has taken the delivery item, it can report the task progress of the current dumping task to the smart cabinet server.

The control method of the embodiment of the present invention opens the cabinet door of the target cabinet in response to receiving the door opening request sent by the robot after sending a pick-up message to notify the robot to pick up the item, and in response to detecting that the bin body is in contact with The target cabinets are at the same height, and the delivery items are transferred into the bin body. Wherein, the pickup message includes the cabinet identification information of the target cabinet, the target cabinet stores the delivery items, and the cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and adjust the bin body to be at the same height as the target cabinet. Through the method, the delivery cost can be reduced, while the delivery efficiency can be improved and the user experience can be improved.

FIG. 8 is a flowchart of a control method in an embodiment of the present invention. As shown in FIG. 8 , the control method is applicable to the robot in the above embodiment. The control method specifically includes the following steps:

S400. Receive a pick-up message, where the pick-up message includes cabinet identification information of a target cabinet where delivery items are stored.

Specifically, the pickup information sent by the smart cabinet is received, and the cabinet identification information in the pickup information is obtained.

S500. Move to the front of the target cabinet according to the cabinet identification information.

Specifically, after acquiring the cabinet identification information, the robot can move to the front of the target cabinet according to the cabinet identification information.

FIG. 9 is a flowchart of a method for moving a robot in an embodiment of the present invention. As shown in Figure 9, the robot moving method includes the following steps:

S510. Determine the cabinet position information of the target cabinet according to the cabinet identification information.

S520. Move to the front of the target cabinet according to the cabinet position information.

Specifically, after acquiring the cabinet identification information, the robot can determine the cabinet position information of the target cabinet according to the cabinet identification information, and move to the front of the target cabinet through the mobile device. Wherein, the cabinet position information of the target cabinet may specifically be input for the robot in advance, and the coordinate address of the target cabinet in the map of the current area. It should be understood that the coordinate address is a three-dimensional coordinate address including height information.

S600. Send an opening request to instruct the smart cabinet to open the cabinet door of the target cabinet.

Specifically, after reaching the front of the target cabinet, the robot sends an opening request to instruct the smart cabinet to open the cabinet door of the target cabinet. It should be understood that, in some optional implementation manners, step S600 may be selected according to actual requirements or not. For example, when the smart cabinet is an open smart cabinet without a cabinet door, step S600 can be omitted.

S700. Control the height adjustment device to adjust the bin body to be at the same height as the target cabinet.

Specifically, the robot controls the height adjustment device to adjust the bin body to be at the same height as the target cabinet.

FIG. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention. As shown in FIG. 10 , the robot includes a bin body 101 , a moving device 102 and a height adjusting device 103 . Wherein, the bin body 101 has a cabinet door 1011 . The height adjusting device 103 is used to adjust the height of the bin body. The moving device 102 is used to move the robot. Optionally, the height adjustment device 103 may adjust the height of the bin body by raising or lowering the bin body 101 as shown in FIG. 10 . Further, in addition to the bin body 101 , the moving device 102 and the height adjusting device 103 , the robot also includes a variety of optional installation hardware. As shown in the upper left side of FIG. 10 , the hardware includes a cabinet door control device 104 , a communication component 105 , a magnetic attraction device 106 , a warehouse delivery item detection device 107 and a cabinet detection device 108 . The devices are connected to the processor 109, and the connection mode may be wired connection or wireless connection. The processor 109 is used to control each device to implement the robot-related functions in this embodiment. For example, the cabinet door control device 104 can open and close the cabinet door, and the communication component 105 can receive or send instructions or data. It should be understood that what is shown in FIG. 10 is only for illustration, and in an actual application process, the type, quantity and placement position of the hardware can be combined or adjusted according to actual needs.

In another optional implementation manner, FIG. 11 is another schematic structural diagram of a robot in an embodiment of the present invention. Similar to FIG. 10 , the robot shown in FIG. 11 also includes a bin body 111 , a moving device 112 and a height adjusting device 113 . But different from the robot in FIG. 10 , the height adjusting device 113 is a frame structure with sliding rails, and the height adjusting device 113 can control the bin body 111 to slide up or down in the frame structure.

S800. In response to detecting that the bin body and the target cabinet are at the same height, transfer the delivery item into the bin body.

Specifically, in the process of the robot adjusting the height of the bin body. If it is detected through step S800 that the bin body and the target cabinet are at the same height, the delivery items are transferred to the bin body. Similar to step S300, the execution subject detected in step S800 that the bin body and the target cabinet are at the same height may be a smart cabinet or a robot. In step S800, the executive body that transfers the delivered items to the warehouse body can also be a smart cabinet or a robot. It should be understood that before the delivery items are transferred into the bin body, the cabinet door of the bin body also needs to be opened.

Optionally, the robot further includes a cabinet detection device, the cabinet detection device is arranged on the warehouse body, and the cabinet detection device is used to detect whether the warehouse body is at the same height as the corresponding cabinet. . Specifically, FIG. 12 is a schematic structural diagram of a cartridge body in an embodiment of the present invention. The bin body 121 is specifically the bin body in the robot shown in FIG. 10 or FIG. 11 . The bin body has a cabinet detection device 1212 . The cabinet detection device 1212 is used to detect whether the target cabinet 121 is at the same height as the bin body. Further, the cabinet detection device may correspond to the bin body detection device in the target cabinet of the smart cabinet.

In an optional implementation manner, the cabinet detection device may be a robot light receiving device, and the bin body detection device in the target cabinet of the smart cabinet may be a cabinet light emission device. At this time, the detection execution body of step S800 may be a robot, and the method for the robot to detect whether the warehouse body is at the same height as the target cabinet may be: in response to receiving a light signal of a specific pattern through the robot light receiving device, determine the The bin body and the target cabinet are at the same height. Specifically, when the robot receives the light signal of a specific pattern emitted by the light emitting device of the cabinet through the light receiving device of the robot, it is determined that the bin body and the target cabinet are at the same height.

In another optional implementation manner, the cabinet detection device may be a robot light emitting device, and the bin body detection device in the target cabinet of the smart cabinet may be a cabinet light receiving device. At this time, the detection execution body of step S800 may be a smart cabinet, and the robot needs to control the light emission device of the robot to emit a light signal of a specific mode to assist the smart cabinet to detect whether the bin body is at the same height as the target cabinet. Specifically, after the robot sends a door opening request to instruct the smart cabinet to open the cabinet door of the target cabinet, the robot light emitting device is controlled to emit a light signal of a specific pattern. When the robot adjusts the height of the bin, if the smart cabinet receives the light signal of a specific pattern emitted by the light-emitting device of the robot through the light-receiving device of the cabinet in the target cabinet, it is determined that the target cabinet and the bin are at the same height.

Further, the robot further includes a magnetic suction device, the magnetic suction device is arranged on the bottom surface of the inside of the bin body, and the magnetic suction device is used for sucking the metal tray into the bin body. It should be understood that at this point the delivery items are placed on the metal tray. As shown in FIG. 12 , the bottom surface of the bin body 121 has a magnetic suction device 1211 , which is used to suck the metal tray into the bin body when it is detected that the bin body and the target cabinet are at the same height. The magnetic attraction device 1211 may specifically be a magnetic attraction device for supplying electrical energy. The magnetic attraction device can generate magnetic force under the support of electrical energy. The magnitude of the magnetic force is related to the magnitude of the current.

Further, step S800 in this embodiment can be specifically implemented in the following ways:

In an optional implementation manner, in response to detecting that the bin body and the target cabinet are at the same height through the cabinet detection device, the magnetic suction device is controlled to suck the metal tray into the in the warehouse. Specifically, when the robot detects through the cabinet detection device that the bin body and the target cabinet are at the same height, the robot controls the magnetic suction device to suck the metal tray into the bin body.

In another optional implementation manner, in response to detecting that the bin body and the target cabinet are at the same height by the cabinet detection device, a push request is sent to instruct the smart cabinet to push the smart cabinet through the telescopic device. The delivery item is pushed into the bin body. Specifically, when the robot detects that the bin body and the target bin are at the same height through the bin detection device, it sends a push request to the smart cabinet to instruct the smart cabinet to push the delivery item into the bin body through the telescopic device middle

In another optional implementation manner, in response to receiving a magnetic attraction request, the magnetic attraction device is controlled to draw the metal tray into the bin body. Specifically, when the smart cabinet detects that the bin body and the target cabinet are at the same height through the bin body detection device in the target cabinet, the smart cabinet sends a magnetic attraction request to the robot. After receiving the magnetic suction request, the robot will control the magnetic suction device to suck the metal tray into the bin body.

FIG. 13 is a schematic diagram of the bin body and the target cabinet at the same height according to the embodiment of the present invention. As shown in Figure 13, the 131 is a cabinet detection device and a bin body detection device in which the bin body and the target cabinet are at the same height, so that the bottom face of the bin body and the bottom face of the target cabinet are spliced together and overlapped. .

Further, the robot in this embodiment further includes a warehouse body delivery item detection device, the warehouse body delivery item detection device is arranged on the warehouse body, and the warehouse body delivery item detection device is used to detect the warehouse body. of the delivery item exists. As shown in FIG. 12 , the bin body 121 is provided with a bin body delivery item detection device 1213 , and the bin body delivered item detection device 1213 is used to detect the existence of delivery items in the bin body. It should be understood that, similar to the detection device for the distribution items in the cabinet, the detection device for the distribution items in the bin body may be a gravity detection device or an infrared detection device, which will not be repeated here. Further, FIG. 14 is a schematic flowchart of a robot distribution method according to an embodiment of the present invention. As shown in FIG. 14 , after the delivery items are transferred from the target cabinet to the warehouse body, the robot delivery method includes the following steps:

S910. In response to receiving the delivery instruction, detect the existence of the delivery item in the bin.

Specifically, after the delivery instruction is received, the presence of the delivered items in the silo is detected by the silo-body delivery item detection device in the silo.

S920. In response to detecting that the delivery item exists in the bin, close the cabinet door of the bin.

Specifically, when it is confirmed that there are delivery items in the bin body, the cabinet door of the bin body is closed.

S930. Deliver the delivery item according to the delivery address information.

Specifically, the delivery item is delivered according to delivery address information. The delivery item corresponds to a target order, and the pickup message further includes delivery address information corresponding to the target order.

FIG. 15 is a schematic diagram of a smart cabinet control device in an embodiment of the present invention. As shown in FIG. 15 , the smart cabinet control device includes a pickup message sending unit 151 and a first delivery item transfer unit 152 .

Wherein, the pickup message sending unit 151 is configured to send a pickup message to notify the robot to pick up the pickup, and the pickup message includes the cabinet identification information of the target cabinet, where the delivery items are stored in the target cabinet. The cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and to adjust the bin body to be at the same height as the target cabinet;

The first delivery item transfer unit 152 is configured to transfer the delivery item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

After the smart cabinet control device according to the embodiment of the present invention sends a pickup message to notify the robot to pick up the item, in response to detecting that the bin body and the target cabinet are at the same height, the delivery item is transferred to the bin body middle. Wherein, the pickup message includes the cabinet identification information of the target cabinet, the target cabinet stores the delivery items, and the cabinet identification information is used to instruct the robot to move to the front of the target cabinet, and adjust the bin body to be at the same height as the target cabinet. The device can reduce delivery costs, improve delivery efficiency and improve user experience at the same time.

FIG. 16 is a schematic diagram of a robot control device in an embodiment of the present invention. As shown in FIG. 16 , the robot control device includes a pickup message receiving unit 161 , a moving unit 162 , a height adjusting unit 163 and a second delivery item transferring unit 164 .

Wherein, the pickup message receiving unit 161 is configured to receive a pickup message, and the pickup message includes the cabinet identification information of the target cabinet, and the delivery item is stored in the target cabinet;

The moving unit 162 is configured to move to the front of the target cabinet according to the cabinet identification information;

The height adjustment unit 163 is used to control the height adjustment device to adjust the bin body to be at the same height as the target cabinet;

The second delivery item transfer unit 164 is configured to transfer the delivery item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

FIG. 17 is a schematic diagram of a control device according to an embodiment of the present invention. In this embodiment, the control device includes a server, a terminal, and the like. As shown in FIG. 17 , the control device includes at least one processor 171 ; and a memory 172 communicatively connected to the at least one processor 171 ; Receive and transmit data under the control of the controller; wherein, the memory 172 stores instructions that can be executed by at least one processor 171, and the instructions are executed by the at least one processor 171 to implement the above control method.

Specifically, the control device includes: one or more processors 171 and a memory 172, and one processor 171 is taken as an example in FIG. 17 . The processor 171 and the memory 172 may be connected through a bus or in other ways, and the connection through a bus is taken as an example in FIG. 17 . The memory 172, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules. The processor 171 executes various functional applications and data processing of the device by running the non-volatile software programs, instructions and modules stored in the memory 172, that is, the above-mentioned control method is implemented.

The memory 172 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store an option list and the like. Additionally, memory 172 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 172 may optionally include memory located remotely relative to processor 171, which may be connected to external devices via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

One or more modules are stored in the memory 172, and when executed by the one or more processors 171, perform the control method in any of the above method embodiments.

The above product can execute the methods provided by the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details not described in detail in the present embodiments, reference may be made to the methods provided by the embodiments of the present application.

Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, the computer-readable program being used for a computer to execute some or all of the above method embodiments.

That is, those skilled in the art can understand that all or part of the steps in the method of implementing the above embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium and includes several instructions to make a device ( It may be a single chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

The embodiment of the present invention discloses A1, a smart cabinet, the smart cabinet includes:

a cabinet, the cabinet includes a multi-layer cabinet, and each cabinet is provided with a cabinet door; and

A smart cabinet control device configured to perform the following steps:

Send a pickup message to notify the robot to pick up the pickup. The pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored, and the cabinet identification information is used to instruct the robot to move. before the target cabinet, and adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

A2. The smart cabinet according to A1, the smart cabinet control device is further configured as:

Before transferring the delivery item into the bin body, the cabinet door of the target cabinet is opened in response to receiving the door opening request sent by the robot.

A3. The smart cabinet according to A2, further comprising a plurality of bin body detection devices;

Wherein, each bin body detection device is respectively set in a different cabinet, and the bin body detection device is used to detect whether the bin body is at the same height as the corresponding cabinet.

A4. The smart cabinet according to A3, further comprising a plurality of telescopic devices;

Wherein, the telescopic devices are respectively arranged in different cabinets, and the telescopic devices are used to push the items stored in the corresponding cabinets into the bin body.

A5. The smart cabinet according to A4, the smart cabinet control device is configured as:

In response to detecting that the bin body and the target cabinet are at the same height by the bin body detection device of the target bin, controlling the telescopic device in the target bin to push the delivery item into the bin body middle.

A6. The smart cabinet according to A3, wherein the smart cabinet control device is configured as:

In response to detecting that the bin body and the target cabinet are at the same height by the bin body detection device of the target cabinet, a magnetic attraction request is sent to instruct the robot to suck the metal tray into the bin through the magnetic attraction device in the body;

Wherein, the delivery items are placed on the metal tray.

A7. The smart cabinet according to any one of A5 or 6, wherein the bin body detection device is a cabinet light receiving device, and the cabinet light receiving device corresponds to the robot light emitting device of the bin body;

Wherein, the smart cabinet control device is configured as:

In response to receiving a light signal of a specific pattern through the cabinet light receiving device of the target cabinet, it is determined that the bin body and the target cabinet are at the same height.

A8. The smart cabinet according to A4, wherein the smart cabinet control device is configured as:

In response to receiving the push request, controlling the telescopic device in the target cabinet to push the delivery item into the bin body;

Wherein, the push request is used to indicate that the bin body and the target cabinet are at the same height.

A9. The smart cabinet according to A8, wherein the bin body detection device is a cabinet light emitting device, and the cabinet light emitting device corresponds to the robot light receiving device of the bin body;

Wherein, the smart cabinet control device is configured as:

After the cabinet door of the target cabinet is opened, the cabinet light emitting device in the target cabinet is controlled to emit a light signal of a specific mode.

A10. The smart cabinet according to A1, further comprising a plurality of cabinet delivery item detection devices;

Wherein, the detection devices for delivery items in each cabinet are respectively arranged in different cabinets, and the detection devices for delivery items in the cabinets are used to detect the existence of delivery items in the corresponding cabinets.

A11. The smart cabinet according to A10, wherein the smart cabinet control device is further configured to:

before sending a pickup message to notify the robot to pick up, in response to receiving a deposit request, opening the cabinet door of the target cabinet;

Detecting the existence of delivery items in the target cabinet;

In response to the delivery item being present in the target bay, a door of the target bay is closed.

A12. The smart cabinet according to A10, wherein the smart cabinet control device is further configured as:

Detecting the existence of delivery items in the target cabinet;

In response to detecting that the delivery item is not present in the target bay, the door of the target bay is closed.

A13. The smart cabinet according to A12, wherein the smart cabinet control device is further configured to:

After closing the cabinet door of the target cabinet, a delivery instruction is sent to instruct the robot to detect the presence of the delivery item in the bin and deliver the delivery item according to the presence of the delivery item.

A14. The smart cabinet according to A1, wherein the delivery item corresponds to a target order, and the pickup message further includes delivery address information corresponding to the target order;

The smart cabinet control device is also configured to:

Before sending a pickup message to notify the robot to pick up the pickup, obtain the delivery address information corresponding to the target order.

A15. The smart cabinet according to A14, wherein the smart cabinet control device is further configured to:

Report the start delivery message of the target order.

The embodiment of the present invention discloses B1, a robot, and the robot includes:

moving means for moving the robot;

at least one compartment;

a height adjustment device, the height adjustment device is used to adjust the height of the bin body; and

A robotic control device configured to perform the steps of:

receiving a pickup message, where the pickup message includes the cabinet identification information of the target cabinet, where the delivery item is stored in the target cabinet;

Move to the front of the target cabinet according to the cabinet identification information;

Controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

B2. The robot according to B1, the robot control device is further configured to:

Before the height adjustment device is controlled to adjust the bin body to be at the same height as the target cabinet, a door opening request is sent to instruct the smart cabinet to open the cabinet door of the target cabinet.

B3. The robot according to B2, further comprising a cabinet detection device, the cabinet detection device is arranged on the bin body, and the cabinet detection device is used to detect whether the bin body corresponds to Cabinets are at the same height.

B4. The robot according to B3, further comprising a magnetic attraction device, the magnetic attraction device is arranged on the bottom surface of the inside of the bin body, and the magnetic attraction device is used for sucking the metal tray into the bin body middle;

Wherein, the delivery items are placed on the metal tray.

B5. The robot according to B4, wherein the robot control device is configured to:

In response to detecting that the bin body and the target bin are at the same height by the bin detection device, the magnetic suction device is controlled to suck the metal tray into the bin body.

B6. The robot according to B3, wherein the robot control device is configured to:

In response to detecting that the bin body is at the same height as the target bin by the bin detection device, a push request is sent to instruct the smart cabinet to push the delivery item into the bin body through a telescopic device .

B7. The robot according to any one of B5 or B6, wherein the cabinet detection device is a robot light receiving device, and the robot light receiving device corresponds to the cabinet light emitting device of each cabinet of the smart cabinet;

Wherein, the robot control device is configured to:

In response to receiving a light signal of a specific pattern through the robot light receiving device, it is determined that the bin body and the target cabinet are at the same height.

B8. The robot according to B5, wherein the robot control device is configured to:

In response to receiving the magnetic attraction request, the magnetic attraction device is controlled to draw the metal tray into the bin body.

B9. The robot according to B8, wherein the cabinet detection device is a robot light emitting device, and the robot light emitting device corresponds to the cabinet light receiving device of each cabinet of the smart cabinet;

Wherein, the robot control device is configured to:

After sending a door opening request to instruct the smart cabinet to open the cabinet door of the target cabinet, the robot light emitting device is controlled to emit a light signal of a specific pattern.

B10. The robot according to B4, wherein the robot control device is configured to:

Determine the cabinet position information of the target cabinet according to the cabinet identification information;

Move to the front of the target cabinet according to the cabinet position information.

B11. The robot according to B4, further comprising a warehouse body delivery item detection device, the warehouse body delivery item detection device is arranged on the warehouse body, and the warehouse body delivery item detection device is used to detect the Describe the existence of delivery items in the warehouse.

B12. The robot according to B11, wherein the delivery item corresponds to a target order, and the pickup message further includes delivery address information corresponding to the target order;

The robotic control device is also configured to:

In response to receiving the delivery instruction, detecting the presence of delivery items in the bin;

closing a door of the bin in response to detecting the presence of the delivery item within the bin;

The delivery item is delivered according to the delivery address information.

B13. The robot according to B4, wherein the robot control device is further configured to:

The door of the bin body is opened prior to transferring the delivery item into the bin body.

The embodiment of the present invention discloses C1, a control method, which is suitable for a smart cabinet, and the method includes:

Send a pickup message to notify the robot to pick up the pickup. The pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored, and the cabinet identification information is used to instruct the robot to move. before the target cabinet, and adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

The embodiment of the present invention discloses D1, a control method, which is suitable for a robot, and the method includes:

receiving a pickup message, where the pickup message includes the cabinet identification information of the target cabinet, where the delivery item is stored in the target cabinet;

Move to the front of the target cabinet according to the cabinet identification information;

Controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet;

The delivery item is transferred into the bin body in response to detecting that the bin body is at the same height as the target bay.

The embodiment of the present invention discloses E1, a smart cabinet control device, the device includes:

A pickup message sending unit, configured to send a pickup message to notify the robot to pick up the pickup, where the pickup message includes the cabinet identification information of the target cabinet, where the delivery items are stored in the target cabinet, and the cabinet identification The information is used to instruct the robot to move to the front of the target cabinet, and to adjust the bin body to be at the same height as the target cabinet;

A first distribution item transfer unit, configured to transfer the distribution item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

The embodiment of the present invention discloses F1, a robot control device, the device includes:

a pickup message receiving unit, configured to receive a pickup message, where the pickup message includes the cabinet identification information of the target cabinet where the delivery items are stored;

a moving unit, configured to move to the front of the target cabinet according to the cabinet identification information;

A height adjustment unit, used to control the height adjustment device to adjust the bin body to be at the same height as the target cabinet;

A second distribution item transfer unit, configured to transfer the distribution item into the bin body in response to detecting that the bin body and the target cabinet are at the same height.

The embodiment of the present invention discloses G1, a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the method described in any one of C1 and D1 when executed by a processor.

The embodiment of the present invention discloses H1, a control device, and the device includes:

memory for storing one or more computer program instructions;

A processor, the one or more computer program instructions being executed by the processor to implement the method as described in any of C1 and D1.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. An intelligent cabinet, characterized in that the intelligent cabinet comprises:

the cabinet comprises a cabinet body, wherein the cabinet body comprises a plurality of layers of cabinet lattices, and each cabinet lattice is provided with a cabinet door; and

a smart cabinet control apparatus configured to perform the steps of:

sending a pickup message to inform a robot to pick up a pickup, wherein the pickup message comprises cabinet grid identification information of a target cabinet grid, the target cabinet grid is stored with delivered articles, and the cabinet grid identification information is used for indicating the robot to move to the front of the target cabinet grid and adjusting a bin body to be at the same height with the target cabinet grid;

transferring the dispensed articles into the bin body in response to detecting that the bin body is at the same height as the target bin grid.

2. The smart cabinet of claim 1, wherein the smart cabinet control apparatus is further configured to:

opening a door of the target cabinet compartment in response to receiving a door opening request sent by the robot prior to transferring the dispensed articles into the bin body.

3. The intelligent cabinet according to claim 2, further comprising a plurality of bin body detection devices;

the bin body detection devices are respectively arranged on different cabinet grids and are used for detecting whether the bin body is at the same height with the corresponding cabinet grid.

4. A robot, characterized in that the robot comprises:

a moving device for moving the robot;

at least one cartridge body;

a height adjustment device for adjusting the height of the cartridge body; and

a robot control device configured to perform the steps of:

receiving pickup information, wherein the pickup information comprises cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores distribution articles;

moving to the front of the target cabinet lattice according to the cabinet lattice identification information;

controlling the height adjusting device to adjust the bin body to be at the same height as the target cabinet grid;

transferring the dispensed articles into the bin body in response to detecting that the bin body is at the same height as the target bin grid.

5. A control method is suitable for an intelligent cabinet, and is characterized by comprising the following steps:

sending a pickup message to inform a robot to pick up a pickup, wherein the pickup message comprises cabinet grid identification information of a target cabinet grid, the target cabinet grid is stored with delivered articles, and the cabinet grid identification information is used for indicating the robot to move to the front of the target cabinet grid and adjusting a bin body to be at the same height with the target cabinet grid;

transferring the dispensed articles into the bin body in response to detecting that the bin body is at the same height as the target bin grid.

6. A control method adapted for use with a robot, the method comprising:

receiving pickup information, wherein the pickup information comprises cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores distribution articles;

moving to the front of the target cabinet lattice according to the cabinet lattice identification information;

controlling a height adjusting device to adjust the bin body to be at the same height with the target cabinet grid;

transferring the dispensed articles into the bin body in response to detecting that the bin body is at the same height as the target bin grid.

7. An intelligent cabinet control apparatus, the apparatus comprising:

the pickup message sending unit is used for sending a pickup message to inform a robot of pickup, wherein the pickup message comprises cabinet lattice identification information of a target cabinet lattice, the target cabinet lattice is stored with delivered articles, and the cabinet lattice identification information is used for indicating the robot to move to the front of the target cabinet lattice and adjusting a bin body to be at the same height as the target cabinet lattice;

a first delivered article transfer unit for transferring the delivered articles into the bin body in response to detecting that the bin body is at the same height as the target bin.

8. A robot control apparatus, characterized in that the apparatus comprises:

the pickup message receiving unit is used for receiving pickup messages, wherein the pickup messages comprise cabinet lattice identification information of a target cabinet lattice, and the target cabinet lattice stores distribution articles;

the moving unit is used for moving to the front of the target cabinet according to the cabinet identification information;

the height adjusting unit is used for controlling the height adjusting device to adjust the bin body to be at the same height with the target cabinet grid;

a second delivered article transfer unit for transferring the delivered articles into the bin in response to detecting that the bin is at the same height as the target bin.

9. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 5-6.

10. A control device, characterized in that the device comprises:

a memory for storing one or more computer program instructions;

a processor, the one or more computer program instructions being executed by the processor to implement the method of any of claims 5-6.

Images